Eindopdracht.elf: file format elf32-avr Sections: Idx Name Size VMA LMA File off Algn 0 .data 00000016 00800100 00000ade 00000b72 2**0 CONTENTS, ALLOC, LOAD, DATA 1 .text 00000ade 00000000 00000000 00000094 2**1 CONTENTS, ALLOC, LOAD, READONLY, CODE 2 .bss 0000000c 00800116 00800116 00000b88 2**0 ALLOC 3 .comment 0000005c 00000000 00000000 00000b88 2**0 CONTENTS, READONLY 4 .note.gnu.avr.deviceinfo 0000003c 00000000 00000000 00000be4 2**2 CONTENTS, READONLY 5 .debug_aranges 00000148 00000000 00000000 00000c20 2**0 CONTENTS, READONLY, DEBUGGING 6 .debug_info 000014e2 00000000 00000000 00000d68 2**0 CONTENTS, READONLY, DEBUGGING 7 .debug_abbrev 00000d38 00000000 00000000 0000224a 2**0 CONTENTS, READONLY, DEBUGGING 8 .debug_line 00000aaa 00000000 00000000 00002f82 2**0 CONTENTS, READONLY, DEBUGGING 9 .debug_frame 00000318 00000000 00000000 00003a2c 2**2 CONTENTS, READONLY, DEBUGGING 10 .debug_str 00000754 00000000 00000000 00003d44 2**0 CONTENTS, READONLY, DEBUGGING 11 .debug_loc 0000068c 00000000 00000000 00004498 2**0 CONTENTS, READONLY, DEBUGGING 12 .debug_ranges 00000108 00000000 00000000 00004b24 2**0 CONTENTS, READONLY, DEBUGGING Disassembly of section .text: 00000000 <__vectors>: 0: 45 c0 rjmp .+138 ; 0x8c <__ctors_end> 2: 00 00 nop 4: 49 c1 rjmp .+658 ; 0x298 <__vector_1> 6: 00 00 nop 8: 5e c0 rjmp .+188 ; 0xc6 <__bad_interrupt> a: 00 00 nop c: 5c c0 rjmp .+184 ; 0xc6 <__bad_interrupt> e: 00 00 nop 10: 5a c0 rjmp .+180 ; 0xc6 <__bad_interrupt> 12: 00 00 nop 14: 58 c0 rjmp .+176 ; 0xc6 <__bad_interrupt> 16: 00 00 nop 18: 56 c0 rjmp .+172 ; 0xc6 <__bad_interrupt> 1a: 00 00 nop 1c: 54 c0 rjmp .+168 ; 0xc6 <__bad_interrupt> 1e: 00 00 nop 20: 52 c0 rjmp .+164 ; 0xc6 <__bad_interrupt> 22: 00 00 nop 24: 92 c1 rjmp .+804 ; 0x34a <__vector_9> 26: 00 00 nop 28: 4e c0 rjmp .+156 ; 0xc6 <__bad_interrupt> 2a: 00 00 nop 2c: 4c c0 rjmp .+152 ; 0xc6 <__bad_interrupt> 2e: 00 00 nop 30: 4a c0 rjmp .+148 ; 0xc6 <__bad_interrupt> 32: 00 00 nop 34: 48 c0 rjmp .+144 ; 0xc6 <__bad_interrupt> 36: 00 00 nop 38: 46 c0 rjmp .+140 ; 0xc6 <__bad_interrupt> 3a: 00 00 nop 3c: 44 c0 rjmp .+136 ; 0xc6 <__bad_interrupt> 3e: 00 00 nop 40: 42 c0 rjmp .+132 ; 0xc6 <__bad_interrupt> 42: 00 00 nop 44: 40 c0 rjmp .+128 ; 0xc6 <__bad_interrupt> 46: 00 00 nop 48: 3e c0 rjmp .+124 ; 0xc6 <__bad_interrupt> 4a: 00 00 nop 4c: 3c c0 rjmp .+120 ; 0xc6 <__bad_interrupt> 4e: 00 00 nop 50: 3a c0 rjmp .+116 ; 0xc6 <__bad_interrupt> 52: 00 00 nop 54: 38 c0 rjmp .+112 ; 0xc6 <__bad_interrupt> 56: 00 00 nop 58: 36 c0 rjmp .+108 ; 0xc6 <__bad_interrupt> 5a: 00 00 nop 5c: 34 c0 rjmp .+104 ; 0xc6 <__bad_interrupt> 5e: 00 00 nop 60: 32 c0 rjmp .