diff --git a/Microcontrollers/ultrasonicSensor/Debug/Makefile b/Microcontrollers/ultrasonicSensor/Debug/Makefile index ff7d88c..927b492 100644 --- a/Microcontrollers/ultrasonicSensor/Debug/Makefile +++ b/Microcontrollers/ultrasonicSensor/Debug/Makefile @@ -38,7 +38,8 @@ SUBDIRS := # Add inputs and outputs from these tool invocations to the build variables C_SRCS += \ ../lcd_control.c \ -../main.c +../main.c \ +../ultrasonic_sensor.c PREPROCESSING_SRCS += @@ -49,19 +50,23 @@ ASM_SRCS += OBJS += \ lcd_control.o \ -main.o +main.o \ +ultrasonic_sensor.o OBJS_AS_ARGS += \ lcd_control.o \ -main.o +main.o \ +ultrasonic_sensor.o C_DEPS += \ lcd_control.d \ -main.d +main.d \ +ultrasonic_sensor.d C_DEPS_AS_ARGS += \ lcd_control.d \ -main.d +main.d \ +ultrasonic_sensor.d OUTPUT_FILE_PATH +=ultrasonicSensor.elf @@ -91,6 +96,13 @@ LINKER_SCRIPT_DEP+= @echo Finished building: $< +./ultrasonic_sensor.o: .././ultrasonic_sensor.c + @echo Building file: $< + @echo Invoking: AVR/GNU C Compiler : 5.4.0 + $(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\avr8\avr8-gnu-toolchain\bin\avr-gcc.exe$(QUOTE) -x c -funsigned-char -funsigned-bitfields -DDEBUG -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.6.364\include" -Og -ffunction-sections -fdata-sections -fpack-struct -fshort-enums -mrelax -g2 -Wall -mmcu=atmega128 -B "C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.6.364\gcc\dev\atmega128" -c -std=gnu99 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -o "$@" "$<" + @echo Finished building: $< + + diff --git a/Microcontrollers/ultrasonicSensor/Debug/makedep.mk b/Microcontrollers/ultrasonicSensor/Debug/makedep.mk index c9e4784..3068bb9 100644 --- a/Microcontrollers/ultrasonicSensor/Debug/makedep.mk +++ b/Microcontrollers/ultrasonicSensor/Debug/makedep.mk @@ -6,3 +6,5 @@ lcd_control.c main.c +ultrasonic_sensor.c + diff --git a/Microcontrollers/ultrasonicSensor/Debug/ultrasonicSensor.lss b/Microcontrollers/ultrasonicSensor/Debug/ultrasonicSensor.lss index 7e49b4a..4918262 100644 --- a/Microcontrollers/ultrasonicSensor/Debug/ultrasonicSensor.lss +++ b/Microcontrollers/ultrasonicSensor/Debug/ultrasonicSensor.lss @@ -3,29 +3,31 @@ ultrasonicSensor.elf: file format elf32-avr Sections: Idx Name Size VMA LMA File off Algn - 0 .data 00000006 00800100 00000928 0000099c 2**0 + 0 .data 00000004 00800100 00000968 000009fc 2**0 CONTENTS, ALLOC, LOAD, DATA - 1 .text 00000928 00000000 00000000 00000074 2**1 + 1 .text 00000968 00000000 00000000 00000094 2**1 CONTENTS, ALLOC, LOAD, READONLY, CODE - 2 .comment 0000005c 00000000 00000000 000009a2 2**0 + 2 .bss 00000002 00800104 00800104 00000a00 2**0 + ALLOC + 3 .comment 0000005c 00000000 00000000 00000a00 2**0 CONTENTS, READONLY - 3 .note.gnu.avr.deviceinfo 0000003c 00000000 00000000 00000a00 2**2 + 4 .note.gnu.avr.deviceinfo 0000003c 00000000 00000000 00000a5c 2**2 CONTENTS, READONLY - 4 .debug_aranges 000000b8 00000000 00000000 00000a3c 2**0 + 5 .debug_aranges 000000e8 00000000 00000000 00000a98 2**0 CONTENTS, READONLY, DEBUGGING - 5 .debug_info 00000fc0 00000000 00000000 00000af4 2**0 + 6 .debug_info 00001114 00000000 00000000 00000b80 2**0 CONTENTS, READONLY, DEBUGGING - 6 .debug_abbrev 00000a99 00000000 00000000 00001ab4 2**0 + 7 .debug_abbrev 00000b68 00000000 00000000 00001c94 2**0 CONTENTS, READONLY, DEBUGGING - 7 .debug_line 00000710 00000000 00000000 0000254d 2**0 + 8 .debug_line 00000861 00000000 00000000 000027fc 2**0 CONTENTS, READONLY, DEBUGGING - 8 .debug_frame 000001b4 00000000 00000000 00002c60 2**2 + 9 .debug_frame 0000022c 00000000 00000000 00003060 2**2 CONTENTS, READONLY, DEBUGGING - 9 .debug_str 0000059a 00000000 00000000 00002e14 2**0 + 10 .debug_str 000005e5 00000000 00000000 0000328c 2**0 CONTENTS, READONLY, DEBUGGING - 10 .debug_loc 0000049c 00000000 00000000 000033ae 2**0 + 11 .debug_loc 000004fe 00000000 00000000 00003871 2**0 CONTENTS, READONLY, DEBUGGING - 11 .debug_ranges 00000098 00000000 00000000 0000384a 2**0 + 12 .debug_ranges 000000b8 00000000 00000000 00003d6f 2**0 CONTENTS, READONLY, DEBUGGING Disassembly of section .text: @@ -33,73 +35,73 @@ Disassembly of section .text: 00000000 <__vectors>: 0: 45 c0 rjmp .+138 ; 0x8c <__ctors_end> 2: 00 00 nop - 4: 59 c1 rjmp .+690 ; 0x2b8 <__vector_1> + 4: 38 c1 rjmp .+624 ; 0x276 <__vector_1> 6: 00 00 nop - 8: 56 c0 rjmp .+172 ; 0xb6 <__bad_interrupt> + 8: 5e c0 rjmp .+188 ; 0xc6 <__bad_interrupt> a: 00 00 nop - c: 54 c0 rjmp .+168 ; 0xb6 <__bad_interrupt> + c: 5c c0 rjmp .+184 ; 0xc6 <__bad_interrupt> e: 00 00 nop - 10: 52 c0 rjmp .+164 ; 0xb6 <__bad_interrupt> + 10: 5a c0 rjmp .+180 ; 0xc6 <__bad_interrupt> 12: 00 00 nop - 14: 50 c0 rjmp .+160 ; 0xb6 <__bad_interrupt> + 14: 58 c0 rjmp .+176 ; 0xc6 <__bad_interrupt> 16: 00 00 nop - 18: 4e c0 rjmp .+156 ; 0xb6 <__bad_interrupt> + 18: 56 c0 rjmp .+172 ; 0xc6 <__bad_interrupt> 1a: 00 00 nop - 1c: 4c c0 rjmp .+152 ; 0xb6 <__bad_interrupt> + 1c: 54 c0 rjmp .+168 ; 0xc6 <__bad_interrupt> 1e: 00 00 nop - 20: 4a c0 rjmp .+148 ; 0xb6 <__bad_interrupt> + 20: 52 c0 rjmp .+164 ; 0xc6 <__bad_interrupt> 22: 00 00 nop - 24: 48 c0 rjmp .+144 ; 0xb6 <__bad_interrupt> + 24: 50 c0 rjmp .+160 ; 0xc6 <__bad_interrupt> 26: 00 00 nop - 28: 46 c0 rjmp .+140 ; 0xb6 <__bad_interrupt> + 28: 4e c0 rjmp .+156 ; 0xc6 <__bad_interrupt> 2a: 00 00 nop - 2c: 44 c0 rjmp .+136 ; 0xb6 <__bad_interrupt> + 2c: 4c c0 rjmp .+152 ; 0xc6 <__bad_interrupt> 2e: 00 00 nop - 30: 42 c0 rjmp .+132 ; 0xb6 <__bad_interrupt> + 30: 4a c0 rjmp .+148 ; 0xc6 <__bad_interrupt> 32: 00 00 nop - 34: 40 c0 rjmp .+128 ; 0xb6 <__bad_interrupt> + 34: 48 c0 rjmp .+144 ; 0xc6 <__bad_interrupt> 36: 00 00 nop - 38: 3e c0 rjmp .+124 ; 0xb6 <__bad_interrupt> + 38: 46 c0 rjmp .+140 ; 0xc6 <__bad_interrupt> 3a: 00 00 nop - 3c: 3c c0 rjmp .+120 ; 0xb6 <__bad_interrupt> + 3c: 44 c0 rjmp .+136 ; 0xc6 <__bad_interrupt> 3e: 00 00 nop - 40: 3a c0 rjmp .+116 ; 0xb6 <__bad_interrupt> + 40: 42 c0 rjmp .+132 ; 0xc6 <__bad_interrupt> 42: 00 00 nop - 44: 38 c0 rjmp .+112 ; 0xb6 <__bad_interrupt> + 44: 40 c0 rjmp .+128 ; 0xc6 <__bad_interrupt> 46: 00 00 nop - 48: 36 c0 rjmp .+108 ; 0xb6 <__bad_interrupt> + 48: 3e c0 rjmp .+124 ; 0xc6 <__bad_interrupt> 4a: 00 00 nop - 4c: 34 c0 rjmp .+104 ; 0xb6 <__bad_interrupt> + 4c: 3c c0 rjmp .+120 ; 0xc6 <__bad_interrupt> 4e: 00 00 nop - 50: 32 c0 rjmp .+100 ; 0xb6 <__bad_interrupt> + 50: 3a c0 rjmp .+116 ; 0xc6 <__bad_interrupt> 52: 00 00 nop - 54: 30 c0 rjmp .+96 ; 0xb6 <__bad_interrupt> + 54: 38 c0 rjmp .+112 ; 0xc6 <__bad_interrupt> 56: 00 00 nop - 58: 2e c0 rjmp .+92 ; 0xb6 <__bad_interrupt> + 58: 36 c0 rjmp .+108 ; 0xc6 <__bad_interrupt> 5a: 00 00 nop - 5c: 2c c0 rjmp .+88 ; 0xb6 <__bad_interrupt> + 5c: 34 c0 rjmp .+104 ; 0xc6 <__bad_interrupt> 5e: 00 00 nop - 60: 2a c0 rjmp .+84 ; 0xb6 <__bad_interrupt> + 60: 32 c0 rjmp .+100 ; 0xc6 <__bad_interrupt> 62: 00 00 nop - 64: 28 c0 rjmp .+80 ; 0xb6 <__bad_interrupt> + 64: 30 c0 rjmp .+96 ; 0xc6 <__bad_interrupt> 66: 00 00 nop - 68: 26 c0 rjmp .+76 ; 0xb6 <__bad_interrupt> + 68: 2e c0 rjmp .+92 ; 0xc6 <__bad_interrupt> 6a: 00 00 nop - 6c: 24 c0 rjmp .+72 ; 0xb6 <__bad_interrupt> + 6c: 2c c0 rjmp .+88 ; 0xc6 <__bad_interrupt> 6e: 00 00 nop - 70: 22 c0 rjmp .+68 ; 0xb6 <__bad_interrupt> + 70: 2a c0 rjmp .+84 ; 0xc6 <__bad_interrupt> 72: 00 00 nop - 74: 20 c0 rjmp .+64 ; 0xb6 <__bad_interrupt> + 74: 28 c0 rjmp .+80 ; 0xc6 <__bad_interrupt> 76: 00 00 nop - 78: 1e c0 rjmp .+60 ; 0xb6 <__bad_interrupt> + 78: 26 c0 rjmp .+76 ; 0xc6 <__bad_interrupt> 7a: 00 00 nop - 7c: 1c c0 rjmp .+56 ; 0xb6 <__bad_interrupt> + 7c: 24 c0 rjmp .+72 ; 0xc6 <__bad_interrupt> 7e: 00 00 nop - 80: 1a c0 rjmp .+52 ; 0xb6 <__bad_interrupt> + 80: 22 c0 rjmp .+68 ; 0xc6 <__bad_interrupt> 82: 00 00 nop - 84: 18 c0 rjmp .+48 ; 0xb6 <__bad_interrupt> + 84: 20 c0 rjmp .+64 ; 0xc6 <__bad_interrupt> 86: 00 00 nop - 88: 16 c0 rjmp .+44 ; 0xb6 <__bad_interrupt> + 88: 1e c0 rjmp .+60 ; 0xc6 <__bad_interrupt> ... 0000008c <__ctors_end>: @@ -114,1256 +116,1319 @@ Disassembly of section .text: 98: 11 e0 ldi r17, 0x01 ; 1 9a: a0 e0 ldi r26, 0x00 ; 0 9c: b1 e0 ldi r27, 0x01 ; 1 - 9e: e8 e2 ldi r30, 0x28 ; 40 + 9e: e8 e6 ldi r30, 0x68 ; 104 a0: f9 e0 ldi r31, 0x09 ; 9 a2: 00 e0 ldi r16, 0x00 ; 0 a4: 0b bf out 0x3b, r16 ; 59 a6: 02 c0 rjmp .+4 ; 0xac <__do_copy_data+0x14> a8: 07 90 elpm r0, Z+ aa: 0d 92 st X+, r0 - ac: a6 30 cpi r26, 0x06 ; 6 + ac: a4 30 cpi r26, 0x04 ; 4 ae: b1 07 cpc r27, r17 b0: d9 f7 brne .-10 ; 0xa8 <__do_copy_data+0x10> - b2: 2e d1 rcall .+604 ; 0x310
- b4: 37 c4 rjmp .+2158 ; 0x924 <_exit> -000000b6 <__bad_interrupt>: - b6: a4 cf rjmp .-184 ; 0x0 <__vectors> +000000b2 <__do_clear_bss>: + b2: 21 e0 ldi r18, 0x01 ; 1 + b4: a4 e0 ldi r26, 0x04 ; 4 + b6: b1 e0 ldi r27, 0x01 ; 1 + b8: 01 c0 rjmp .+2 ; 0xbc <.do_clear_bss_start> -000000b8 : +000000ba <.do_clear_bss_loop>: + ba: 1d 92 st X+, r1 + +000000bc <.do_clear_bss_start>: + bc: a6 30 cpi r26, 0x06 ; 6 + be: b2 07 cpc r27, r18 + c0: e1 f7 brne .-8 ; 0xba <.do_clear_bss_loop> + c2: 00 d1 rcall .+512 ; 0x2c4