+100 ; 0xc6 <__bad_interrupt> 62: 00 00 nop 64: 30 c0 rjmp .+96 ; 0xc6 <__bad_interrupt> 66: 00 00 nop 68: 2e c0 rjmp .+92 ; 0xc6 <__bad_interrupt> 6a: 00 00 nop 6c: 2c c0 rjmp .+88 ; 0xc6 <__bad_interrupt> 6e: 00 00 nop 70: 2a c0 rjmp .+84 ; 0xc6 <__bad_interrupt> 72: 00 00 nop 74: 28 c0 rjmp .+80 ; 0xc6 <__bad_interrupt> 76: 00 00 nop 78: 26 c0 rjmp .+76 ; 0xc6 <__bad_interrupt> 7a: 00 00 nop 7c: 24 c0 rjmp .+72 ; 0xc6 <__bad_interrupt> 7e: 00 00 nop 80: 22 c0 rjmp .+68 ; 0xc6 <__bad_interrupt> 82: 00 00 nop 84: 20 c0 rjmp .+64 ; 0xc6 <__bad_interrupt> 86: 00 00 nop 88: 1e c0 rjmp .+60 ; 0xc6 <__bad_interrupt> ... 0000008c <__ctors_end>: 8c: 11 24 eor r1, r1 8e: 1f be out 0x3f, r1 ; 63 90: cf ef ldi r28, 0xFF ; 255 92: d0 e1 ldi r29, 0x10 ; 16 94: de bf out 0x3e, r29 ; 62 96: cd bf out 0x3d, r28 ; 61 00000098 <__do_copy_data>: 98: 11 e0 ldi r17, 0x01 ; 1 9a: a0 e0 ldi r26, 0x00 ; 0 9c: b1 e0 ldi r27, 0x01 ; 1 9e: ee ed ldi r30, 0xDE ; 222 a0: fa e0 ldi r31, 0x0A ; 10 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 31 cpi r26, 0x16 ; 22 ae: b1 07 cpc r27, r17 b0: d9 f7 brne .-10 ; 0xa8 <__do_copy_data+0x10> 000000b2 <__do_clear_bss>: b2: 21 e0 ldi r18, 0x01 ; 1 b4: a6 e1 ldi r26, 0x16 ; 22 b6: b1 e0 ldi r27, 0x01 ; 1 b8: 01 c0 rjmp .+2 ; 0xbc <.do_clear_bss_start> 000000ba <.do_clear_bss_loop>: ba: 1d 92 st X+, r1 000000bc <.do_clear_bss_start>: bc: a2 32 cpi r26, 0x22 ; 34 be: b2 07 cpc r27, r18 c0: e1 f7 brne .-8 ; 0xba <.do_clear_bss_loop> c2: 11 d1 rcall .+546 ; 0x2e6
c4: 0a c5 rjmp .+2580 ; 0xada <_exit> 000000c6 <__bad_interrupt>: c6: 9c cf rjmp .-200 ; 0x0 <__vectors> 000000c8 : } } void lcd_move_right(void){ lcd_write_command(0x1E); 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 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 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: 87 e8 ldi r24, 0x87 ; 135 110: 93 e1 ldi r25, 0x13 ; 19 112: 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 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 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 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 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 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 000001c6 : } void lcd_write_int(int number) { 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); } 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); 1e6: 9f 93 push r25 1e8: 8f 93 push r24 1ea: 0f 2e mov r0, r31 1ec: f2 e1 ldi r31, 0x12 ; 18 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: 82 d1 rcall .+772 ; 0x508 char str[length + 1]; 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); 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: 64 d1 rcall .