+ c4: 4f c4 rjmp .+2206 ; 0x964 <_exit> + +000000c6 <__bad_interrupt>: + c6: 9c cf rjmp .-200 ; 0x0 <__vectors> + +000000c8 : } } void lcd_move_right(void){ lcd_write_command(0x1E); - b8: 9b b3 in r25, 0x1b ; 27 - ba: 21 e0 ldi r18, 0x01 ; 1 - bc: 30 e0 ldi r19, 0x00 ; 0 - be: 02 c0 rjmp .+4 ; 0xc4 - c0: 22 0f add r18, r18 - c2: 33 1f adc r19, r19 - c4: 8a 95 dec r24 - c6: e2 f7 brpl .-8 ; 0xc0 - c8: 29 2b or r18, r25 - ca: 2b bb out 0x1b, r18 ; 27 - cc: 08 95 ret + c8: 9b b3 in r25, 0x1b ; 27 + ca: 21 e0 ldi r18, 0x01 ; 1 + cc: 30 e0 ldi r19, 0x00 ; 0 + ce: 02 c0 rjmp .+4 ; 0xd4 + d0: 22 0f add r18, r18 + d2: 33 1f adc r19, r19 + d4: 8a 95 dec r24 + d6: e2 f7 brpl .-8 ; 0xd0 + d8: 29 2b or r18, r25 + da: 2b bb out 0x1b, r18 ; 27 + dc: 08 95 ret -000000ce : - ce: 9b b3 in r25, 0x1b ; 27 - d0: 21 e0 ldi r18, 0x01 ; 1 - d2: 30 e0 ldi r19, 0x00 ; 0 - d4: 02 c0 rjmp .+4 ; 0xda - d6: 22 0f add r18, r18 - d8: 33 1f adc r19, r19 - da: 8a 95 dec r24 - dc: e2 f7 brpl .-8 ; 0xd6 - de: 20 95 com r18 - e0: 29 23 and r18, r25 - e2: 2b bb out 0x1b, r18 ; 27 - e4: 08 95 ret +000000de : + de: 9b b3 in r25, 0x1b ; 27 + e0: 21 e0 ldi r18, 0x01 ; 1 + e2: 30 e0 ldi r19, 0x00 ; 0 + e4: 02 c0 rjmp .+4 ; 0xea + e6: 22 0f add r18, r18 + e8: 33 1f adc r19, r19 + ea: 8a 95 dec r24 + ec: e2 f7 brpl .-8 ; 0xe6 + ee: 20 95 com r18 + f0: 29 23 and r18, r25 + f2: 2b bb out 0x1b, r18 ; 27 + f4: 08 95 ret -000000e6 : - e6: 86 e0 ldi r24, 0x06 ; 6 - e8: 90 e0 ldi r25, 0x00 ; 0 - ea: e6 df rcall .-52 ; 0xb8 - ec: 83 ec ldi r24, 0xC3 ; 195 - ee: 99 e0 ldi r25, 0x09 ; 9 - f0: 01 97 sbiw r24, 0x01 ; 1 - f2: f1 f7 brne .-4 ; 0xf0 - f4: 00 c0 rjmp .+0 ; 0xf6 - f6: 00 00 nop - f8: 86 e0 ldi r24, 0x06 ; 6 - fa: 90 e0 ldi r25, 0x00 ; 0 - fc: e8 df rcall .-48 ; 0xce - fe: 83 ec ldi r24, 0xC3 ; 195 - 100: 99 e0 ldi r25, 0x09 ; 9 - 102: 01 97 sbiw r24, 0x01 ; 1 - 104: f1 f7 brne .-4 ; 0x102 - 106: 00 c0 rjmp .+0 ; 0x108 - 108: 00 00 nop - 10a: 08 95 ret +000000f6 : + f6: 86 e0 ldi r24, 0x06 ; 6 + f8: 90 e0 ldi r25, 0x00 ; 0 + fa: e6 df rcall .-52 ; 0xc8 + fc: 83 ec ldi r24, 0xC3 ; 195 + fe: 99 e0 ldi r25, 0x09 ; 9 + 100: 01 97 sbiw r24, 0x01 ; 1 + 102: f1 f7 brne .-4 ; 0x100 + 104: 00 c0 rjmp .+0 ; 0x106 + 106: 00 00 nop + 108: 86 e0 ldi r24, 0x06 ; 6 + 10a: 90 e0 ldi r25, 0x00 ; 0 + 10c: e8 df rcall .-48 ; 0xde + 10e: 83 ec ldi r24, 0xC3 ; 195 + 110: 99 e0 ldi r25, 0x09 ; 9 + 112: 01 97 sbiw r24, 0x01 ; 1 + 114: f1 f7 brne .-4 ; 0x112 + 116: 00 c0 rjmp .+0 ; 0x118 + 118: 00 00 nop + 11a: 08 95 ret -0000010c : - 10c: cf 93 push r28 - 10e: c8 2f mov r28, r24 - 110: 85 bb out 0x15, r24 ; 21 - 112: 84 e0 ldi r24, 0x04 ; 4 - 114: 90 e0 ldi r25, 0x00 ; 0 - 116: d0 df rcall .-96 ; 0xb8 - 118: e6 df rcall .-52 ; 0xe6 - 11a: c2 95 swap r28 - 11c: c0 7f andi r28, 0xF0 ; 240 - 11e: c5 bb out 0x15, r28 ; 21 - 120: 84 e0 ldi r24, 0x04 ; 4 - 122: 90 e0 ldi r25, 0x00 ; 0 - 124: c9 df rcall .-110 ; 0xb8 - 126: df df rcall .-66 ; 0xe6 - 128: cf 91 pop r28 - 12a: 08 95 ret +0000011c : + 11c: cf 93 push r28 + 11e: c8 2f mov r28, r24 + 120: 85 bb out 0x15, r24 ; 21 + 122: 84 e0 ldi r24, 0x04 ; 4 + 124: 90 e0 ldi r25, 0x00 ; 0 + 126: d0 df rcall .-96 ; 0xc8 + 128: e6 df rcall .-52 ; 0xf6 + 12a: c2 95 swap r28 + 12c: c0 7f andi r28, 0xF0 ; 240 + 12e: c5 bb out 0x15, r28 ; 21 + 130: 84 e0 ldi r24, 0x04 ; 4 + 132: 90 e0 ldi r25, 0x00 ; 0 + 134: c9 df rcall .-110 ; 0xc8 + 136: df df rcall .-66 ; 0xf6 + 138: cf 91 pop r28 + 13a: 08 95 ret -0000012c : - 12c: cf 93 push r28 - 12e: c8 2f mov r28, r24 - 130: 85 bb out 0x15, r24 ; 21 - 132: 84 e0 ldi r24, 0x04 ; 4 - 134: 90 e0 ldi r25, 0x00 ; 0 - 136: cb df rcall .-106 ; 0xce - 138: d6 df rcall .-84 ; 0xe6 - 13a: c2 95 swap r28 - 13c: c0 7f andi r28, 0xF0 ; 240 - 13e: c5 bb out 0x15, r28 ; 21 - 140: 84 e0 ldi r24, 0x04 ; 4 - 142: 90 e0 ldi r25, 0x00 ; 0 - 144: c4 df rcall .-120 ; 0xce - 146: cf df rcall .-98 ; 0xe6 - 148: cf 91 pop r28 - 14a: 08 95 ret +0000013c : + 13c: cf 93 push r28 + 13e: c8 2f mov r28, r24 + 140: 85 bb out 0x15, r24 ; 21 + 142: 84 e0 ldi r24, 0x04 ; 4 + 144: 90 e0 ldi r25, 0x00 ; 0 + 146: cb df rcall .-106 ; 0xde + 148: d6 df rcall .-84 ; 0xf6 + 14a: c2 95 swap r28 + 14c: c0 7f andi r28, 0xF0 ; 240 + 14e: c5 bb out 0x15, r28 ; 21 + 150: 84 e0 ldi r24, 0x04 ; 4 + 152: 90 e0 ldi r25, 0x00 ; 0 + 154: c4 df rcall .-120 ; 0xde + 156: cf df rcall .-98 ; 0xf6 + 158: cf 91 pop r28 + 15a: 08 95 ret -0000014c : - 14c: 81 e0 ldi r24, 0x01 ; 1 - 14e: ee df rcall .-36 ; 0x12c - 150: 87 e8 ldi r24, 0x87 ; 135 - 152: 93 e1 ldi r25, 0x13 ; 19 - 154: 01 97 sbiw r24, 0x01 ; 1 - 156: f1 f7 brne .-4 ; 0x154 - 158: 00 c0 rjmp .+0 ; 0x15a - 15a: 00 00 nop - 15c: 80 e8 ldi r24, 0x80 ; 128 - 15e: e6 cf rjmp .-52 ; 0x12c - 160: 08 95 ret +0000015c : + 15c: 81 e0 ldi r24, 0x01 ; 1 + 15e: ee df rcall .-36 ; 0x13c + 160: 87 e8 ldi r24, 0x87 ; 135 + 162: 93 e1 ldi r25, 0x13 ; 19 + 164: 01 97 sbiw r24, 0x01 ; 1 + 166: f1 f7 brne .-4 ; 0x164 + 168: 00 c0 rjmp .+0 ; 0x16a + 16a: 00 00 nop + 16c: 80 e8 ldi r24, 0x80 ; 128 + 16e: e6 cf rjmp .-52 ; 0x13c + 170: 08 95 ret -00000162 : - 162: cf 93 push r28 - 164: 8f ef ldi r24, 0xFF ; 255 - 166: 84 bb out 0x14, r24 ; 20 - 168: 85 bb out 0x15, r24 ; 21 - 16a: 8a bb out 0x1a, r24 ; 26 - 16c: 15 ba out 0x15, r1 ; 21 - 16e: 1b ba out 0x1b, r1 ; 27 - 170: c0 e2 ldi r28, 0x20 ; 32 - 172: c5 bb out 0x15, r28 ; 21 - 174: b8 df rcall .-144 ; 0xe6 - 176: c5 bb out 0x15, r28 ; 21 - 178: b6 df rcall .-148 ; 0xe6 - 17a: 80 e8 ldi r24, 0x80 ; 128 - 17c: 85 bb out 0x15, r24 ; 21 - 17e: b3 df rcall .-154 ; 0xe6 - 180: 15 ba out 0x15, r1 ; 21 - 182: b1 df rcall .-158 ; 0xe6 - 184: 80 ef ldi r24, 0xF0 ; 240 - 186: 85 bb out 0x15, r24 ; 21 - 188: ae df rcall .-164 ; 0xe6 - 18a: 15 ba out 0x15, r1 ; 21 - 18c: ac df rcall .-168 ; 0xe6 - 18e: 80 e6 ldi r24, 0x60 ; 96 - 190: 85 bb out 0x15, r24 ; 21 - 192: a9 df rcall .-174 ; 0xe6 - 194: 82 e0 ldi r24, 0x02 ; 2 - 196: ca df rcall .-108 ; 0x12c - 198: a6 df rcall .-180 ; 0xe6 - 19a: cf 91 pop r28 - 19c: 08 95 ret +00000172 : + 172: cf 93 push r28 + 174: 8f ef ldi r24, 0xFF ; 255 + 176: 84 bb out 0x14, r24 ; 20 + 178: 85 bb out 0x15, r24 ; 21 + 17a: 8a bb out 0x1a, r24 ; 26 + 17c: 15 ba out 0x15, r1 ; 21 + 17e: 1b ba out 0x1b, r1 ; 27 + 180: c0 e2 ldi r28, 0x20 ; 32 + 182: c5 bb out 0x15, r28 ; 21 + 184: b8 df rcall .-144 ; 0xf6 + 186: c5 bb out 0x15, r28 ; 21 + 188: b6 df rcall .-148 ; 0xf6 + 18a: 80 e8 ldi r24, 0x80 ; 128 + 18c: 85 bb out 0x15, r24 ; 21 + 18e: b3 df rcall .-154 ; 0xf6 + 190: 15 ba out 0x15, r1 ; 21 + 192: b1 df rcall .-158 ; 0xf6 + 194: 80 ef ldi r24, 0xF0 ; 240 + 196: 85 bb out 0x15, r24 ; 21 + 198: ae df rcall .-164 ; 0xf6 + 19a: 15 ba out 0x15, r1 ; 21 + 19c: ac df rcall .-168 ; 0xf6 + 19e: 80 e6 ldi r24, 0x60 ; 96 + 1a0: 85 bb out 0x15, r24 ; 21 + 1a2: a9 df rcall .-174 ; 0xf6 + 1a4: 82 e0 ldi r24, 0x02 ; 2 + 1a6: ca df rcall .-108 ; 0x13c + 1a8: a6 df rcall .-180 ; 0xf6 + 1aa: cf 91 pop r28 + 1ac: 08 95 ret -0000019e : - 19e: cf 93 push r28 - 1a0: df 93 push r29 - 1a2: ec 01 movw r28, r24 - 1a4: 02 c0 rjmp .+4 ; 0x1aa - 1a6: b2 df rcall .-156 ; 0x10c - 1a8: 21 96 adiw r28, 0x01 ; 1 - 1aa: 88 81 ld r24, Y - 1ac: 81 11 cpse r24, r1 - 1ae: fb cf rjmp .-10 ; 0x1a6 - 1b0: df 91 pop r29 - 1b2: cf 91 pop r28 - 1b4: 08 95 ret +000001ae : + 1ae: cf 93 push r28 + 1b0: df 93 push r29 + 1b2: ec 01 movw r28, r24 + 1b4: 02 c0 rjmp .+4 ; 0x1ba + 1b6: b2 df rcall .-156 ; 0x11c + 1b8: 21 96 adiw r28, 0x01 ; 1 + 1ba: 88 81 ld r24, Y + 1bc: 81 11 cpse r24, r1 + 1be: fb cf rjmp .-10 ; 0x1b6 + 1c0: df 91 pop r29 + 1c2: cf 91 pop r28 + 1c4: 08 95 ret -000001b6 : +000001c6 : } void lcd_write_int(int number) { - 1b6: af 92 push r10 - 1b8: bf 92 push r11 - 1ba: cf 92 push r12 - 1bc: df 92 push r13 - 1be: ef 92 push r14 - 1c0: ff 92 push r15 - 1c2: 0f 93 push r16 - 1c4: 1f 93 push r17 - 1c6: cf 93 push r28 - 1c8: df 93 push r29 - 1ca: cd b7 in r28, 0x3d ; 61 - 1cc: de b7 in r29, 0x3e ; 62 - 1ce: d8 2e mov r13, r24 - 1d0: c9 2e mov r12, r25 + 1c6: af 92 push r10 + 1c8: bf 92 push r11 + 1ca: cf 92 push r12 + 1cc: df 92 push r13 + 1ce: ef 92 push r14 + 1d0: ff 92 push r15 + 1d2: 0f 93 push r16 + 1d4: 1f 93 push r17 + 1d6: cf 93 push r28 + 1d8: df 93 push r29 + 1da: cd b7 in r28, 0x3d ; 61 + 1dc: de b7 in r29, 0x3e ; 62 + 1de: d8 2e mov r13, r24 + 1e0: c9 2e mov r12, r25 int length = snprintf(NULL, 0, "%d", number); char str[length + 1]; snprintf(str, length + 1, "%d", number); lcd_write_string(str); } - 1d2: ad b6 in r10, 0x3d ; 61 - 1d4: be b6 in r11, 0x3e ; 62 + 1e2: ad b6 in r10, 0x3d ; 61 + 1e4: be b6 in r11, 0x3e ; 62 lcd_write_command(0x1E); } void lcd_write_int(int number) { int length = snprintf(NULL, 0, "%d", number); - 1d6: 9f 93 push r25 - 1d8: 8f 93 push r24 - 1da: 0f 2e mov r0, r31 - 1dc: f3 e0 ldi r31, 0x03 ; 3 - 1de: ef 2e mov r14, r31 - 1e0: f1 e0 ldi r31, 0x01 ; 1 - 1e2: ff 2e mov r15, r31 - 1e4: f0 2d mov r31, r0 - 1e6: ff 92 push r15 - 1e8: ef 92 push r14 - 1ea: 1f 92 push r1 - 1ec: 1f 92 push r1 - 1ee: 1f 92 push r1 - 1f0: 1f 92 push r1 - 1f2: af d0 rcall .+350 ; 0x352 + 1e6: 9f 93 push r25 + 1e8: 8f 93 push r24 + 1ea: 0f 2e mov r0, r31 + 1ec: f1 e0 ldi r31, 0x01 ; 1 + 1ee: ef 2e mov r14, r31 + 1f0: f1 e0 ldi r31, 0x01 ; 1 + 1f2: ff 2e mov r15, r31 + 1f4: f0 2d mov r31, r0 + 1f6: ff 92 push r15 + 1f8: ef 92 push r14 + 1fa: 1f 92 push r1 + 1fc: 1f 92 push r1 + 1fe: 1f 92 push r1 + 200: 1f 92 push r1 + 202: c7 d0 rcall .+398 ; 0x392 char str[length + 1]; - 1f4: 01 96 adiw r24, 0x01 ; 1 - 1f6: 2d b7 in r18, 0x3d ; 61 - 1f8: 3e b7 in r19, 0x3e ; 62 - 1fa: 28 5f subi r18, 0xF8 ; 248 - 1fc: 3f 4f sbci r19, 0xFF ; 255 - 1fe: 0f b6 in r0, 0x3f ; 63 - 200: f8 94 cli - 202: 3e bf out 0x3e, r19 ; 62 - 204: 0f be out 0x3f, r0 ; 63 - 206: 2d bf out 0x3d, r18 ; 61 - 208: 28 1b sub r18, r24 - 20a: 39 0b sbc r19, r25 - 20c: 0f b6 in r0, 0x3f ; 63 - 20e: f8 94 cli - 210: 3e bf out 0x3e, r19 ; 62 - 212: 0f be out 0x3f, r0 ; 63 - 214: 2d bf out 0x3d, r18 ; 61 - 216: 0d b7 in r16, 0x3d ; 61 - 218: 1e b7 in r17, 0x3e ; 62 - 21a: 0f 5f subi r16, 0xFF ; 255 - 21c: 1f 4f sbci r17, 0xFF ; 255 + 204: 01 96 adiw r24, 0x01 ; 1 + 206: 2d b7 in r18, 0x3d ; 61 + 208: 3e b7 in r19, 0x3e ; 62 + 20a: 28 5f subi r18, 0xF8 ; 248 + 20c: 3f 4f sbci r19, 0xFF ; 255 + 20e: 0f b6 in r0, 0x3f ; 63 + 210: f8 94 cli + 212: 3e bf out 0x3e, r19 ; 62 + 214: 0f be out 0x3f, r0 ; 63 + 216: 2d bf out 0x3d, r18 ; 61 + 218: 28 1b sub r18, r24 + 21a: 39 0b sbc r19, r25 + 21c: 0f b6 in r0, 0x3f ; 63 + 21e: f8 94 cli + 220: 3e bf out 0x3e, r19 ; 62 + 222: 0f be out 0x3f, r0 ; 63 + 224: 2d bf out 0x3d, r18 ; 61 + 226: 0d b7 in r16, 0x3d ; 61 + 228: 1e b7 in r17, 0x3e ; 62 + 22a: 0f 5f subi r16, 0xFF ; 255 + 22c: 1f 4f sbci r17, 0xFF ; 255 snprintf(str, length + 1, "%d", number); - 21e: cf 92 push r12 - 220: df 92 push r13 - 222: ff 92 push r15 - 224: ef 92 push r14 - 226: 9f 93 push r25 - 228: 8f 93 push r24 - 22a: 1f 93 push r17 - 22c: 0f 93 push r16 - 22e: 91 d0 rcall .+290 ; 0x352 + 22e: cf 92 push r12 + 230: df 92 push r13 + 232: ff 92 push r15 + 234: ef 92 push r14 + 236: 9f 93 push r25 + 238: 8f 93 push r24 + 23a: 1f 93 push r17 + 23c: 0f 93 push r16 + 23e: a9 d0 rcall .+338 ; 0x392 lcd_write_string(str); - 230: 80 2f mov r24, r16 - 232: 91 2f mov r25, r17 - 234: b4 df rcall .-152 ; 0x19e + 240: 80 2f mov r24, r16 + 242: 91 2f mov r25, r17 + 244: b4 df rcall .-152 ; 0x1ae } - 236: 8d b7 in r24, 0x3d ; 61 - 238: 9e b7 in r25, 0x3e ; 62 - 23a: 08 96 adiw r24, 0x08 ; 8 - 23c: 0f b6 in r0, 0x3f ; 63 - 23e: f8 94 cli - 240: 9e bf out 0x3e, r25 ; 62 - 242: 0f be out 0x3f, r0 ; 63 - 244: 8d bf out 0x3d, r24 ; 61 - 246: 0f b6 in r0, 0x3f ; 63 - 248: f8 94 cli - 24a: be be out 0x3e, r11 ; 62 - 24c: 0f be out 0x3f, r0 ; 63 - 24e: ad be out 0x3d, r10 ; 61 - 250: df 91 pop r29 - 252: cf 91 pop r28 - 254: 1f 91 pop r17 - 256: 0f 91 pop r16 - 258: ff 90 pop r15 - 25a: ef 90 pop r14 - 25c: df 90 pop r13 - 25e: cf 90 pop r12 - 260: bf 90 pop r11 - 262: af 90 pop r10 - 264: 08 95 ret + 246: 8d b7 in r24, 0x3d ; 61 + 248: 9e b7 in r25, 0x3e ; 62 + 24a: 08 96 adiw r24, 0x08 ; 8 + 24c: 0f b6 in r0, 0x3f ; 63 + 24e: f8 94 cli + 250: 9e bf out 0x3e, r25 ; 62 + 252: 0f be out 0x3f, r0 ; 63 + 254: 8d bf out 0x3d, r24 ; 61 + 256: 0f b6 in r0, 0x3f ; 63 + 258: f8 94 cli + 25a: be be out 0x3e, r11 ; 62 + 25c: 0f be out 0x3f, r0 ; 63 + 25e: ad be out 0x3d, r10 ; 61 + 260: df 91 pop r29 + 262: cf 91 pop r28 + 264: 1f 91 pop r17 + 266: 0f 91 pop r16 + 268: ff 90 pop r15 + 26a: ef 90 pop r14 + 26c: df 90 pop r13 + 26e: cf 90 pop r12 + 270: bf 90 pop r11 + 272: af 90 pop r10 + 274: 08 95 ret -00000266 : +00000276 <__vector_1>: -uint16_t timer_dist = 125; // time measured by timer; - -void wait_us(unsigned int us) -{ - for(int i = 0; i < us; i++) - 266: 20 e0 ldi r18, 0x00 ; 0 - 268: 30 e0 ldi r19, 0x00 ; 0 - 26a: 06 c0 rjmp .+12 ; 0x278 - #else - //round up by default - __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); - #endif - - __builtin_avr_delay_cycles(__ticks_dc); - 26c: 46 e0 ldi r20, 0x06 ; 6 - 26e: 4a 95 dec r20 - 270: f1 f7 brne .-4 ; 0x26e - 272: 00 c0 rjmp .+0 ; 0x274 - 274: 2f 5f subi r18, 0xFF ; 255 - 276: 3f 4f sbci r19, 0xFF ; 255 - 278: 28 17 cp r18, r24 - 27a: 39 07 cpc r19, r25 - 27c: b8 f3 brcs .-18 ; 0x26c - { - _delay_us(1); - } -} - 27e: 08 95 ret - -00000280 : - -void wait_ms(unsigned int ms) -{ - - for(int i = 0; i < ms; i++) - 280: 20 e0 ldi r18, 0x00 ; 0 - 282: 30 e0 ldi r19, 0x00 ; 0 - 284: 08 c0 rjmp .+16 ; 0x296 - #else - //round up by default - __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); - #endif - - __builtin_avr_delay_cycles(__ticks_dc); - 286: e7 e8 ldi r30, 0x87 ; 135 - 288: f3 e1 ldi r31, 0x13 ; 19 - 28a: 31 97 sbiw r30, 0x01 ; 1 - 28c: f1 f7 brne .-4 ; 0x28a - 28e: 00 c0 rjmp .+0 ; 0x290 - 290: 00 00 nop - 292: 2f 5f subi r18, 0xFF ; 255 - 294: 3f 4f sbci r19, 0xFF ; 255 - 296: 28 17 cp r18, r24 - 298: 39 07 cpc r19, r25 - 29a: a8 f3 brcs .-22 ; 0x286 - { - _delay_ms(1); - } -} - 29c: 08 95 ret - -0000029e : - -void ultrasonic_send_pulse() -{ - 29e: cf 93 push r28 - 2a0: df 93 push r29 - PORTG = 0x00; // 10 us low pulse - 2a2: c5 e6 ldi r28, 0x65 ; 101 - 2a4: d0 e0 ldi r29, 0x00 ; 0 - 2a6: 18 82 st Y, r1 - wait_us(10); - 2a8: 8a e0 ldi r24, 0x0A ; 10 - 2aa: 90 e0 ldi r25, 0x00 ; 0 - 2ac: dc df rcall .-72 ; 0x266 - PORTG = 0x01; - 2ae: 81 e0 ldi r24, 0x01 ; 1 - 2b0: 88 83 st Y, r24 -} - 2b2: df 91 pop r29 - 2b4: cf 91 pop r28 - 2b6: 08 95 ret - -000002b8 <__vector_1>: +#include "lcd_control.h" +#include "ultrasonic_sensor.h" ISR(INT0_vect) { - 2b8: 1f 92 push r1 - 2ba: 0f 92 push r0 - 2bc: 0f b6 in r0, 0x3f ; 63 - 2be: 0f 92 push r0 - 2c0: 11 24 eor r1, r1 - 2c2: 8f 93 push r24 - 2c4: 9f 93 push r25 - - timer_dist = 2009; - 2c6: 89 ed ldi r24, 0xD9 ; 217 - 2c8: 97 e0 ldi r25, 0x07 ; 7 - 2ca: 90 93 01 01 sts 0x0101, r25 ; 0x800101 <__DATA_REGION_ORIGIN__+0x1> - 2ce: 80 93 00 01 sts 0x0100, r24 ; 0x800100 <__DATA_REGION_ORIGIN__> - // if the interrupt was generated on a rising edge (start sending echo) - if (int_stat == INTERRUPT_RISING) - 2d2: 80 91 02 01 lds r24, 0x0102 ; 0x800102 - 2d6: 81 30 cpi r24, 0x01 ; 1 - 2d8: 41 f4 brne .+16 ; 0x2ea <__vector_1+0x32> - { - // set interrupt pin 0 on PORTD to falling edge - EICRA = 0x02; - 2da: 82 e0 ldi r24, 0x02 ; 2 - 2dc: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> - - // reset the time in timer1 - TCNT1 = 0x00; - 2e0: 1d bc out 0x2d, r1 ; 45 - 2e2: 1c bc out 0x2c, r1 ; 44 - - // set interrupt status - int_stat = INTERRUPT_FALLING; - 2e4: 10 92 02 01 sts 0x0102, r1 ; 0x800102 - 2e8: 0c c0 rjmp .+24 ; 0x302 <__vector_1+0x4a> - } else - // else if it was generated on a falling edge (end sending echo) - { - // set interrupt pin 0 on PORTD to rising edge - EICRA = 0x03; - 2ea: 83 e0 ldi r24, 0x03 ; 3 - 2ec: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> - - // read timer1 into time_dist - timer_dist = TCNT1; - 2f0: 8c b5 in r24, 0x2c ; 44 - 2f2: 9d b5 in r25, 0x2d ; 45 - 2f4: 90 93 01 01 sts 0x0101, r25 ; 0x800101 <__DATA_REGION_ORIGIN__+0x1> - 2f8: 80 93 00 01 sts 0x0100, r24 ; 0x800100 <__DATA_REGION_ORIGIN__> - - // set interrupt status - int_stat = INTERRUPT_RISING; - 2fc: 81 e0 ldi r24, 0x01 ; 1 - 2fe: 80 93 02 01 sts 0x0102, r24 ; 0x800102 - } - + 276: 1f 92 push r1 + 278: 0f 92 push r0 + 27a: 0f b6 in r0, 0x3f ; 63 + 27c: 0f 92 push r0 + 27e: 11 24 eor r1, r1 + 280: 0b b6 in r0, 0x3b ; 59 + 282: 0f 92 push r0 + 284: 2f 93 push r18 + 286: 3f 93 push r19 + 288: 4f 93 push r20 + 28a: 5f 93 push r21 + 28c: 6f 93 push r22 + 28e: 7f 93 push r23 + 290: 8f 93 push r24 + 292: 9f 93 push r25 + 294: af 93 push r26 + 296: bf 93 push r27 + 298: ef 93 push r30 + 29a: ff 93 push r31 + ultrasonic_handle_interrupt(); + 29c: 5c d0 rcall .+184 ; 0x356 } - 302: 9f 91 pop r25 - 304: 8f 91 pop r24 - 306: 0f 90 pop r0 - 308: 0f be out 0x3f, r0 ; 63 - 30a: 0f 90 pop r0 - 30c: 1f 90 pop r1 - 30e: 18 95 reti + 29e: ff 91 pop r31 + 2a0: ef 91 pop r30 + 2a2: bf 91 pop r27 + 2a4: af 91 pop r26 + 2a6: 9f 91 pop r25 + 2a8: 8f 91 pop r24 + 2aa: 7f 91 pop r23 + 2ac: 6f 91 pop r22 + 2ae: 5f 91 pop r21 + 2b0: 4f 91 pop r20 + 2b2: 3f 91 pop r19 + 2b4: 2f 91 pop r18 + 2b6: 0f 90 pop r0 + 2b8: 0b be out 0x3b, r0 ; 59 + 2ba: 0f 90 pop r0 + 2bc: 0f be out 0x3f, r0 ; 63 + 2be: 0f 90 pop r0 + 2c0: 1f 90 pop r1 + 2c2: 18 95 reti -00000310
: +000002c4
: int main(void) { - DDRG = 0xFF; // port g all output. pin 0 is trig, the rest is for debug - 310: 8f ef ldi r24, 0xFF ; 255 - 312: 80 93 64 00 sts 0x0064, r24 ; 0x800064 <__TEXT_REGION_LENGTH__+0x7e0064> - DDRD = 0x00; // port D pin 0 on input. 0 is echo and also interrupt - 316: 11 ba out 0x11, r1 ; 17 - - EICRA = 0x03; // interrupt PORTD on pin 0, rising edge - 318: 83 e0 ldi r24, 0x03 ; 3 - 31a: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> - - EIMSK |= 0x01; // enable interrupt on pin 0 (INT0) - 31e: 89 b7 in r24, 0x39 ; 57 - 320: 81 60 ori r24, 0x01 ; 1 - 322: 89 bf out 0x39, r24 ; 57 - - TCCR1A = 0b00000000; // initialize timer1, prescaler=256 - 324: 1f bc out 0x2f, r1 ; 47 - TCCR1B = 0b00001100; // CTC compare A, RUN - 326: 8c e0 ldi r24, 0x0C ; 12 - 328: 8e bd out 0x2e, r24 ; 46 - - - sei(); // turn on interrupt system - 32a: 78 94 sei + ultrasonic_init(); + 2c4: 2c d0 rcall .+88 ; 0x31e init_4bits_mode(); - 32c: 1a df rcall .-460 ; 0x162 - 32e: 8f e4 ldi r24, 0x4F ; 79 - 330: 93 ec ldi r25, 0xC3 ; 195 - 332: 01 97 sbiw r24, 0x01 ; 1 - 334: f1 f7 brne .-4 ; 0x332 - 336: 00 c0 rjmp .+0 ; 0x338 + 2c6: 55 df rcall .-342 ; 0x172 + 2c8: 87 ea ldi r24, 0xA7 ; 167 + #else + //round up by default + __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); + #endif + + __builtin_avr_delay_cycles(__ticks_dc); + 2ca: 91 e6 ldi r25, 0x61 ; 97 + 2cc: 01 97 sbiw r24, 0x01 ; 1 + 2ce: f1 f7 brne .-4 ; 0x2cc + 2d0: 00 c0 rjmp .+0 ; 0x2d2 + 2d2: 00 00 nop _delay_ms(10); lcd_clear(); - 338: 00 00 nop + 2d4: 43 df rcall .-378 ; 0x15c while (1) { ultrasonic_send_pulse(); - 33a: 08 df rcall .-496 ; 0x14c - 33c: b0 df rcall .-160 ; 0x29e + 2d6: 32 d0 rcall .+100 ; 0x33c - int distance = timer_dist * 340 / 2; lcd_clear(); - 33e: 06 df rcall .-500 ; 0x14c - 340: 80 91 00 01 lds r24, 0x0100 ; 0x800100 <__DATA_REGION_ORIGIN__> - lcd_write_int(timer_dist); - 344: 90 91 01 01 lds r25, 0x0101 ; 0x800101 <__DATA_REGION_ORIGIN__+0x1> - 348: 36 df rcall .-404 ; 0x1b6 + 2d8: 41 df rcall .-382 ; 0x15c + lcd_write_int(ultrasonic_get_timer_dist()); + 2da: 56 d0 rcall .+172 ; 0x388 + 2dc: 74 df rcall .-280 ; 0x1c6 + 2de: 84 e6 ldi r24, 0x64 ; 100 + 2e0: 90 e0 ldi r25, 0x00 ; 0 wait_ms(100); - 34a: 84 e6 ldi r24, 0x64 ; 100 - 34c: 90 e0 ldi r25, 0x00 ; 0 - 34e: 98 df rcall .-208 ; 0x280 - 350: f5 cf rjmp .-22 ; 0x33c + 2e2: 0e d0 rcall .+28 ; 0x300 + 2e4: f8 cf rjmp .-16 ; 0x2d6 -00000352 : - 352: 0f 93 push r16 - 354: 1f 93 push r17 - 356: cf 93 push r28 - 358: df 93 push r29 - 35a: cd b7 in r28, 0x3d ; 61 - 35c: de b7 in r29, 0x3e ; 62 - 35e: 2e 97 sbiw r28, 0x0e ; 14 - 360: 0f b6 in r0, 0x3f ; 63 - 362: f8 94 cli - 364: de bf out 0x3e, r29 ; 62 - 366: 0f be out 0x3f, r0 ; 63 - 368: cd bf out 0x3d, r28 ; 61 - 36a: 0d 89 ldd r16, Y+21 ; 0x15 - 36c: 1e 89 ldd r17, Y+22 ; 0x16 - 36e: 8f 89 ldd r24, Y+23 ; 0x17 - 370: 98 8d ldd r25, Y+24 ; 0x18 - 372: 26 e0 ldi r18, 0x06 ; 6 - 374: 2c 83 std Y+4, r18 ; 0x04 - 376: 1a 83 std Y+2, r17 ; 0x02 - 378: 09 83 std Y+1, r16 ; 0x01 - 37a: 97 ff sbrs r25, 7 - 37c: 02 c0 rjmp .+4 ; 0x382 - 37e: 80 e0 ldi r24, 0x00 ; 0 - 380: 90 e8 ldi r25, 0x80 ; 128 - 382: 01 97 sbiw r24, 0x01 ; 1 - 384: 9e 83 std Y+6, r25 ; 0x06 - 386: 8d 83 std Y+5, r24 ; 0x05 - 388: ae 01 movw r20, r28 - 38a: 45 5e subi r20, 0xE5 ; 229 - 38c: 5f 4f sbci r21, 0xFF ; 255 - 38e: 69 8d ldd r22, Y+25 ; 0x19 - 390: 7a 8d ldd r23, Y+26 ; 0x1a - 392: ce 01 movw r24, r28 - 394: 01 96 adiw r24, 0x01 ; 1 - 396: 19 d0 rcall .+50 ; 0x3ca - 398: 4d 81 ldd r20, Y+5 ; 0x05 - 39a: 5e 81 ldd r21, Y+6 ; 0x06 - 39c: 57 fd sbrc r21, 7 - 39e: 0a c0 rjmp .+20 ; 0x3b4 - 3a0: 2f 81 ldd r18, Y+7 ; 0x07 - 3a2: 38 85 ldd r19, Y+8 ; 0x08 - 3a4: 42 17 cp r20, r18 - 3a6: 53 07 cpc r21, r19 - 3a8: 0c f4 brge .+2 ; 0x3ac - 3aa: 9a 01 movw r18, r20 - 3ac: f8 01 movw r30, r16 - 3ae: e2 0f add r30, r18 - 3b0: f3 1f adc r31, r19 - 3b2: 10 82 st Z, r1 - 3b4: 2e 96 adiw r28, 0x0e ; 14 - 3b6: 0f b6 in r0, 0x3f ; 63 - 3b8: f8 94 cli - 3ba: de bf out 0x3e, r29 ; 62 - 3bc: 0f be out 0x3f, r0 ; 63 - 3be: cd bf out 0x3d, r28 ; 61 - 3c0: df 91 pop r29 - 3c2: cf 91 pop r28 - 3c4: 1f 91 pop r17 - 3c6: 0f 91 pop r16 - 3c8: 08 95 ret +000002e6 : -000003ca : - 3ca: 2f 92 push r2 - 3cc: 3f 92 push r3 - 3ce: 4f 92 push r4 - 3d0: 5f 92 push r5 - 3d2: 6f 92 push r6 - 3d4: 7f 92 push r7 - 3d6: 8f 92 push r8 - 3d8: 9f 92 push r9 - 3da: af 92 push r10 - 3dc: bf 92 push r11 - 3de: cf 92 push r12 - 3e0: df 92 push r13 - 3e2: ef 92 push r14 - 3e4: ff 92 push r15 - 3e6: 0f 93 push r16 - 3e8: 1f 93 push r17 - 3ea: cf 93 push r28 - 3ec: df 93 push r29 - 3ee: cd b7 in r28, 0x3d ; 61 - 3f0: de b7 in r29, 0x3e ; 62 - 3f2: 2b 97 sbiw r28, 0x0b ; 11 - 3f4: 0f b6 in r0, 0x3f ; 63 - 3f6: f8 94 cli - 3f8: de bf out 0x3e, r29 ; 62 - 3fa: 0f be out 0x3f, r0 ; 63 - 3fc: cd bf out 0x3d, r28 ; 61 - 3fe: 6c 01 movw r12, r24 - 400: 7b 01 movw r14, r22 - 402: 8a 01 movw r16, r20 - 404: fc 01 movw r30, r24 - 406: 17 82 std Z+7, r1 ; 0x07 - 408: 16 82 std Z+6, r1 ; 0x06 - 40a: 83 81 ldd r24, Z+3 ; 0x03 - 40c: 81 ff sbrs r24, 1 - 40e: bf c1 rjmp .+894 ; 0x78e <__LOCK_REGION_LENGTH__+0x38e> - 410: ce 01 movw r24, r28 - 412: 01 96 adiw r24, 0x01 ; 1 - 414: 3c 01 movw r6, r24 - 416: f6 01 movw r30, r12 - 418: 93 81 ldd r25, Z+3 ; 0x03 - 41a: f7 01 movw r30, r14 - 41c: 93 fd sbrc r25, 3 - 41e: 85 91 lpm r24, Z+ - 420: 93 ff sbrs r25, 3 - 422: 81 91 ld r24, Z+ - 424: 7f 01 movw r14, r30 - 426: 88 23 and r24, r24 - 428: 09 f4 brne .