+712 ; 0x508 lcd_write_string(str); 240: 80 2f mov r24, r16 242: 91 2f mov r25, r17 244: b4 df rcall .-152 ; 0x1ae } 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 00000276 : static void snap_event_trigger(uint8_t rotation){ ultrasonic_send_pulse(); } static void ultrasoon_value_set_event(uint16_t value){ if(initialising){ 276: 20 91 00 01 lds r18, 0x0100 ; 0x800100 <__DATA_REGION_ORIGIN__> 27a: 22 23 and r18, r18 27c: 51 f0 breq .+20 ; 0x292 if(value > 0 && value < 20){ 27e: 01 97 sbiw r24, 0x01 ; 1 280: 43 97 sbiw r24, 0x13 ; 19 282: 38 f4 brcc .+14 ; 0x292 stepper_rotate_stop(); 284: d1 d0 rcall .+418 ; 0x428 initialising = false; 286: 10 92 00 01 sts 0x0100, r1 ; 0x800100 <__DATA_REGION_ORIGIN__> stepper_rotate_angle(512, CounterClockWise); 28a: 61 e0 ldi r22, 0x01 ; 1 28c: 80 e0 ldi r24, 0x00 ; 0 28e: 92 e0 ldi r25, 0x02 ; 2 290: be c0 rjmp .+380 ; 0x40e 292: 08 95 ret 00000294 : { ultrasonic_handle_interrupt(); } static void snap_event_trigger(uint8_t rotation){ ultrasonic_send_pulse(); 294: 04 c1 rjmp .+520 ; 0x49e 296: 08 95 ret 00000298 <__vector_1>: #include "stepper_driver.h" bool initialising = true; ISR(INT0_vect) { 298: 1f 92 push r1 29a: 0f 92 push r0 29c: 0f b6 in r0, 0x3f ; 63 29e: 0f 92 push r0 2a0: 11 24 eor r1, r1 2a2: 0b b6 in r0, 0x3b ; 59 2a4: 0f 92 push r0 2a6: 2f 93 push r18 2a8: 3f 93 push r19 2aa: 4f 93 push r20 2ac: 5f 93 push r21 2ae: 6f 93 push r22 2b0: 7f 93 push r23 2b2: 8f 93 push r24 2b4: 9f 93 push r25 2b6: af 93 push r26 2b8: bf 93 push r27 2ba: ef 93 push r30 2bc: ff 93 push r31 ultrasonic_handle_interrupt(); 2be: fc d0 rcall .+504 ; 0x4b8 } 2c0: ff 91 pop r31 2c2: ef 91 pop r30 2c4: bf 91 pop r27 2c6: af 91 pop r26 2c8: 9f 91 pop r25 2ca: 8f 91 pop r24 2cc: 7f 91 pop r23 2ce: 6f 91 pop r22 2d0: 5f 91 pop r21 2d2: 4f 91 pop r20 2d4: 3f 91 pop r19 2d6: 2f 91 pop r18 2d8: 0f 90 pop r0 2da: 0b be out 0x3b, r0 ; 59 2dc: 0f 90 pop r0 2de: 0f be out 0x3f, r0 ; 63 2e0: 0f 90 pop r0 2e2: 1f 90 pop r1 2e4: 18 95 reti 000002e6
: } int main(void) { /* Replace with your application code */ ultrasonic_init(); 2e6: cc d0 rcall .+408 ; 0x480 init_4bits_mode(); 2e8: 44 df rcall .-376 ; 0x172 init_stepper_driver(); 2ea: a0 d0 rcall .+320 ; 0x42c set_snap_event(&snap_event_trigger); 2ec: 8a e4 ldi r24, 0x4A ; 74 2ee: 91 e0 ldi r25, 0x01 ; 1 2f0: 27 d0 rcall .+78 ; 0x340 set_value_trigger_event(&ultrasoon_value_set_event); 2f2: 8b e3 ldi r24, 0x3B ; 59 2f4: 91 e0 ldi r25, 0x01 ; 1 2f6: fe d0 rcall .+508 ; 0x4f4 2f8: 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); 2fa: 91 e6 ldi r25, 0x61 ; 97 2fc: 01 97 sbiw r24, 0x01 ; 1 2fe: f1 f7 brne .