+2 ; 0x42c <__LOCK_REGION_LENGTH__+0x2c> - 42a: ad c1 rjmp .+858 ; 0x786 <__LOCK_REGION_LENGTH__+0x386> - 42c: 85 32 cpi r24, 0x25 ; 37 - 42e: 39 f4 brne .+14 ; 0x43e <__LOCK_REGION_LENGTH__+0x3e> - 430: 93 fd sbrc r25, 3 - 432: 85 91 lpm r24, Z+ - 434: 93 ff sbrs r25, 3 - 436: 81 91 ld r24, Z+ - 438: 7f 01 movw r14, r30 - 43a: 85 32 cpi r24, 0x25 ; 37 - 43c: 21 f4 brne .+8 ; 0x446 <__LOCK_REGION_LENGTH__+0x46> - 43e: b6 01 movw r22, r12 - 440: 90 e0 ldi r25, 0x00 ; 0 - 442: d6 d1 rcall .+940 ; 0x7f0 - 444: e8 cf rjmp .-48 ; 0x416 <__LOCK_REGION_LENGTH__+0x16> - 446: 91 2c mov r9, r1 - 448: 21 2c mov r2, r1 - 44a: 31 2c mov r3, r1 - 44c: ff e1 ldi r31, 0x1F ; 31 - 44e: f3 15 cp r31, r3 - 450: d8 f0 brcs .+54 ; 0x488 <__LOCK_REGION_LENGTH__+0x88> - 452: 8b 32 cpi r24, 0x2B ; 43 - 454: 79 f0 breq .+30 ; 0x474 <__LOCK_REGION_LENGTH__+0x74> - 456: 38 f4 brcc .+14 ; 0x466 <__LOCK_REGION_LENGTH__+0x66> - 458: 80 32 cpi r24, 0x20 ; 32 - 45a: 79 f0 breq .+30 ; 0x47a <__LOCK_REGION_LENGTH__+0x7a> - 45c: 83 32 cpi r24, 0x23 ; 35 - 45e: a1 f4 brne .+40 ; 0x488 <__LOCK_REGION_LENGTH__+0x88> - 460: 23 2d mov r18, r3 - 462: 20 61 ori r18, 0x10 ; 16 - 464: 1d c0 rjmp .+58 ; 0x4a0 <__LOCK_REGION_LENGTH__+0xa0> - 466: 8d 32 cpi r24, 0x2D ; 45 - 468: 61 f0 breq .+24 ; 0x482 <__LOCK_REGION_LENGTH__+0x82> - 46a: 80 33 cpi r24, 0x30 ; 48 - 46c: 69 f4 brne .+26 ; 0x488 <__LOCK_REGION_LENGTH__+0x88> - 46e: 23 2d mov r18, r3 - 470: 21 60 ori r18, 0x01 ; 1 - 472: 16 c0 rjmp .+44 ; 0x4a0 <__LOCK_REGION_LENGTH__+0xa0> - 474: 83 2d mov r24, r3 - 476: 82 60 ori r24, 0x02 ; 2 - 478: 38 2e mov r3, r24 - 47a: e3 2d mov r30, r3 - 47c: e4 60 ori r30, 0x04 ; 4 - 47e: 3e 2e mov r3, r30 - 480: 2a c0 rjmp .+84 ; 0x4d6 <__LOCK_REGION_LENGTH__+0xd6> - 482: f3 2d mov r31, r3 - 484: f8 60 ori r31, 0x08 ; 8 - 486: 1d c0 rjmp .+58 ; 0x4c2 <__LOCK_REGION_LENGTH__+0xc2> - 488: 37 fc sbrc r3, 7 - 48a: 2d c0 rjmp .+90 ; 0x4e6 <__LOCK_REGION_LENGTH__+0xe6> - 48c: 20 ed ldi r18, 0xD0 ; 208 - 48e: 28 0f add r18, r24 - 490: 2a 30 cpi r18, 0x0A ; 10 - 492: 40 f0 brcs .+16 ; 0x4a4 <__LOCK_REGION_LENGTH__+0xa4> - 494: 8e 32 cpi r24, 0x2E ; 46 - 496: b9 f4 brne .+46 ; 0x4c6 <__LOCK_REGION_LENGTH__+0xc6> - 498: 36 fc sbrc r3, 6 - 49a: 75 c1 rjmp .+746 ; 0x786 <__LOCK_REGION_LENGTH__+0x386> - 49c: 23 2d mov r18, r3 - 49e: 20 64 ori r18, 0x40 ; 64 - 4a0: 32 2e mov r3, r18 - 4a2: 19 c0 rjmp .+50 ; 0x4d6 <__LOCK_REGION_LENGTH__+0xd6> - 4a4: 36 fe sbrs r3, 6 - 4a6: 06 c0 rjmp .+12 ; 0x4b4 <__LOCK_REGION_LENGTH__+0xb4> - 4a8: 8a e0 ldi r24, 0x0A ; 10 - 4aa: 98 9e mul r9, r24 - 4ac: 20 0d add r18, r0 - 4ae: 11 24 eor r1, r1 - 4b0: 92 2e mov r9, r18 - 4b2: 11 c0 rjmp .+34 ; 0x4d6 <__LOCK_REGION_LENGTH__+0xd6> - 4b4: ea e0 ldi r30, 0x0A ; 10 - 4b6: 2e 9e mul r2, r30 - 4b8: 20 0d add r18, r0 - 4ba: 11 24 eor r1, r1 - 4bc: 22 2e mov r2, r18 - 4be: f3 2d mov r31, r3 - 4c0: f0 62 ori r31, 0x20 ; 32 - 4c2: 3f 2e mov r3, r31 - 4c4: 08 c0 rjmp .+16 ; 0x4d6 <__LOCK_REGION_LENGTH__+0xd6> - 4c6: 8c 36 cpi r24, 0x6C ; 108 - 4c8: 21 f4 brne .+8 ; 0x4d2 <__LOCK_REGION_LENGTH__+0xd2> - 4ca: 83 2d mov r24, r3 - 4cc: 80 68 ori r24, 0x80 ; 128 - 4ce: 38 2e mov r3, r24 - 4d0: 02 c0 rjmp .+4 ; 0x4d6 <__LOCK_REGION_LENGTH__+0xd6> - 4d2: 88 36 cpi r24, 0x68 ; 104 - 4d4: 41 f4 brne .+16 ; 0x4e6 <__LOCK_REGION_LENGTH__+0xe6> - 4d6: f7 01 movw r30, r14 - 4d8: 93 fd sbrc r25, 3 - 4da: 85 91 lpm r24, Z+ - 4dc: 93 ff sbrs r25, 3 - 4de: 81 91 ld r24, Z+ - 4e0: 7f 01 movw r14, r30 - 4e2: 81 11 cpse r24, r1 - 4e4: b3 cf rjmp .-154 ; 0x44c <__LOCK_REGION_LENGTH__+0x4c> - 4e6: 98 2f mov r25, r24 - 4e8: 9f 7d andi r25, 0xDF ; 223 - 4ea: 95 54 subi r25, 0x45 ; 69 - 4ec: 93 30 cpi r25, 0x03 ; 3 - 4ee: 28 f4 brcc .+10 ; 0x4fa <__LOCK_REGION_LENGTH__+0xfa> - 4f0: 0c 5f subi r16, 0xFC ; 252 - 4f2: 1f 4f sbci r17, 0xFF ; 255 - 4f4: 9f e3 ldi r25, 0x3F ; 63 - 4f6: 99 83 std Y+1, r25 ; 0x01 - 4f8: 0d c0 rjmp .+26 ; 0x514 <__LOCK_REGION_LENGTH__+0x114> - 4fa: 83 36 cpi r24, 0x63 ; 99 - 4fc: 31 f0 breq .+12 ; 0x50a <__LOCK_REGION_LENGTH__+0x10a> - 4fe: 83 37 cpi r24, 0x73 ; 115 - 500: 71 f0 breq .+28 ; 0x51e <__LOCK_REGION_LENGTH__+0x11e> - 502: 83 35 cpi r24, 0x53 ; 83 - 504: 09 f0 breq .+2 ; 0x508 <__LOCK_REGION_LENGTH__+0x108> - 506: 55 c0 rjmp .+170 ; 0x5b2 <__LOCK_REGION_LENGTH__+0x1b2> - 508: 20 c0 rjmp .+64 ; 0x54a <__LOCK_REGION_LENGTH__+0x14a> - 50a: f8 01 movw r30, r16 - 50c: 80 81 ld r24, Z - 50e: 89 83 std Y+1, r24 ; 0x01 - 510: 0e 5f subi r16, 0xFE ; 254 - 512: 1f 4f sbci r17, 0xFF ; 255 - 514: 88 24 eor r8, r8 - 516: 83 94 inc r8 - 518: 91 2c mov r9, r1 - 51a: 53 01 movw r10, r6 - 51c: 12 c0 rjmp .+36 ; 0x542 <__LOCK_REGION_LENGTH__+0x142> - 51e: 28 01 movw r4, r16 - 520: f2 e0 ldi r31, 0x02 ; 2 - 522: 4f 0e add r4, r31 - 524: 51 1c adc r5, r1 - 526: f8 01 movw r30, r16 - 528: a0 80 ld r10, Z - 52a: b1 80 ldd r11, Z+1 ; 0x01 - 52c: 36 fe sbrs r3, 6 - 52e: 03 c0 rjmp .+6 ; 0x536 <__LOCK_REGION_LENGTH__+0x136> - 530: 69 2d mov r22, r9 - 532: 70 e0 ldi r23, 0x00 ; 0 - 534: 02 c0 rjmp .+4 ; 0x53a <__LOCK_REGION_LENGTH__+0x13a> - 536: 6f ef ldi r22, 0xFF ; 255 - 538: 7f ef ldi r23, 0xFF ; 255 - 53a: c5 01 movw r24, r10 - 53c: 4e d1 rcall .+668 ; 0x7da - 53e: 4c 01 movw r8, r24 - 540: 82 01 movw r16, r4 - 542: f3 2d mov r31, r3 - 544: ff 77 andi r31, 0x7F ; 127 - 546: 3f 2e mov r3, r31 - 548: 15 c0 rjmp .+42 ; 0x574 <__LOCK_REGION_LENGTH__+0x174> - 54a: 28 01 movw r4, r16 - 54c: 22 e0 ldi r18, 0x02 ; 2 - 54e: 42 0e add r4, r18 - 550: 51 1c adc r5, r1 - 552: f8 01 movw r30, r16 - 554: a0 80 ld r10, Z - 556: b1 80 ldd r11, Z+1 ; 0x01 - 558: 36 fe sbrs r3, 6 - 55a: 03 c0 rjmp .+6 ; 0x562 <__LOCK_REGION_LENGTH__+0x162> - 55c: 69 2d mov r22, r9 - 55e: 70 e0 ldi r23, 0x00 ; 0 - 560: 02 c0 rjmp .+4 ; 0x566 <__LOCK_REGION_LENGTH__+0x166> - 562: 6f ef ldi r22, 0xFF ; 255 - 564: 7f ef ldi r23, 0xFF ; 255 - 566: c5 01 movw r24, r10 - 568: 2d d1 rcall .+602 ; 0x7c4 - 56a: 4c 01 movw r8, r24 - 56c: f3 2d mov r31, r3 - 56e: f0 68 ori r31, 0x80 ; 128 - 570: 3f 2e mov r3, r31 - 572: 82 01 movw r16, r4 - 574: 33 fc sbrc r3, 3 - 576: 19 c0 rjmp .+50 ; 0x5aa <__LOCK_REGION_LENGTH__+0x1aa> - 578: 82 2d mov r24, r2 - 57a: 90 e0 ldi r25, 0x00 ; 0 - 57c: 88 16 cp r8, r24 - 57e: 99 06 cpc r9, r25 - 580: a0 f4 brcc .+40 ; 0x5aa <__LOCK_REGION_LENGTH__+0x1aa> - 582: b6 01 movw r22, r12 - 584: 80 e2 ldi r24, 0x20 ; 32 - 586: 90 e0 ldi r25, 0x00 ; 0 - 588: 33 d1 rcall .+614 ; 0x7f0 - 58a: 2a 94 dec r2 - 58c: f5 cf rjmp .-22 ; 0x578 <__LOCK_REGION_LENGTH__+0x178> - 58e: f5 01 movw r30, r10 - 590: 37 fc sbrc r3, 7 - 592: 85 91 lpm r24, Z+ - 594: 37 fe sbrs r3, 7 - 596: 81 91 ld r24, Z+ - 598: 5f 01 movw r10, r30 - 59a: b6 01 movw r22, r12 - 59c: 90 e0 ldi r25, 0x00 ; 0 - 59e: 28 d1 rcall .+592 ; 0x7f0 - 5a0: 21 10 cpse r2, r1 - 5a2: 2a 94 dec r2 - 5a4: 21 e0 ldi r18, 0x01 ; 1 - 5a6: 82 1a sub r8, r18 - 5a8: 91 08 sbc r9, r1 - 5aa: 81 14 cp r8, r1 - 5ac: 91 04 cpc r9, r1 - 5ae: 79 f7 brne .-34 ; 0x58e <__LOCK_REGION_LENGTH__+0x18e> - 5b0: e1 c0 rjmp .+450 ; 0x774 <__LOCK_REGION_LENGTH__+0x374> - 5b2: 84 36 cpi r24, 0x64 ; 100 - 5b4: 11 f0 breq .+4 ; 0x5ba <__LOCK_REGION_LENGTH__+0x1ba> - 5b6: 89 36 cpi r24, 0x69 ; 105 - 5b8: 39 f5 brne .+78 ; 0x608 <__LOCK_REGION_LENGTH__+0x208> - 5ba: f8 01 movw r30, r16 - 5bc: 37 fe sbrs r3, 7 - 5be: 07 c0 rjmp .+14 ; 0x5ce <__LOCK_REGION_LENGTH__+0x1ce> - 5c0: 60 81 ld r22, Z - 5c2: 71 81 ldd r23, Z+1 ; 0x01 - 5c4: 82 81 ldd r24, Z+2 ; 0x02 - 5c6: 93 81 ldd r25, Z+3 ; 0x03 - 5c8: 0c 5f subi r16, 0xFC ; 252 - 5ca: 1f 4f sbci r17, 0xFF ; 255 - 5cc: 08 c0 rjmp .+16 ; 0x5de <__LOCK_REGION_LENGTH__+0x1de> - 5ce: 60 81 ld r22, Z - 5d0: 71 81 ldd r23, Z+1 ; 0x01 - 5d2: 07 2e mov r0, r23 - 5d4: 00 0c add r0, r0 - 5d6: 88 0b sbc r24, r24 - 5d8: 99 0b sbc r25, r25 - 5da: 0e 5f subi r16, 0xFE ; 254 - 5dc: 1f 4f sbci r17, 0xFF ; 255 - 5de: f3 2d mov r31, r3 - 5e0: ff 76 andi r31, 0x6F ; 111 - 5e2: 3f 2e mov r3, r31 - 5e4: 97 ff sbrs r25, 7 - 5e6: 09 c0 rjmp .+18 ; 0x5fa <__LOCK_REGION_LENGTH__+0x1fa> - 5e8: 90 95 com r25 - 5ea: 80 95 com r24 - 5ec: 70 95 com r23 - 5ee: 61 95 neg r22 - 5f0: 7f 4f sbci r23, 0xFF ; 255 - 5f2: 8f 4f sbci r24, 0xFF ; 255 - 5f4: 9f 4f sbci r25, 0xFF ; 255 - 5f6: f0 68 ori r31, 0x80 ; 128 - 5f8: 3f 2e mov r3, r31 - 5fa: 2a e0 ldi r18, 0x0A ; 10 - 5fc: 30 e0 ldi r19, 0x00 ; 0 - 5fe: a3 01 movw r20, r6 - 600: 33 d1 rcall .+614 ; 0x868 <__ultoa_invert> - 602: 88 2e mov r8, r24 - 604: 86 18 sub r8, r6 - 606: 44 c0 rjmp .+136 ; 0x690 <__LOCK_REGION_LENGTH__+0x290> - 608: 85 37 cpi r24, 0x75 ; 117 - 60a: 31 f4 brne .+12 ; 0x618 <__LOCK_REGION_LENGTH__+0x218> - 60c: 23 2d mov r18, r3 - 60e: 2f 7e andi r18, 0xEF ; 239 - 610: b2 2e mov r11, r18 - 612: 2a e0 ldi r18, 0x0A ; 10 - 614: 30 e0 ldi r19, 0x00 ; 0 - 616: 25 c0 rjmp .+74 ; 0x662 <__LOCK_REGION_LENGTH__+0x262> - 618: 93 2d mov r25, r3 - 61a: 99 7f andi r25, 0xF9 ; 249 - 61c: b9 2e mov r11, r25 - 61e: 8f 36 cpi r24, 0x6F ; 111 - 620: c1 f0 breq .+48 ; 0x652 <__LOCK_REGION_LENGTH__+0x252> - 622: 18 f4 brcc .+6 ; 0x62a <__LOCK_REGION_LENGTH__+0x22a> - 624: 88 35 cpi r24, 0x58 ; 88 - 626: 79 f0 breq .+30 ; 0x646 <__LOCK_REGION_LENGTH__+0x246> - 628: ae c0 rjmp .+348 ; 0x786 <__LOCK_REGION_LENGTH__+0x386> - 62a: 80 37 cpi r24, 0x70 ; 112 - 62c: 19 f0 breq .+6 ; 0x634 <__LOCK_REGION_LENGTH__+0x234> - 62e: 88 37 cpi r24, 0x78 ; 120 - 630: 21 f0 breq .+8 ; 0x63a <__LOCK_REGION_LENGTH__+0x23a> - 632: a9 c0 rjmp .+338 ; 0x786 <__LOCK_REGION_LENGTH__+0x386> - 634: e9 2f mov r30, r25 - 636: e0 61 ori r30, 0x10 ; 16 - 638: be 2e mov r11, r30 - 63a: b4 fe sbrs r11, 4 - 63c: 0d c0 rjmp .+26 ; 0x658 <__LOCK_REGION_LENGTH__+0x258> - 63e: fb 2d mov r31, r11 - 640: f4 60 ori r31, 0x04 ; 4 - 642: bf 2e mov r11, r31 - 644: 09 c0 rjmp .+18 ; 0x658 <__LOCK_REGION_LENGTH__+0x258> - 646: 34 fe sbrs r3, 4 - 648: 0a c0 rjmp .+20 ; 0x65e <__LOCK_REGION_LENGTH__+0x25e> - 64a: 29 2f mov r18, r25 - 64c: 26 60 ori r18, 0x06 ; 6 - 64e: b2 2e mov r11, r18 - 650: 06 c0 rjmp .+12 ; 0x65e <__LOCK_REGION_LENGTH__+0x25e> - 652: 28 e0 ldi r18, 0x08 ; 8 +static enum interrupt_status int_stat = INTERRUPT_RISING; + +void wait_us(unsigned int us) +{ + for(int i = 0; i < us; i++) + 2e6: 20 e0 ldi r18, 0x00 ; 0 + 2e8: 30 e0 ldi r19, 0x00 ; 0 + 2ea: 06 c0 rjmp .+12 ; 0x2f8 + #else + //round up by default + __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); + #endif + + __builtin_avr_delay_cycles(__ticks_dc); + 2ec: 43 e0 ldi r20, 0x03 ; 3 + 2ee: 4a 95 dec r20 + 2f0: f1 f7 brne .-4 ; 0x2ee + 2f2: 00 00 nop + 2f4: 2f 5f subi r18, 0xFF ; 255 + 2f6: 3f 4f sbci r19, 0xFF ; 255 + 2f8: 28 17 cp r18, r24 + 2fa: 39 07 cpc r19, r25 + 2fc: b8 f3 brcs .-18 ; 0x2ec + { + _delay_us(1); + } +} + 2fe: 08 95 ret + +00000300 : + +void wait_ms(unsigned int ms) +{ + + for(int i = 0; i < ms; i++) + 300: 20 e0 ldi r18, 0x00 ; 0 + 302: 30 e0 ldi r19, 0x00 ; 0 + 304: 08 c0 rjmp .+16 ; 0x316 + #else + //round up by default + __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); + #endif + + __builtin_avr_delay_cycles(__ticks_dc); + 306: e3 ec ldi r30, 0xC3 ; 195 + 308: f9 e0 ldi r31, 0x09 ; 9 + 30a: 31 97 sbiw r30, 0x01 ; 1 + 30c: f1 f7 brne .-4 ; 0x30a + 30e: 00 c0 rjmp .+0 ; 0x310 + 310: 00 00 nop + 312: 2f 5f subi r18, 0xFF ; 255 + 314: 3f 4f sbci r19, 0xFF ; 255 + 316: 28 17 cp r18, r24 + 318: 39 07 cpc r19, r25 + 31a: a8 f3 brcs .-22 ; 0x306 + { + _delay_ms(1); + } +} + 31c: 08 95 ret + +0000031e : +void ultrasonic_init() +{ + DDRG = 0xFF; // port g all output. pin 0 is trig, the rest is for debug + 31e: 8f ef ldi r24, 0xFF ; 255 + 320: 80 93 64 00 sts 0x0064, r24 ; 0x800064 <__TEXT_REGION_LENGTH__+0x7e0064> + DDRD = 0x00; // port D pin 0 on input. 0 is echo and also interrupt + 324: 11 ba out 0x11, r1 ; 17 + + EICRA = 0x03; // interrupt PORTD on pin 0, rising edge + 326: 83 e0 ldi r24, 0x03 ; 3 + 328: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> + + EIMSK |= 0x01; // enable interrupt on pin 0 (INT0) + 32c: 89 b7 in r24, 0x39 ; 57 + 32e: 81 60 ori r24, 0x01 ; 1 + 330: 89 bf out 0x39, r24 ; 57 + + TCCR1A = 0b00000000; // initialize timer1, prescaler=256 + 332: 1f bc out 0x2f, r1 ; 47 + TCCR1B = 0b00001100; // CTC compare A, RUN + 334: 8c e0 ldi r24, 0x0C ; 12 + 336: 8e bd out 0x2e, r24 ; 46 + + sei(); // turn on interrupt system + 338: 78 94 sei + 33a: 08 95 ret + +0000033c : +} + +void ultrasonic_send_pulse() +{ + 33c: cf 93 push r28 + 33e: df 93 push r29 + PORTG = 0x00; // 10 us low pulse + 340: c5 e6 ldi r28, 0x65 ; 101 + 342: d0 e0 ldi r29, 0x00 ; 0 + 344: 18 82 st Y, r1 + wait_us(10); + 346: 8a e0 ldi r24, 0x0A ; 10 + 348: 90 e0 ldi r25, 0x00 ; 0 + 34a: cd df rcall .-102 ; 0x2e6 + PORTG = 0x01; + 34c: 81 e0 ldi r24, 0x01 ; 1 + 34e: 88 83 st Y, r24 +} + 350: df 91 pop r29 + 352: cf 91 pop r28 + 354: 08 95 ret + +00000356 : + +void ultrasonic_handle_interrupt() +{ + // if the interrupt was generated on a rising edge (start sending echo) + if (int_stat == INTERRUPT_RISING) + 356: 80 91 00 01 lds r24, 0x0100 ; 0x800100 <__DATA_REGION_ORIGIN__> + 35a: 81 30 cpi r24, 0x01 ; 1 + 35c: 41 f4 brne .+16 ; 0x36e + { + // set interrupt pin 0 on PORTD to falling edge + EICRA = 0x02; + 35e: 82 e0 ldi r24, 0x02 ; 2 + 360: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> + + // reset the time in timer1 + TCNT1 = 0x00; + 364: 1d bc out 0x2d, r1 ; 45 + 366: 1c bc out 0x2c, r1 ; 44 + + // set interrupt status + int_stat = INTERRUPT_FALLING; + 368: 10 92 00 01 sts 0x0100, r1 ; 0x800100 <__DATA_REGION_ORIGIN__> + 36c: 08 95 ret + } else + // else if it was generated on a falling edge (end sending echo) + { + // set interrupt pin 0 on PORTD to rising edge + EICRA = 0x03; + 36e: 83 e0 ldi r24, 0x03 ; 3 + 370: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> + + // read timer1 into time_dist + timer_dist = TCNT1; + 374: 8c b5 in r24, 0x2c ; 44 + 376: 9d b5 in r25, 0x2d ; 45 + 378: 90 93 05 01 sts 0x0105, r25 ; 0x800105 <__data_end+0x1> + 37c: 80 93 04 01 sts 0x0104, r24 ; 0x800104 <__data_end> + + // set interrupt status + int_stat = INTERRUPT_RISING; + 380: 81 e0 ldi r24, 0x01 ; 1 + 382: 80 93 00 01 sts 0x0100, r24 ; 0x800100 <__DATA_REGION_ORIGIN__> + 386: 08 95 ret + +00000388 : +} + +uint16_t ultrasonic_get_timer_dist() +{ + return timer_dist; +} + 388: 80 91 04 01 lds r24, 0x0104 ; 0x800104 <__data_end> + 38c: 90 91 05 01 lds r25, 0x0105 ; 0x800105 <__data_end+0x1> + 390: 08 95 ret + +00000392 : + 392: 0f 93 push r16 + 394: 1f 93 push r17 + 396: cf 93 push r28 + 398: df 93 push r29 + 39a: cd b7 in r28, 0x3d ; 61 + 39c: de b7 in r29, 0x3e ; 62 + 39e: 2e 97 sbiw r28, 0x0e ; 14 + 3a0: 0f b6 in r0, 0x3f ; 63 + 3a2: f8 94 cli + 3a4: de bf out 0x3e, r29 ; 62 + 3a6: 0f be out 0x3f, r0 ; 63 + 3a8: cd bf out 0x3d, r28 ; 61 + 3aa: 0d 89 ldd r16, Y+21 ; 0x15 + 3ac: 1e 89 ldd r17, Y+22 ; 0x16 + 3ae: 8f 89 ldd r24, Y+23 ; 0x17 + 3b0: 98 8d ldd r25, Y+24 ; 0x18 + 3b2: 26 e0 ldi r18, 0x06 ; 6 + 3b4: 2c 83 std Y+4, r18 ; 0x04 + 3b6: 1a 83 std Y+2, r17 ; 0x02 + 3b8: 09 83 std Y+1, r16 ; 0x01 + 3ba: 97 ff sbrs r25, 7 + 3bc: 02 c0 rjmp .+4 ; 0x3c2 + 3be: 80 e0 ldi r24, 0x00 ; 0 + 3c0: 90 e8 ldi r25, 0x80 ; 128 + 3c2: 01 97 sbiw r24, 0x01 ; 1 + 3c4: 9e 83 std Y+6, r25 ; 0x06 + 3c6: 8d 83 std Y+5, r24 ; 0x05 + 3c8: ae 01 movw r20, r28 + 3ca: 45 5e subi r20, 0xE5 ; 229 + 3cc: 5f 4f sbci r21, 0xFF ; 255 + 3ce: 69 8d ldd r22, Y+25 ; 0x19 + 3d0: 7a 8d ldd r23, Y+26 ; 0x1a + 3d2: ce 01 movw r24, r28 + 3d4: 01 96 adiw r24, 0x01 ; 1 + 3d6: 19 d0 rcall .+50 ; 0x40a + 3d8: 4d 81 ldd r20, Y+5 ; 0x05 + 3da: 5e 81 ldd r21, Y+6 ; 0x06 + 3dc: 57 fd sbrc r21, 7 + 3de: 0a c0 rjmp .+20 ; 0x3f4 + 3e0: 2f 81 ldd r18, Y+7 ; 0x07 + 3e2: 38 85 ldd r19, Y+8 ; 0x08 + 3e4: 42 17 cp r20, r18 + 3e6: 53 07 cpc r21, r19 + 3e8: 0c f4 brge .+2 ; 0x3ec + 3ea: 9a 01 movw r18, r20 + 3ec: f8 01 movw r30, r16 + 3ee: e2 0f add r30, r18 + 3f0: f3 1f adc r31, r19 + 3f2: 10 82 st Z, r1 + 3f4: 2e 96 adiw r28, 0x0e ; 14 + 3f6: 0f b6 in r0, 0x3f ; 63 + 3f8: f8 94 cli + 3fa: de bf out 0x3e, r29 ; 62 + 3fc: 0f be out 0x3f, r0 ; 63 + 3fe: cd bf out 0x3d, r28 ; 61 + 400: df 91 pop r29 + 402: cf 91 pop r28 + 404: 1f 91 pop r17 + 406: 0f 91 pop r16 + 408: 08 95 ret + +0000040a : + 40a: 2f 92 push r2 + 40c: 3f 92 push r3 + 40e: 4f 92 push r4 + 410: 5f 92 push r5 + 412: 6f 92 push r6 + 414: 7f 92 push r7 + 416: 8f 92 push r8 + 418: 9f 92 push r9 + 41a: af 92 push r10 + 41c: bf 92 push r11 + 41e: cf 92 push r12 + 420: df 92 push r13 + 422: ef 92 push r14 + 424: ff 92 push r15 + 426: 0f 93 push r16 + 428: 1f 93 push r17 + 42a: cf 93 push r28 + 42c: df 93 push r29 + 42e: cd b7 in r28, 0x3d ; 61 + 430: de b7 in r29, 0x3e ; 62 + 432: 2b 97 sbiw r28, 0x0b ; 11 + 434: 0f b6 in r0, 0x3f ; 63 + 436: f8 94 cli + 438: de bf out 0x3e, r29 ; 62 + 43a: 0f be out 0x3f, r0 ; 63 + 43c: cd bf out 0x3d, r28 ; 61 + 43e: 6c 01 movw r12, r24 + 440: 7b 01 movw r14, r22 + 442: 8a 01 movw r16, r20 + 444: fc 01 movw r30, r24 + 446: 17 82 std Z+7, r1 ; 0x07 + 448: 16 82 std Z+6, r1 ; 0x06 + 44a: 83 81 ldd r24, Z+3 ; 0x03 + 44c: 81 ff sbrs r24, 1 + 44e: bf c1 rjmp .+894 ; 0x7ce + 450: ce 01 movw r24, r28 + 452: 01 96 adiw r24, 0x01 ; 1 + 454: 3c 01 movw r6, r24 + 456: f6 01 movw r30, r12 + 458: 93 81 ldd r25, Z+3 ; 0x03 + 45a: f7 01 movw r30, r14 + 45c: 93 fd sbrc r25, 3 + 45e: 85 91 lpm r24, Z+ + 460: 93 ff sbrs r25, 3 + 462: 81 91 ld r24, Z+ + 464: 7f 01 movw r14, r30 + 466: 88 23 and r24, r24 + 468: 09 f4 brne .+2 ; 0x46c + 46a: ad c1 rjmp .+858 ; 0x7c6 + 46c: 85 32 cpi r24, 0x25 ; 37 + 46e: 39 f4 brne .+14 ; 0x47e + 470: 93 fd sbrc r25, 3 + 472: 85 91 lpm r24, Z+ + 474: 93 ff sbrs r25, 3 + 476: 81 91 ld r24, Z+ + 478: 7f 01 movw r14, r30 + 47a: 85 32 cpi r24, 0x25 ; 37 + 47c: 21 f4 brne .+8 ; 0x486 + 47e: b6 01 movw r22, r12 + 480: 90 e0 ldi r25, 0x00 ; 0 + 482: d6 d1 rcall .+940 ; 0x830 + 484: e8 cf rjmp .-48 ; 0x456 + 486: 91 2c mov r9, r1 + 488: 21 2c mov r2, r1 + 48a: 31 2c mov r3, r1 + 48c: ff e1 ldi r31, 0x1F ; 31 + 48e: f3 15 cp r31, r3 + 490: d8 f0 brcs .+54 ; 0x4c8 + 492: 8b 32 cpi r24, 0x2B ; 43 + 494: 79 f0 breq .+30 ; 0x4b4 + 496: 38 f4 brcc .+14 ; 0x4a6 + 498: 80 32 cpi r24, 0x20 ; 32 + 49a: 79 f0 breq .+30 ; 0x4ba + 49c: 83 32 cpi r24, 0x23 ; 35 + 49e: a1 f4 brne .+40 ; 0x4c8 + 4a0: 23 2d mov r18, r3 + 4a2: 20 61 ori r18, 0x10 ; 16 + 4a4: 1d c0 rjmp .+58 ; 0x4e0 + 4a6: 8d 32 cpi r24, 0x2D ; 45 + 4a8: 61 f0 breq .+24 ; 0x4c2 + 4aa: 80 33 cpi r24, 0x30 ; 48 + 4ac: 69 f4 brne .+26 ; 0x4c8 + 4ae: 23 2d mov r18, r3 + 4b0: 21 60 ori r18, 0x01 ; 1 + 4b2: 16 c0 rjmp .+44 ; 0x4e0 + 4b4: 83 2d mov r24, r3 + 4b6: 82 60 ori r24, 0x02 ; 2 + 4b8: 38 2e mov r3, r24 + 4ba: e3 2d mov r30, r3 + 4bc: e4 60 ori r30, 0x04 ; 4 + 4be: 3e 2e mov r3, r30 + 4c0: 2a c0 rjmp .+84 ; 0x516 + 4c2: f3 2d mov r31, r3 + 4c4: f8 60 ori r31, 0x08 ; 8 + 4c6: 1d c0 rjmp .+58 ; 0x502 + 4c8: 37 fc sbrc r3, 7 + 4ca: 2d c0 rjmp .+90 ; 0x526 + 4cc: 20 ed ldi r18, 0xD0 ; 208 + 4ce: 28 0f add r18, r24 + 4d0: 2a 30 cpi r18, 0x0A ; 10 + 4d2: 40 f0 brcs .+16 ; 0x4e4 + 4d4: 8e 32 cpi r24, 0x2E ; 46 + 4d6: b9 f4 brne .+46 ; 0x506 + 4d8: 36 fc sbrc r3, 6 + 4da: 75 c1 rjmp .+746 ; 0x7c6 + 4dc: 23 2d mov r18, r3 + 4de: 20 64 ori r18, 0x40 ; 64 + 4e0: 32 2e mov r3, r18 + 4e2: 19 c0 rjmp .+50 ; 0x516 + 4e4: 36 fe sbrs r3, 6 + 4e6: 06 c0 rjmp .+12 ; 0x4f4 + 4e8: 8a e0 ldi r24, 0x0A ; 10 + 4ea: 98 9e mul r9, r24 + 4ec: 20 0d add r18, r0 + 4ee: 11 24 eor r1, r1 + 4f0: 92 2e mov r9, r18 + 4f2: 11 c0 rjmp .+34 ; 0x516 + 4f4: ea e0 ldi r30, 0x0A ; 10 + 4f6: 2e 9e mul r2, r30 + 4f8: 20 0d add r18, r0 + 4fa: 11 24 eor r1, r1 + 4fc: 22 2e mov r2, r18 + 4fe: f3 2d mov r31, r3 + 500: f0 62 ori r31, 0x20 ; 32 + 502: 3f 2e mov r3, r31 + 504: 08 c0 rjmp .+16 ; 0x516 + 506: 8c 36 cpi r24, 0x6C ; 108 + 508: 21 f4 brne .+8 ; 0x512 + 50a: 83 2d mov r24, r3 + 50c: 80 68 ori r24, 0x80 ; 128 + 50e: 38 2e mov r3, r24 + 510: 02 c0 rjmp .+4 ; 0x516 + 512: 88 36 cpi r24, 0x68 ; 104 + 514: 41 f4 brne .+16 ; 0x526 + 516: f7 01 movw r30, r14 + 518: 93 fd sbrc r25, 3 + 51a: 85 91 lpm r24, Z+ + 51c: 93 ff sbrs r25, 3 + 51e: 81 91 ld r24, Z+ + 520: 7f 01 movw r14, r30 + 522: 81 11 cpse r24, r1 + 524: b3 cf rjmp .-154 ; 0x48c + 526: 98 2f mov r25, r24 + 528: 9f 7d andi r25, 0xDF ; 223 + 52a: 95 54 subi r25, 0x45 ; 69 + 52c: 93 30 cpi r25, 0x03 ; 3 + 52e: 28 f4 brcc .+10 ; 0x53a + 530: 0c 5f subi r16, 0xFC ; 252 + 532: 1f 4f sbci r17, 0xFF ; 255 + 534: 9f e3 ldi r25, 0x3F ; 63 + 536: 99 83 std Y+1, r25 ; 0x01 + 538: 0d c0 rjmp .+26 ; 0x554 + 53a: 83 36 cpi r24, 0x63 ; 99 + 53c: 31 f0 breq .+12 ; 0x54a + 53e: 83 37 cpi r24, 0x73 ; 115 + 540: 71 f0 breq .+28 ; 0x55e + 542: 83 35 cpi r24, 0x53 ; 83 + 544: 09 f0 breq .+2 ; 0x548 + 546: 55 c0 rjmp .+170 ; 0x5f2 + 548: 20 c0 rjmp .+64 ; 0x58a + 54a: f8 01 movw r30, r16 + 54c: 80 81 ld r24, Z + 54e: 89 83 std Y+1, r24 ; 0x01 + 550: 0e 5f subi r16, 0xFE ; 254 + 552: 1f 4f sbci r17, 0xFF ; 255 + 554: 88 24 eor r8, r8 + 556: 83 94 inc r8 + 558: 91 2c mov r9, r1 + 55a: 53 01 movw r10, r6 + 55c: 12 c0 rjmp .+36 ; 0x582 + 55e: 28 01 movw r4, r16 + 560: f2 e0 ldi r31, 0x02 ; 2 + 562: 4f 0e add r4, r31 + 564: 51 1c adc r5, r1 + 566: f8 01 movw r30, r16 + 568: a0 80 ld r10, Z + 56a: b1 80 ldd r11, Z+1 ; 0x01 + 56c: 36 fe sbrs r3, 6 + 56e: 03 c0 rjmp .+6 ; 0x576 + 570: 69 2d mov r22, r9 + 572: 70 e0 ldi r23, 0x00 ; 0 + 574: 02 c0 rjmp .+4 ; 0x57a + 576: 6f ef ldi r22, 0xFF ; 255 + 578: 7f ef ldi r23, 0xFF ; 255 + 57a: c5 01 movw r24, r10 + 57c: 4e d1 rcall .+668 ; 0x81a + 57e: 4c 01 movw r8, r24 + 580: 82 01 movw r16, r4 + 582: f3 2d mov r31, r3 + 584: ff 77 andi r31, 0x7F ; 127 + 586: 3f 2e mov r3, r31 + 588: 15 c0 rjmp .+42 ; 0x5b4 + 58a: 28 01 movw r4, r16 + 58c: 22 e0 ldi r18, 0x02 ; 2 + 58e: 42 0e add r4, r18 + 590: 51 1c adc r5, r1 + 592: f8 01 movw r30, r16 + 594: a0 80 ld r10, Z + 596: b1 80 ldd r11, Z+1 ; 0x01 + 598: 36 fe sbrs r3, 6 + 59a: 03 c0 rjmp .+6 ; 0x5a2 + 59c: 69 2d mov r22, r9 + 59e: 70 e0 ldi r23, 0x00 ; 0 + 5a0: 02 c0 rjmp .+4 ; 0x5a6 + 5a2: 6f ef ldi r22, 0xFF ; 255 + 5a4: 7f ef ldi r23, 0xFF ; 255 + 5a6: c5 01 movw r24, r10 + 5a8: 2d d1 rcall .+602 ; 0x804 + 5aa: 4c 01 movw r8, r24 + 5ac: f3 2d mov r31, r3 + 5ae: f0 68 ori r31, 0x80 ; 128 + 5b0: 3f 2e mov r3, r31 + 5b2: 82 01 movw r16, r4 + 5b4: 33 fc sbrc r3, 3 + 5b6: 19 c0 rjmp .+50 ; 0x5ea + 5b8: 82 2d mov r24, r2 + 5ba: 90 e0 ldi r25, 0x00 ; 0 + 5bc: 88 16 cp r8, r24 + 5be: 99 06 cpc r9, r25 + 5c0: a0 f4 brcc .+40 ; 0x5ea + 5c2: b6 01 movw r22, r12 + 5c4: 80 e2 ldi r24, 0x20 ; 32 + 5c6: 90 e0 ldi r25, 0x00 ; 0 + 5c8: 33 d1 rcall .+614 ; 0x830 + 5ca: 2a 94 dec r2 + 5cc: f5 cf rjmp .-22 ; 0x5b8 + 5ce: f5 01 movw r30, r10 + 5d0: 37 fc sbrc r3, 7 + 5d2: 85 91 lpm r24, Z+ + 5d4: 37 fe sbrs r3, 7 + 5d6: 81 91 ld r24, Z+ + 5d8: 5f 01 movw r10, r30 + 5da: b6 01 movw r22, r12 + 5dc: 90 e0 ldi r25, 0x00 ; 0 + 5de: 28 d1 rcall .+592 ; 0x830 + 5e0: 21 10 cpse r2, r1 + 5e2: 2a 94 dec r2 + 5e4: 21 e0 ldi r18, 0x01 ; 1 + 5e6: 82 1a sub r8, r18 + 5e8: 91 08 sbc r9, r1 + 5ea: 81 14 cp r8, r1 + 5ec: 91 04 cpc r9, r1 + 5ee: 79 f7 brne .-34 ; 0x5ce + 5f0: e1 c0 rjmp .+450 ; 0x7b4 + 5f2: 84 36 cpi r24, 0x64 ; 100 + 5f4: 11 f0 breq .+4 ; 0x5fa + 5f6: 89 36 cpi r24, 0x69 ; 105 + 5f8: 39 f5 brne .+78 ; 0x648 + 5fa: f8 01 movw r30, r16 + 5fc: 37 fe sbrs r3, 7 + 5fe: 07 c0 rjmp .+14 ; 0x60e + 600: 60 81 ld r22, Z + 602: 71 81 ldd r23, Z+1 ; 0x01 + 604: 82 81 ldd r24, Z+2 ; 0x02 + 606: 93 81 ldd r25, Z+3 ; 0x03 + 608: 0c 5f subi r16, 0xFC ; 252 + 60a: 1f 4f sbci r17, 0xFF ; 255 + 60c: 08 c0 rjmp .+16 ; 0x61e + 60e: 60 81 ld r22, Z + 610: 71 81 ldd r23, Z+1 ; 0x01 + 612: 07 2e mov r0, r23 + 614: 00 0c add r0, r0 + 616: 88 0b sbc r24, r24 + 618: 99 0b sbc r25, r25 + 61a: 0e 5f subi r16, 0xFE ; 254 + 61c: 1f 4f sbci r17, 0xFF ; 255 + 61e: f3 2d mov r31, r3 + 620: ff 76 andi r31, 0x6F ; 111 + 622: 3f 2e mov r3, r31 + 624: 97 ff sbrs r25, 7 + 626: 09 c0 rjmp .+18 ; 0x63a + 628: 90 95 com r25 + 62a: 80 95 com r24 + 62c: 70 95 com r23 + 62e: 61 95 neg r22 + 630: 7f 4f sbci r23, 0xFF ; 255 + 632: 8f 4f sbci r24, 0xFF ; 255 + 634: 9f 4f sbci r25, 0xFF ; 255 + 636: f0 68 ori r31, 0x80 ; 128 + 638: 3f 2e mov r3, r31 + 63a: 2a e0 ldi r18, 0x0A ; 10 + 63c: 30 e0 ldi r19, 0x00 ; 0 + 63e: a3 01 movw r20, r6 + 640: 33 d1 rcall .+614 ; 0x8a8 <__ultoa_invert> + 642: 88 2e mov r8, r24 + 644: 86 18 sub r8, r6 + 646: 44 c0 rjmp .+136 ; 0x6d0 + 648: 85 37 cpi r24, 0x75 ; 117 + 64a: 31 f4 brne .+12 ; 0x658 + 64c: 23 2d mov r18, r3 + 64e: 2f 7e andi r18, 0xEF ; 239 + 650: b2 2e mov r11, r18 + 652: 2a e0 ldi r18, 0x0A ; 10 654: 30 e0 ldi r19, 0x00 ; 0 - 656: 05 c0 rjmp .+10 ; 0x662 <__LOCK_REGION_LENGTH__+0x262> - 658: 20 e1 ldi r18, 0x10 ; 16 - 65a: 30 e0 ldi r19, 0x00 ; 0 - 65c: 02 c0 rjmp .+4 ; 0x662 <__LOCK_REGION_LENGTH__+0x262> - 65e: 20 e1 ldi r18, 0x10 ; 16 - 660: 32 e0 ldi r19, 0x02 ; 2 - 662: f8 01 movw r30, r16 - 664: b7 fe sbrs r11, 7 - 666: 07 c0 rjmp .+14 ; 0x676 <__LOCK_REGION_LENGTH__+0x276> - 668: 60 81 ld r22, Z - 66a: 71 81 ldd r23, Z+1 ; 0x01 - 66c: 82 81 ldd r24, Z+2 ; 0x02 - 66e: 93 81 ldd r25, Z+3 ; 0x03 - 670: 0c 5f subi r16, 0xFC ; 252 - 672: 1f 4f sbci r17, 0xFF ; 255 - 674: 06 c0 rjmp .+12 ; 0x682 <__LOCK_REGION_LENGTH__+0x282> - 676: 60 81 ld r22, Z - 678: 71 81 ldd r23, Z+1 ; 0x01 - 67a: 80 e0 ldi r24, 0x00 ; 0 - 67c: 90 e0 ldi r25, 0x00 ; 0 - 67e: 0e 5f subi r16, 0xFE ; 254 - 680: 1f 4f sbci r17, 0xFF ; 255 - 682: a3 01 movw r20, r6 - 684: f1 d0 rcall .+482 ; 0x868 <__ultoa_invert> - 686: 88 2e mov r8, r24 - 688: 86 18 sub r8, r6 - 68a: fb 2d mov r31, r11 - 68c: ff 77 andi r31, 0x7F ; 127 - 68e: 3f 2e mov r3, r31 - 690: 36 fe sbrs r3, 6 - 692: 0d c0 rjmp .+26 ; 0x6ae <__LOCK_REGION_LENGTH__+0x2ae> - 694: 23 2d mov r18, r3 - 696: 2e 7f andi r18, 0xFE ; 254 - 698: a2 2e mov r10, r18 - 69a: 89 14 cp r8, r9 - 69c: 58 f4 brcc .+22 ; 0x6b4 <__LOCK_REGION_LENGTH__+0x2b4> - 69e: 34 fe sbrs r3, 4 - 6a0: 0b c0 rjmp .+22 ; 0x6b8 <__LOCK_REGION_LENGTH__+0x2b8> - 6a2: 32 fc sbrc r3, 2 - 6a4: 09 c0 rjmp .+18 ; 0x6b8 <__LOCK_REGION_LENGTH__+0x2b8> - 6a6: 83 2d mov r24, r3 - 6a8: 8e 7e andi r24, 0xEE ; 238 - 6aa: a8 2e mov r10, r24 - 6ac: 05 c0 rjmp .+10 ; 0x6b8 <__LOCK_REGION_LENGTH__+0x2b8> - 6ae: b8 2c mov r11, r8 - 6b0: a3 2c mov r10, r3 - 6b2: 03 c0 rjmp .+6 ; 0x6ba <__LOCK_REGION_LENGTH__+0x2ba> - 6b4: b8 2c mov r11, r8 - 6b6: 01 c0 rjmp .+2 ; 0x6ba <__LOCK_REGION_LENGTH__+0x2ba> - 6b8: b9 2c mov r11, r9 - 6ba: a4 fe sbrs r10, 4 - 6bc: 0f c0 rjmp .+30 ; 0x6dc <__LOCK_REGION_LENGTH__+0x2dc> - 6be: fe 01 movw r30, r28 - 6c0: e8 0d add r30, r8 - 6c2: f1 1d adc r31, r1 - 6c4: 80 81 ld r24, Z - 6c6: 80 33 cpi r24, 0x30 ; 48 - 6c8: 21 f4 brne .+8 ; 0x6d2 <__LOCK_REGION_LENGTH__+0x2d2> - 6ca: 9a 2d mov r25, r10 - 6cc: 99 7e andi r25, 0xE9 ; 233 - 6ce: a9 2e mov r10, r25 - 6d0: 09 c0 rjmp .+18 ; 0x6e4 <__LOCK_REGION_LENGTH__+0x2e4> - 6d2: a2 fe sbrs r10, 2 - 6d4: 06 c0 rjmp .+12 ; 0x6e2 <__LOCK_REGION_LENGTH__+0x2e2> - 6d6: b3 94 inc r11 - 6d8: b3 94 inc r11 - 6da: 04 c0 rjmp .+8 ; 0x6e4 <__LOCK_REGION_LENGTH__+0x2e4> - 6dc: 8a 2d mov r24, r10 - 6de: 86 78 andi r24, 0x86 ; 134 - 6e0: 09 f0 breq .+2 ; 0x6e4 <__LOCK_REGION_LENGTH__+0x2e4> - 6e2: b3 94 inc r11 - 6e4: a3 fc sbrc r10, 3 - 6e6: 10 c0 rjmp .+32 ; 0x708 <__LOCK_REGION_LENGTH__+0x308> - 6e8: a0 fe sbrs r10, 0 - 6ea: 06 c0 rjmp .+12 ; 0x6f8 <__LOCK_REGION_LENGTH__+0x2f8> - 6ec: b2 14 cp r11, r2 - 6ee: 80 f4 brcc .+32 ; 0x710 <__LOCK_REGION_LENGTH__+0x310> - 6f0: 28 0c add r2, r8 - 6f2: 92 2c mov r9, r2 - 6f4: 9b 18 sub r9, r11 - 6f6: 0d c0 rjmp .+26 ; 0x712 <__LOCK_REGION_LENGTH__+0x312> - 6f8: b2 14 cp r11, r2 - 6fa: 58 f4 brcc .+22 ; 0x712 <__LOCK_REGION_LENGTH__+0x312> - 6fc: b6 01 movw r22, r12 - 6fe: 80 e2 ldi r24, 0x20 ; 32 - 700: 90 e0 ldi r25, 0x00 ; 0 - 702: 76 d0 rcall .+236 ; 0x7f0 - 704: b3 94 inc r11 - 706: f8 cf rjmp .-16 ; 0x6f8 <__LOCK_REGION_LENGTH__+0x2f8> - 708: b2 14 cp r11, r2 - 70a: 18 f4 brcc .+6 ; 0x712 <__LOCK_REGION_LENGTH__+0x312> - 70c: 2b 18 sub r2, r11 - 70e: 02 c0 rjmp .+4 ; 0x714 <__LOCK_REGION_LENGTH__+0x314> - 710: 98 2c mov r9, r8 - 712: 21 2c mov r2, r1 - 714: a4 fe sbrs r10, 4 - 716: 0f c0 rjmp .+30 ; 0x736 <__LOCK_REGION_LENGTH__+0x336> - 718: b6 01 movw r22, r12 - 71a: 80 e3 ldi r24, 0x30 ; 48 - 71c: 90 e0 ldi r25, 0x00 ; 0 - 71e: 68 d0 rcall .+208 ; 0x7f0 - 720: a2 fe sbrs r10, 2 - 722: 16 c0 rjmp .+44 ; 0x750 <__LOCK_REGION_LENGTH__+0x350> - 724: a1 fc sbrc r10, 1 - 726: 03 c0 rjmp .+6 ; 0x72e <__LOCK_REGION_LENGTH__+0x32e> - 728: 88 e7 ldi r24, 0x78 ; 120 - 72a: 90 e0 ldi r25, 0x00 ; 0 - 72c: 02 c0 rjmp .+4 ; 0x732 <__LOCK_REGION_LENGTH__+0x332> - 72e: 88 e5 ldi r24, 0x58 ; 88 - 730: 90 e0 ldi r25, 0x00 ; 0 - 732: b6 01 movw r22, r12 - 734: 0c c0 rjmp .+24 ; 0x74e <__LOCK_REGION_LENGTH__+0x34e> - 736: 8a 2d mov r24, r10 - 738: 86 78 andi r24, 0x86 ; 134 - 73a: 51 f0 breq .+20 ; 0x750 <__LOCK_REGION_LENGTH__+0x350> - 73c: a1 fe sbrs r10, 1 - 73e: 02 c0 rjmp .+4 ; 0x744 <__LOCK_REGION_LENGTH__+0x344> - 740: 8b e2 ldi r24, 0x2B ; 43 - 742: 01 c0 rjmp .+2 ; 0x746 <__LOCK_REGION_LENGTH__+0x346> - 744: 80 e2 ldi r24, 0x20 ; 32 - 746: a7 fc sbrc r10, 7 - 748: 8d e2 ldi r24, 0x2D ; 45 - 74a: b6 01 movw r22, r12 - 74c: 90 e0 ldi r25, 0x00 ; 0 - 74e: 50 d0 rcall .+160 ; 0x7f0 - 750: 89 14 cp r8, r9 - 752: 30 f4 brcc .+12 ; 0x760 <__LOCK_REGION_LENGTH__+0x360> - 754: b6 01 movw r22, r12 - 756: 80 e3 ldi r24, 0x30 ; 48 - 758: 90 e0 ldi r25, 0x00 ; 0 - 75a: 4a d0 rcall .+148 ; 0x7f0 - 75c: 9a 94 dec r9 - 75e: f8 cf rjmp .-16 ; 0x750 <__LOCK_REGION_LENGTH__+0x350> - 760: 8a 94 dec r8 - 762: f3 01 movw r30, r6 - 764: e8 0d add r30, r8 - 766: f1 1d adc r31, r1 - 768: 80 81 ld r24, Z - 76a: b6 01 movw r22, r12 - 76c: 90 e0 ldi r25, 0x00 ; 0 - 76e: 40 d0 rcall .+128 ; 0x7f0 - 770: 81 10 cpse r8, r1 - 772: f6 cf rjmp .-20 ; 0x760 <__LOCK_REGION_LENGTH__+0x360> - 774: 22 20 and r2, r2 - 776: 09 f4 brne .+2 ; 0x77a <__LOCK_REGION_LENGTH__+0x37a> - 778: 4e ce rjmp .-868 ; 0x416 <__LOCK_REGION_LENGTH__+0x16> - 77a: b6 01 movw r22, r12 - 77c: 80 e2 ldi r24, 0x20 ; 32 - 77e: 90 e0 ldi r25, 0x00 ; 0 - 780: 37 d0 rcall .+110 ; 0x7f0 - 782: 2a 94 dec r2 - 784: f7 cf rjmp .-18 ; 0x774 <__LOCK_REGION_LENGTH__+0x374> - 786: f6 01 movw r30, r12 - 788: 86 81 ldd r24, Z+6 ; 0x06 - 78a: 97 81 ldd r25, Z+7 ; 0x07 - 78c: 02 c0 rjmp .+4 ; 0x792 <__LOCK_REGION_LENGTH__+0x392> - 78e: 8f ef ldi r24, 0xFF ; 255 - 790: 9f ef ldi r25, 0xFF ; 255 - 792: 2b 96 adiw r28, 0x0b ; 11 - 794: 0f b6 in r0, 0x3f ; 63 - 796: f8 94 cli - 798: de bf out 0x3e, r29 ; 62 - 79a: 0f be out 0x3f, r0 ; 63 - 79c: cd bf out 0x3d, r28 ; 61 - 79e: df 91 pop r29 - 7a0: cf 91 pop r28 - 7a2: 1f 91 pop r17 - 7a4: 0f 91 pop r16 - 7a6: ff 90 pop r15 - 7a8: ef 90 pop r14 - 7aa: df 90 pop r13 - 7ac: cf 90 pop r12 - 7ae: bf 90 pop r11 - 7b0: af 90 pop r10 - 7b2: 9f 90 pop r9 - 7b4: 8f 90 pop r8 - 7b6: 7f 90 pop r7 - 7b8: 6f 90 pop r6 - 7ba: 5f 90 pop r5 - 7bc: 4f 90 pop r4 - 7be: 3f 90 pop r3 - 7c0: 2f 90 pop r2 - 7c2: 08 95 ret + 656: 25 c0 rjmp .+74 ; 0x6a2 + 658: 93 2d mov r25, r3 + 65a: 99 7f andi r25, 0xF9 ; 249 + 65c: b9 2e mov r11, r25 + 65e: 8f 36 cpi r24, 0x6F ; 111 + 660: c1 f0 breq .+48 ; 0x692 + 662: 18 f4 brcc .+6 ; 0x66a + 664: 88 35 cpi r24, 0x58 ; 88 + 666: 79 f0 breq .+30 ; 0x686 + 668: ae c0 rjmp .+348 ; 0x7c6 + 66a: 80 37 cpi r24, 0x70 ; 112 + 66c: 19 f0 breq .+6 ; 0x674 + 66e: 88 37 cpi r24, 0x78 ; 120 + 670: 21 f0 breq .+8 ; 0x67a + 672: a9 c0 rjmp .+338 ; 0x7c6 + 674: e9 2f mov r30, r25 + 676: e0 61 ori r30, 0x10 ; 16 + 678: be 2e mov r11, r30 + 67a: b4 fe sbrs r11, 4 + 67c: 0d c0 rjmp .+26 ; 0x698 + 67e: fb 2d mov r31, r11 + 680: f4 60 ori r31, 0x04 ; 4 + 682: bf 2e mov r11, r31 + 684: 09 c0 rjmp .+18 ; 0x698 + 686: 34 fe sbrs r3, 4 + 688: 0a c0 rjmp .+20 ; 0x69e + 68a: 29 2f mov r18, r25 + 68c: 26 60 ori r18, 0x06 ; 6 + 68e: b2 2e mov r11, r18 + 690: 06 c0 rjmp .+12 ; 0x69e + 692: 28 e0 ldi r18, 0x08 ; 8 + 694: 30 e0 ldi r19, 0x00 ; 0 + 696: 05 c0 rjmp .+10 ; 0x6a2 + 698: 20 e1 ldi r18, 0x10 ; 16 + 69a: 30 e0 ldi r19, 0x00 ; 0 + 69c: 02 c0 rjmp .+4 ; 0x6a2 + 69e: 20 e1 ldi r18, 0x10 ; 16 + 6a0: 32 e0 ldi r19, 0x02 ; 2 + 6a2: f8 01 movw r30, r16 + 6a4: b7 fe sbrs r11, 7 + 6a6: 07 c0 rjmp .+14 ; 0x6b6 + 6a8: 60 81 ld r22, Z + 6aa: 71 81 ldd r23, Z+1 ; 0x01 + 6ac: 82 81 ldd r24, Z+2 ; 0x02 + 6ae: 93 81 ldd r25, Z+3 ; 0x03 + 6b0: 0c 5f subi r16, 0xFC ; 252 + 6b2: 1f 4f sbci r17, 0xFF ; 255 + 6b4: 06 c0 rjmp .+12 ; 0x6c2 + 6b6: 60 81 ld r22, Z + 6b8: 71 81 ldd r23, Z+1 ; 0x01 + 6ba: 80 e0 ldi r24, 0x00 ; 0 + 6bc: 90 e0 ldi r25, 0x00 ; 0 + 6be: 0e 5f subi r16, 0xFE ; 254 + 6c0: 1f 4f sbci r17, 0xFF ; 255 + 6c2: a3 01 movw r20, r6 + 6c4: f1 d0 rcall .+482 ; 0x8a8 <__ultoa_invert> + 6c6: 88 2e mov r8, r24 + 6c8: 86 18 sub r8, r6 + 6ca: fb 2d mov r31, r11 + 6cc: ff 77 andi r31, 0x7F ; 127 + 6ce: 3f 2e mov r3, r31 + 6d0: 36 fe sbrs r3, 6 + 6d2: 0d c0 rjmp .+26 ; 0x6ee + 6d4: 23 2d mov r18, r3 + 6d6: 2e 7f andi r18, 0xFE ; 254 + 6d8: a2 2e mov r10, r18 + 6da: 89 14 cp r8, r9 + 6dc: 58 f4 brcc .+22 ; 0x6f4 + 6de: 34 fe sbrs r3, 4 + 6e0: 0b c0 rjmp .+22 ; 0x6f8 + 6e2: 32 fc sbrc r3, 2 + 6e4: 09 c0 rjmp .+18 ; 0x6f8 + 6e6: 83 2d mov r24, r3 + 6e8: 8e 7e andi r24, 0xEE ; 238 + 6ea: a8 2e mov r10, r24 + 6ec: 05 c0 rjmp .+10 ; 0x6f8 + 6ee: b8 2c mov r11, r8 + 6f0: a3 2c mov r10, r3 + 6f2: 03 c0 rjmp .+6 ; 0x6fa + 6f4: b8 2c mov r11, r8 + 6f6: 01 c0 rjmp .+2 ; 0x6fa + 6f8: b9 2c mov r11, r9 + 6fa: a4 fe sbrs r10, 4 + 6fc: 0f c0 rjmp .+30 ; 0x71c + 6fe: fe 01 movw r30, r28 + 700: e8 0d add r30, r8 + 702: f1 1d adc r31, r1 + 704: 80 81 ld r24, Z + 706: 80 33 cpi r24, 0x30 ; 48 + 708: 21 f4 brne .+8 ; 0x712 + 70a: 9a 2d mov r25, r10 + 70c: 99 7e andi r25, 0xE9 ; 233 + 70e: a9 2e mov r10, r25 + 710: 09 c0 rjmp .+18 ; 0x724 + 712: a2 fe sbrs r10, 2 + 714: 06 c0 rjmp .+12 ; 0x722 + 716: b3 94 inc r11 + 718: b3 94 inc r11 + 71a: 04 c0 rjmp .+8 ; 0x724 + 71c: 8a 2d mov r24, r10 + 71e: 86 78 andi r24, 0x86 ; 134 + 720: 09 f0 breq .+2 ; 0x724 + 722: b3 94 inc r11 + 724: a3 fc sbrc r10, 3 + 726: 10 c0 rjmp .+32 ; 0x748 + 728: a0 fe sbrs r10, 0 + 72a: 06 c0 rjmp .+12 ; 0x738 + 72c: b2 14 cp r11, r2 + 72e: 80 f4 brcc .+32 ; 0x750 + 730: 28 0c add r2, r8 + 732: 92 2c mov r9, r2 + 734: 9b 18 sub r9, r11 + 736: 0d c0 rjmp .+26 ; 0x752 + 738: b2 14 cp r11, r2 + 73a: 58 f4 brcc .+22 ; 0x752 + 73c: b6 01 movw r22, r12 + 73e: 80 e2 ldi r24, 0x20 ; 32 + 740: 90 e0 ldi r25, 0x00 ; 0 + 742: 76 d0 rcall .+236 ; 0x830 + 744: b3 94 inc r11 + 746: f8 cf rjmp .-16 ; 0x738 + 748: b2 14 cp r11, r2 + 74a: 18 f4 brcc .+6 ; 0x752 + 74c: 2b 18 sub r2, r11 + 74e: 02 c0 rjmp .+4 ; 0x754 + 750: 98 2c mov r9, r8 + 752: 21 2c mov r2, r1 + 754: a4 fe sbrs r10, 4 + 756: 0f c0 rjmp .+30 ; 0x776 + 758: b6 01 movw r22, r12 + 75a: 80 e3 ldi r24, 0x30 ; 48 + 75c: 90 e0 ldi r25, 0x00 ; 0 + 75e: 68 d0 rcall .+208 ; 0x830 + 760: a2 fe sbrs r10, 2 + 762: 16 c0 rjmp .+44 ; 0x790 + 764: a1 fc sbrc r10, 1 + 766: 03 c0 rjmp .+6 ; 0x76e + 768: 88 e7 ldi r24, 0x78 ; 120 + 76a: 90 e0 ldi r25, 0x00 ; 0 + 76c: 02 c0 rjmp .+4 ; 0x772 + 76e: 88 e5 ldi r24, 0x58 ; 88 + 770: 90 e0 ldi r25, 0x00 ; 0 + 772: b6 01 movw r22, r12 + 774: 0c c0 rjmp .+24 ; 0x78e + 776: 8a 2d mov r24, r10 + 778: 86 78 andi r24, 0x86 ; 134 + 77a: 51 f0 breq .+20 ; 0x790 + 77c: a1 fe sbrs r10, 1 + 77e: 02 c0 rjmp .+4 ; 0x784 + 780: 8b e2 ldi r24, 0x2B ; 43 + 782: 01 c0 rjmp .+2 ; 0x786 + 784: 80 e2 ldi r24, 0x20 ; 32 + 786: a7 fc sbrc r10, 7 + 788: 8d e2 ldi r24, 0x2D ; 45 + 78a: b6 01 movw r22, r12 + 78c: 90 e0 ldi r25, 0x00 ; 0 + 78e: 50 d0 rcall .+160 ; 0x830 + 790: 89 14 cp r8, r9 + 792: 30 f4 brcc .+12 ; 0x7a0 + 794: b6 01 movw r22, r12 + 796: 80 e3 ldi r24, 0x30 ; 48 + 798: 90 e0 ldi r25, 0x00 ; 0 + 79a: 4a d0 rcall .+148 ; 0x830 + 79c: 9a 94 dec r9 + 79e: f8 cf rjmp .-16 ; 0x790 + 7a0: 8a 94 dec r8 + 7a2: f3 01 movw r30, r6 + 7a4: e8 0d add r30, r8 + 7a6: f1 1d adc r31, r1 + 7a8: 80 81 ld r24, Z + 7aa: b6 01 movw r22, r12 + 7ac: 90 e0 ldi r25, 0x00 ; 0 + 7ae: 40 d0 rcall .+128 ; 0x830 + 7b0: 81 10 cpse r8, r1 + 7b2: f6 cf rjmp .-20 ; 0x7a0 + 7b4: 22 20 and r2, r2 + 7b6: 09 f4 brne .+2 ; 0x7ba + 7b8: 4e ce rjmp .-868 ; 0x456 + 7ba: b6 01 movw r22, r12 + 7bc: 80 e2 ldi r24, 0x20 ; 32 + 7be: 90 e0 ldi r25, 0x00 ; 0 + 7c0: 37 d0 rcall .+110 ; 0x830 + 7c2: 2a 94 dec r2 + 7c4: f7 cf rjmp .-18 ; 0x7b4 + 7c6: f6 01 movw r30, r12 + 7c8: 86 81 ldd r24, Z+6 ; 0x06 + 7ca: 97 81 ldd r25, Z+7 ; 0x07 + 7cc: 02 c0 rjmp .+4 ; 0x7d2 + 7ce: 8f ef ldi r24, 0xFF ; 255 + 7d0: 9f ef ldi r25, 0xFF ; 255 + 7d2: 2b 96 adiw r28, 0x0b ; 11 + 7d4: 0f b6 in r0, 0x3f ; 63 + 7d6: f8 94 cli + 7d8: de bf out 0x3e, r29 ; 62 + 7da: 0f be out 0x3f, r0 ; 63 + 7dc: cd bf out 0x3d, r28 ; 61 + 7de: df 91 pop r29 + 7e0: cf 91 pop r28 + 7e2: 1f 91 pop r17 + 7e4: 0f 91 pop r16 + 7e6: ff 90 pop r15 + 7e8: ef 90 pop r14 + 7ea: df 90 pop r13 + 7ec: cf 90 pop r12 + 7ee: bf 90 pop r11 + 7f0: af 90 pop r10 + 7f2: 9f 90 pop r9 + 7f4: 8f 90 pop r8 + 7f6: 7f 90 pop r7 + 7f8: 6f 90 pop r6 + 7fa: 5f 90 pop r5 + 7fc: 4f 90 pop r4 + 7fe: 3f 90 pop r3 + 800: 2f 90 pop r2 + 802: 08 95 ret -000007c4 : - 7c4: fc 01 movw r30, r24 - 7c6: 05 90 lpm r0, Z+ - 7c8: 61 50 subi r22, 0x01 ; 1 - 7ca: 70 40 sbci r23, 0x00 ; 0 - 7cc: 01 10 cpse r0, r1 - 7ce: d8 f7 brcc .-10 ; 0x7c6 - 7d0: 80 95 com r24 - 7d2: 90 95 com r25 - 7d4: 8e 0f add r24, r30 - 7d6: 9f 1f adc r25, r31 - 7d8: 08 95 ret +00000804 : + 804: fc 01 movw r30, r24 + 806: 05 90 lpm r0, Z+ + 808: 61 50 subi r22, 0x01 ; 1 + 80a: 70 40 sbci r23, 0x00 ; 0 + 80c: 01 10 cpse r0, r1 + 80e: d8 f7 brcc .-10 ; 0x806 + 810: 80 95 com r24 + 812: 90 95 com r25 + 814: 8e 0f add r24, r30 + 816: 9f 1f adc r25, r31 + 818: 08 95 ret -000007da : - 7da: fc 01 movw r30, r24 - 7dc: 61 50 subi r22, 0x01 ; 1 - 7de: 70 40 sbci r23, 0x00 ; 0 - 7e0: 01 90 ld r0, Z+ - 7e2: 01 10 cpse r0, r1 - 7e4: d8 f7 brcc .-10 ; 0x7dc - 7e6: 80 95 com r24 - 7e8: 90 95 com r25 - 7ea: 8e 0f add r24, r30 - 7ec: 9f 1f adc r25, r31 - 7ee: 08 95 ret +0000081a : + 81a: fc 01 movw r30, r24 + 81c: 61 50 subi r22, 0x01 ; 1 + 81e: 70 40 sbci r23, 0x00 ; 0 + 820: 01 90 ld r0, Z+ + 822: 01 10 cpse r0, r1 + 824: d8 f7 brcc .-10 ; 0x81c + 826: 80 95 com r24 + 828: 90 95 com r25 + 82a: 8e 0f add r24, r30 + 82c: 9f 1f adc r25, r31 + 82e: 08 95 ret -000007f0 : - 7f0: 0f 93 push r16 - 7f2: 1f 93 push r17 - 7f4: cf 93 push r28 - 7f6: df 93 push r29 - 7f8: fb 01 movw r30, r22 - 7fa: 23 81 ldd r18, Z+3 ; 0x03 - 7fc: 21 fd sbrc r18, 1 - 7fe: 03 c0 rjmp .+6 ; 0x806 - 800: 8f ef ldi r24, 0xFF ; 255 - 802: 9f ef ldi r25, 0xFF ; 255 - 804: 2c c0 rjmp .+88 ; 0x85e - 806: 22 ff sbrs r18, 2 - 808: 16 c0 rjmp .+44 ; 0x836 - 80a: 46 81 ldd r20, Z+6 ; 0x06 - 80c: 57 81 ldd r21, Z+7 ; 0x07 - 80e: 24 81 ldd r18, Z+4 ; 0x04 - 810: 35 81 ldd r19, Z+5 ; 0x05 - 812: 42 17 cp r20, r18 - 814: 53 07 cpc r21, r19 - 816: 44 f4 brge .+16 ; 0x828 - 818: a0 81 ld r26, Z - 81a: b1 81 ldd r27, Z+1 ; 0x01 - 81c: 9d 01 movw r18, r26 - 81e: 2f 5f subi r18, 0xFF ; 255 - 820: 3f 4f sbci r19, 0xFF ; 255 - 822: 31 83 std Z+1, r19 ; 0x01 - 824: 20 83 st Z, r18 - 826: 8c 93 st X, r24 - 828: 26 81 ldd r18, Z+6 ; 0x06 - 82a: 37 81 ldd r19, Z+7 ; 0x07 - 82c: 2f 5f subi r18, 0xFF ; 255 - 82e: 3f 4f sbci r19, 0xFF ; 255 - 830: 37 83 std Z+7, r19 ; 0x07 - 832: 26 83 std Z+6, r18 ; 0x06 - 834: 14 c0 rjmp .+40 ; 0x85e - 836: 8b 01 movw r16, r22 - 838: ec 01 movw r28, r24 - 83a: fb 01 movw r30, r22 - 83c: 00 84 ldd r0, Z+8 ; 0x08 - 83e: f1 85 ldd r31, Z+9 ; 0x09 - 840: e0 2d mov r30, r0 - 842: 09 95 icall - 844: 89 2b or r24, r25 - 846: e1 f6 brne .-72 ; 0x800 - 848: d8 01 movw r26, r16 - 84a: 16 96 adiw r26, 0x06 ; 6 - 84c: 8d 91 ld r24, X+ - 84e: 9c 91 ld r25, X - 850: 17 97 sbiw r26, 0x07 ; 7 - 852: 01 96 adiw r24, 0x01 ; 1 - 854: 17 96 adiw r26, 0x07 ; 7 - 856: 9c 93 st X, r25 - 858: 8e 93 st -X, r24 - 85a: 16 97 sbiw r26, 0x06 ; 6 - 85c: ce 01 movw r24, r28 - 85e: df 91 pop r29 - 860: cf 91 pop r28 - 862: 1f 91 pop r17 - 864: 0f 91 pop r16 - 866: 08 95 ret +00000830 : + 830: 0f 93 push r16 + 832: 1f 93 push r17 + 834: cf 93 push r28 + 836: df 93 push r29 + 838: fb 01 movw r30, r22 + 83a: 23 81 ldd r18, Z+3 ; 0x03 + 83c: 21 fd sbrc r18, 1 + 83e: 03 c0 rjmp .+6 ; 0x846 + 840: 8f ef ldi r24, 0xFF ; 255 + 842: 9f ef ldi r25, 0xFF ; 255 + 844: 2c c0 rjmp .+88 ; 0x89e + 846: 22 ff sbrs r18, 2 + 848: 16 c0 rjmp .+44 ; 0x876 + 84a: 46 81 ldd r20, Z+6 ; 0x06 + 84c: 57 81 ldd r21, Z+7 ; 0x07 + 84e: 24 81 ldd r18, Z+4 ; 0x04 + 850: 35 81 ldd r19, Z+5 ; 0x05 + 852: 42 17 cp r20, r18 + 854: 53 07 cpc r21, r19 + 856: 44 f4 brge .+16 ; 0x868 + 858: a0 81 ld r26, Z + 85a: b1 81 ldd r27, Z+1 ; 0x01 + 85c: 9d 01 movw r18, r26 + 85e: 2f 5f subi r18, 0xFF ; 255 + 860: 3f 4f sbci r19, 0xFF ; 255 + 862: 31 83 std Z+1, r19 ; 0x01 + 864: 20 83 st Z, r18 + 866: 8c 93 st X, r24 + 868: 26 81 ldd r18, Z+6 ; 0x06 + 86a: 37 81 ldd r19, Z+7 ; 0x07 + 86c: 2f 5f subi r18, 0xFF ; 255 + 86e: 3f 4f sbci r19, 0xFF ; 255 + 870: 37 83 std Z+7, r19 ; 0x07 + 872: 26 83 std Z+6, r18 ; 0x06 + 874: 14 c0 rjmp .+40 ; 0x89e + 876: 8b 01 movw r16, r22 + 878: ec 01 movw r28, r24 + 87a: fb 01 movw r30, r22 + 87c: 00 84 ldd r0, Z+8 ; 0x08 + 87e: f1 85 ldd r31, Z+9 ; 0x09 + 880: e0 2d mov r30, r0 + 882: 09 95 icall + 884: 89 2b or r24, r25 + 886: e1 f6 brne .-72 ; 0x840 + 888: d8 01 movw r26, r16 + 88a: 16 96 adiw r26, 0x06 ; 6 + 88c: 8d 91 ld r24, X+ + 88e: 9c 91 ld r25, X + 890: 17 97 sbiw r26, 0x07 ; 7 + 892: 01 96 adiw r24, 0x01 ; 1 + 894: 17 96 adiw r26, 0x07 ; 7 + 896: 9c 93 st X, r25 + 898: 8e 93 st -X, r24 + 89a: 16 97 sbiw r26, 0x06 ; 6 + 89c: ce 01 movw r24, r28 + 89e: df 91 pop r29 + 8a0: cf 91 pop r28 + 8a2: 1f 91 pop r17 + 8a4: 0f 91 pop r16 + 8a6: 08 95 ret -00000868 <__ultoa_invert>: - 868: fa 01 movw r30, r20 - 86a: aa 27 eor r26, r26 - 86c: 28 30 cpi r18, 0x08 ; 8 - 86e: 51 f1 breq .+84 ; 0x8c4 <__ultoa_invert+0x5c> - 870: 20 31 cpi r18, 0x10 ; 16 - 872: 81 f1 breq .+96 ; 0x8d4 <__ultoa_invert+0x6c> - 874: e8 94 clt - 876: 6f 93 push r22 - 878: 6e 7f andi r22, 0xFE ; 254 - 87a: 6e 5f subi r22, 0xFE ; 254 - 87c: 7f 4f sbci r23, 0xFF ; 255 - 87e: 8f 4f sbci r24, 0xFF ; 255 - 880: 9f 4f sbci r25, 0xFF ; 255 - 882: af 4f sbci r26, 0xFF ; 255 - 884: b1 e0 ldi r27, 0x01 ; 1 - 886: 3e d0 rcall .+124 ; 0x904 <__ultoa_invert+0x9c> - 888: b4 e0 ldi r27, 0x04 ; 4 - 88a: 3c d0 rcall .+120 ; 0x904 <__ultoa_invert+0x9c> - 88c: 67 0f add r22, r23 - 88e: 78 1f adc r23, r24 - 890: 89 1f adc r24, r25 - 892: 9a 1f adc r25, r26 - 894: a1 1d adc r26, r1 - 896: 68 0f add r22, r24 - 898: 79 1f adc r23, r25 - 89a: 8a 1f adc r24, r26 - 89c: 91 1d adc r25, r1 - 89e: a1 1d adc r26, r1 - 8a0: 6a 0f add r22, r26 - 8a2: 71 1d adc r23, r1 - 8a4: 81 1d adc r24, r1 - 8a6: 91 1d adc r25, r1 - 8a8: a1 1d adc r26, r1 - 8aa: 20 d0 rcall .+64 ; 0x8ec <__ultoa_invert+0x84> - 8ac: 09 f4 brne .+2 ; 0x8b0 <__ultoa_invert+0x48> - 8ae: 68 94 set - 8b0: 3f 91 pop r19 - 8b2: 2a e0 ldi r18, 0x0A ; 10 - 8b4: 26 9f mul r18, r22 - 8b6: 11 24 eor r1, r1 - 8b8: 30 19 sub r19, r0 - 8ba: 30 5d subi r19, 0xD0 ; 208 - 8bc: 31 93 st Z+, r19 - 8be: de f6 brtc .-74 ; 0x876 <__ultoa_invert+0xe> - 8c0: cf 01 movw r24, r30 - 8c2: 08 95 ret - 8c4: 46 2f mov r20, r22 - 8c6: 47 70 andi r20, 0x07 ; 7 - 8c8: 40 5d subi r20, 0xD0 ; 208 - 8ca: 41 93 st Z+, r20 - 8cc: b3 e0 ldi r27, 0x03 ; 3 - 8ce: 0f d0 rcall .+30 ; 0x8ee <__ultoa_invert+0x86> - 8d0: c9 f7 brne .-14 ; 0x8c4 <__ultoa_invert+0x5c> - 8d2: f6 cf rjmp .-20 ; 0x8c0 <__ultoa_invert+0x58> - 8d4: 46 2f mov r20, r22 - 8d6: 4f 70 andi r20, 0x0F ; 15 - 8d8: 40 5d subi r20, 0xD0 ; 208 - 8da: 4a 33 cpi r20, 0x3A ; 58 - 8dc: 18 f0 brcs .+6 ; 0x8e4 <__ultoa_invert+0x7c> - 8de: 49 5d subi r20, 0xD9 ; 217 - 8e0: 31 fd sbrc r19, 1 - 8e2: 40 52 subi r20, 0x20 ; 32 - 8e4: 41 93 st Z+, r20 - 8e6: 02 d0 rcall .+4 ; 0x8ec <__ultoa_invert+0x84> - 8e8: a9 f7 brne .-22 ; 0x8d4 <__ultoa_invert+0x6c> - 8ea: ea cf rjmp .-44 ; 0x8c0 <__ultoa_invert+0x58> - 8ec: b4 e0 ldi r27, 0x04 ; 4 - 8ee: a6 95 lsr r26 - 8f0: 97 95 ror r25 - 8f2: 87 95 ror r24 - 8f4: 77 95 ror r23 - 8f6: 67 95 ror r22 - 8f8: ba 95 dec r27 - 8fa: c9 f7 brne .-14 ; 0x8ee <__ultoa_invert+0x86> - 8fc: 00 97 sbiw r24, 0x00 ; 0 - 8fe: 61 05 cpc r22, r1 - 900: 71 05 cpc r23, r1 +000008a8 <__ultoa_invert>: + 8a8: fa 01 movw r30, r20 + 8aa: aa 27 eor r26, r26 + 8ac: 28 30 cpi r18, 0x08 ; 8 + 8ae: 51 f1 breq .+84 ; 0x904 <__ultoa_invert+0x5c> + 8b0: 20 31 cpi r18, 0x10 ; 16 + 8b2: 81 f1 breq .+96 ; 0x914 <__ultoa_invert+0x6c> + 8b4: e8 94 clt + 8b6: 6f 93 push r22 + 8b8: 6e 7f andi r22, 0xFE ; 254 + 8ba: 6e 5f subi r22, 0xFE ; 254 + 8bc: 7f 4f sbci r23, 0xFF ; 255 + 8be: 8f 4f sbci r24, 0xFF ; 255 + 8c0: 9f 4f sbci r25, 0xFF ; 255 + 8c2: af 4f sbci r26, 0xFF ; 255 + 8c4: b1 e0 ldi r27, 0x01 ; 1 + 8c6: 3e d0 rcall .+124 ; 0x944 <__ultoa_invert+0x9c> + 8c8: b4 e0 ldi r27, 0x04 ; 4 + 8ca: 3c d0 rcall .+120 ; 0x944 <__ultoa_invert+0x9c> + 8cc: 67 0f add r22, r23 + 8ce: 78 1f adc r23, r24 + 8d0: 89 1f adc r24, r25 + 8d2: 9a 1f adc r25, r26 + 8d4: a1 1d adc r26, r1 + 8d6: 68 0f add r22, r24 + 8d8: 79 1f adc r23, r25 + 8da: 8a 1f adc r24, r26 + 8dc: 91 1d adc r25, r1 + 8de: a1 1d adc r26, r1 + 8e0: 6a 0f add r22, r26 + 8e2: 71 1d adc r23, r1 + 8e4: 81 1d adc r24, r1 + 8e6: 91 1d adc r25, r1 + 8e8: a1 1d adc r26, r1 + 8ea: 20 d0 rcall .+64 ; 0x92c <__ultoa_invert+0x84> + 8ec: 09 f4 brne .+2 ; 0x8f0 <__ultoa_invert+0x48> + 8ee: 68 94 set + 8f0: 3f 91 pop r19 + 8f2: 2a e0 ldi r18, 0x0A ; 10 + 8f4: 26 9f mul r18, r22 + 8f6: 11 24 eor r1, r1 + 8f8: 30 19 sub r19, r0 + 8fa: 30 5d subi r19, 0xD0 ; 208 + 8fc: 31 93 st Z+, r19 + 8fe: de f6 brtc .-74 ; 0x8b6 <__ultoa_invert+0xe> + 900: cf 01 movw r24, r30 902: 08 95 ret - 904: 9b 01 movw r18, r22 - 906: ac 01 movw r20, r24 - 908: 0a 2e mov r0, r26 - 90a: 06 94 lsr r0 - 90c: 57 95 ror r21 - 90e: 47 95 ror r20 - 910: 37 95 ror r19 - 912: 27 95 ror r18 - 914: ba 95 dec r27 - 916: c9 f7 brne .-14 ; 0x90a <__ultoa_invert+0xa2> - 918: 62 0f add r22, r18 - 91a: 73 1f adc r23, r19 - 91c: 84 1f adc r24, r20 - 91e: 95 1f adc r25, r21 - 920: a0 1d adc r26, r0 - 922: 08 95 ret + 904: 46 2f mov r20, r22 + 906: 47 70 andi r20, 0x07 ; 7 + 908: 40 5d subi r20, 0xD0 ; 208 + 90a: 41 93 st Z+, r20 + 90c: b3 e0 ldi r27, 0x03 ; 3 + 90e: 0f d0 rcall .+30 ; 0x92e <__ultoa_invert+0x86> + 910: c9 f7 brne .-14 ; 0x904 <__ultoa_invert+0x5c> + 912: f6 cf rjmp .-20 ; 0x900 <__ultoa_invert+0x58> + 914: 46 2f mov r20, r22 + 916: 4f 70 andi r20, 0x0F ; 15 + 918: 40 5d subi r20, 0xD0 ; 208 + 91a: 4a 33 cpi r20, 0x3A ; 58 + 91c: 18 f0 brcs .+6 ; 0x924 <__ultoa_invert+0x7c> + 91e: 49 5d subi r20, 0xD9 ; 217 + 920: 31 fd sbrc r19, 1 + 922: 40 52 subi r20, 0x20 ; 32 + 924: 41 93 st Z+, r20 + 926: 02 d0 rcall .+4 ; 0x92c <__ultoa_invert+0x84> + 928: a9 f7 brne .-22 ; 0x914 <__ultoa_invert+0x6c> + 92a: ea cf rjmp .-44 ; 0x900 <__ultoa_invert+0x58> + 92c: b4 e0 ldi r27, 0x04 ; 4 + 92e: a6 95 lsr r26 + 930: 97 95 ror r25 + 932: 87 95 ror r24 + 934: 77 95 ror r23 + 936: 67 95 ror r22 + 938: ba 95 dec r27 + 93a: c9 f7 brne .-14 ; 0x92e <__ultoa_invert+0x86> + 93c: 00 97 sbiw r24, 0x00 ; 0 + 93e: 61 05 cpc r22, r1 + 940: 71 05 cpc r23, r1 + 942: 08 95 ret + 944: 9b 01 movw r18, r22 + 946: ac 01 movw r20, r24 + 948: 0a 2e mov r0, r26 + 94a: 06 94 lsr r0 + 94c: 57 95 ror r21 + 94e: 47 95 ror r20 + 950: 37 95 ror r19 + 952: 27 95 ror r18 + 954: ba 95 dec r27 + 956: c9 f7 brne .-14 ; 0x94a <__ultoa_invert+0xa2> + 958: 62 0f add r22, r18 + 95a: 73 1f adc r23, r19 + 95c: 84 1f adc r24, r20 + 95e: 95 1f adc r25, r21 + 960: a0 1d adc r26, r0 + 962: 08 95 ret -00000924 <_exit>: - 924: f8 94 cli +00000964 <_exit>: + 964: f8 94 cli -00000926 <__stop_program>: - 926: ff cf rjmp .-2 ; 0x926 <__stop_program> +00000966 <__stop_program>: + 966: ff cf rjmp .-2 ; 0x966 <__stop_program> diff --git a/Microcontrollers/ultrasonicSensor/Debug/ultrasonicSensor.srec b/Microcontrollers/ultrasonicSensor/Debug/ultrasonicSensor.srec index 6bde30f..bd2d5d1 100644 --- a/Microcontrollers/ultrasonicSensor/Debug/ultrasonicSensor.srec +++ b/Microcontrollers/ultrasonicSensor/Debug/ultrasonicSensor.srec @@ -1,150 +1,154 @@ S0180000756C747261736F6E696353656E736F722E737265634E -S113000045C0000059C1000056C0000054C00000A3 -S113001052C0000050C000004EC000004CC00000A0 -S11300204AC0000048C0000046C0000044C00000B0 -S113003042C0000040C000003EC000003CC00000C0 -S11300403AC0000038C0000036C0000034C00000D0 -S113005032C0000030C000002EC000002CC00000E0 -S11300602AC0000028C0000026C0000024C00000F0 -S113007022C0000020C000001EC000001CC0000000 -S11300801AC0000018C0000016C0000011241FBED2 -S1130090CFEFD0E1DEBFCDBF11E0A0E0B1E0E8E2F8 -S11300A0F9E000E00BBF02C007900D92A630B10743 -S11300B0D9F72ED137C4A4CF9BB321E030E002C0DE -S11300C0220F331F8A95E2F7292B2BBB08959BB38C -S11300D021E030E002C0220F331F8A95E2F7209519 -S11300E029232BBB089586E090E0E6DF83EC99E0BA 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a/Microcontrollers/ultrasonicSensor/main.c +++ b/Microcontrollers/ultrasonicSensor/main.c @@ -16,90 +16,25 @@ */ -#define F_CPU 20e6 +#define F_CPU 10e6 #include #include #include #include "lcd_control.h" - -enum interrupt_status {INTERRUPT_FALLING, INTERRUPT_RISING}; - -static enum interrupt_status int_stat = INTERRUPT_RISING; - -uint16_t timer_dist = 125; // time measured by timer; - -void wait_us(unsigned int us) -{ - for(int i = 0; i < us; i++) - { - _delay_us(1); - } -} - -void wait_ms(unsigned int ms) -{ - - for(int i = 0; i < ms; i++) - { - _delay_ms(1); - } -} - -void ultrasonic_send_pulse() -{ - PORTG = 0x00; // 10 us low pulse - wait_us(10); - PORTG = 0x01; -} +#include "ultrasonic_sensor.h" ISR(INT0_vect) { - - timer_dist = 2009; - // if the interrupt was generated on a rising edge (start sending echo) - if (int_stat == INTERRUPT_RISING) - { - // set interrupt pin 0 on PORTD to falling edge - EICRA = 0x02; - - // reset the time in timer1 - TCNT1 = 0x00; - - // set interrupt status - int_stat = INTERRUPT_FALLING; - } else - // else if it was generated on a falling edge (end sending echo) - { - // set interrupt pin 0 on PORTD to rising edge - EICRA = 0x03; - - // read timer1 into time_dist - timer_dist = TCNT1; - - // set interrupt status - int_stat = INTERRUPT_RISING; - } - + ultrasonic_handle_interrupt(); } int main(void) { - DDRG = 0xFF; // port g all output. pin 0 is trig, the rest is for debug - DDRD = 0x00; // port D pin 0 on input. 0 is echo and also interrupt - - EICRA = 0x03; // interrupt PORTD on pin 0, rising edge - - EIMSK |= 0x01; // enable interrupt on pin 0 (INT0) - - TCCR1A = 0b00000000; // initialize timer1, prescaler=256 - TCCR1B = 0b00001100; // CTC compare A, RUN - - - sei(); // turn on interrupt system + ultrasonic_init(); init_4bits_mode(); _delay_ms(10); @@ -111,9 +46,8 @@ int main(void) { ultrasonic_send_pulse(); - int distance = timer_dist * 340 / 2; lcd_clear(); - lcd_write_int(timer_dist); + lcd_write_int(ultrasonic_get_timer_dist()); wait_ms(100); diff --git a/Microcontrollers/ultrasonicSensor/ultrasonicSensor.cproj b/Microcontrollers/ultrasonicSensor/ultrasonicSensor.cproj index 2a8122a..9d6d7c2 100644 --- a/Microcontrollers/ultrasonicSensor/ultrasonicSensor.cproj +++ b/Microcontrollers/ultrasonicSensor/ultrasonicSensor.cproj @@ -32,81 +32,81 @@ - -mmcu=atmega128 -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\gcc\dev\atmega128" - True - True - True - True - True - False - True - True - - - NDEBUG - - - - - %24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\include\ - - - Optimize for size (-Os) - True - True - True - - - libm - - - - - %24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\include\ - - - + -mmcu=atmega128 -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\gcc\dev\atmega128" + True + True + True + True + True + False + True + True + + + NDEBUG + + + + + %24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\include\ + + + Optimize for size (-Os) + True + True + True + + + libm + + + + + %24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\include\ + + + - -mmcu=atmega128 -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\gcc\dev\atmega128" - True - True - True - True - True - False - True - True - - - DEBUG - - - - - %24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\include\ - - - Optimize debugging experience (-Og) - True - True - Default (-g2) - True - - - libm - - - - - %24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\include\ - - - Default (-Wa,-g) - + -mmcu=atmega128 -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\gcc\dev\atmega128" + True + True + True + True + True + False + True + True + + + DEBUG + + + + + %24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\include\ + + + Optimize debugging experience (-Og) + True + True + Default (-g2) + True + + + libm + + + + + %24(PackRepoDir)\atmel\ATmega_DFP\1.6.364\include\ + + + Default (-Wa,-g) + @@ -119,6 +119,12 @@ compile + + compile + + + compile + \ No newline at end of file