-4 ; 0x2fc 300: 00 c0 rjmp .+0 ; 0x302 302: 00 00 nop _delay_ms(10); lcd_clear(); 304: 2b df rcall .-426 ; 0x15c stepper_rotate_angle(600, ClockWise); 306: 60 e0 ldi r22, 0x00 ; 0 308: 88 e5 ldi r24, 0x58 ; 88 30a: 92 e0 ldi r25, 0x02 ; 2 while (1) { // TODO change to use the stepper motor //ultrasonic_send_pulse(); lcd_clear(); 30c: 80 d0 rcall .+256 ; 0x40e 30e: 26 df rcall .-436 ; 0x15c lcd_write_int(ultrasonic_get_timer_dist()); 310: f6 d0 rcall .+492 ; 0x4fe 312: 59 df rcall .-334 ; 0x1c6 314: 84 e6 ldi r24, 0x64 ; 100 316: 90 e0 ldi r25, 0x00 ; 0 wait_ms(100); 318: a4 d0 rcall .+328 ; 0x462 31a: f9 cf rjmp .-14 ; 0x30e 0000031c : void stepper_rotate_full_rotation_CW(); void stepper_rotate_full_rotation_CCW(); void set_stepper_state(uint8_t count){ if(rotation == ClockWise){ 31c: 90 91 1d 01 lds r25, 0x011D ; 0x80011d 320: 91 11 cpse r25, r1 322: 07 c0 rjmp .+14 ; 0x332 PORTE = CW[count]; 324: e8 2f mov r30, r24 326: f0 e0 ldi r31, 0x00 ; 0 328: ef 5f subi r30, 0xFF ; 255 32a: fe 4f sbci r31, 0xFE ; 254 32c: 80 81 ld r24, Z 32e: 83 b9 out 0x03, r24 ; 3 330: 08 95 ret } else { PORTE = CCW[count]; 332: e8 2f mov r30, r24 334: f0 e0 ldi r31, 0x00 ; 0 336: e7 5f subi r30, 0xF7 ; 247 338: fe 4f sbci r31, 0xFE ; 254 33a: 80 81 ld r24, Z 33c: 83 b9 out 0x03, r24 ; 3 33e: 08 95 ret 00000340 : } void (*snap_event)(uint8_t); void set_snap_event(void (*snap_event_p)(uint8_t)){ snap_event = snap_event_p; 340: 90 93 1f 01 sts 0x011F, r25 ; 0x80011f 344: 80 93 1e 01 sts 0x011E, r24 ; 0x80011e 348: 08 95 ret 0000034a <__vector_9>: } uint16_t steps_each_turn = 0; uint16_t steps_to_do = 0; uint8_t stepper_state = 0; ISR( TIMER2_COMP_vect ){ 34a: 1f 92 push r1 34c: 0f 92 push r0 34e: 0f b6 in r0, 0x3f ; 63 350: 0f 92 push r0 352: 11 24 eor r1, r1 354: 0b b6 in r0, 0x3b ; 59 356: 0f 92 push r0 358: 2f 93 push r18 35a: 3f 93 push r19 35c: 4f 93 push r20 35e: 5f 93 push r21 360: 6f 93 push r22 362: 7f 93 push r23 364: 8f 93 push r24 366: 9f 93 push r25 368: af 93 push r26 36a: bf 93 push r27 36c: ef 93 push r30 36e: ff 93 push r31 TCNT2 = 0; 370: 14 bc out 0x24, r1 ; 36 set_stepper_state(stepper_state); 372: 80 91 16 01 lds r24, 0x0116 ; 0x800116 <__data_end> 376: d2 df rcall .-92 ; 0x31c if(stepper_state < 7){ 378: 80 91 16 01 lds r24, 0x0116 ; 0x800116 <__data_end> 37c: 87 30 cpi r24, 0x07 ; 7 37e: 20 f4 brcc .+8 ; 0x388 <__vector_9+0x3e> stepper_state++; 380: 8f 5f subi r24, 0xFF ; 255 382: 80 93 16 01 sts 0x0116, r24 ; 0x800116 <__data_end> 386: 30 c0 rjmp .+96 ; 0x3e8 <__vector_9+0x9e> } else { //OCR2 = ADCH; stepper_state = 0; 388: 10 92 16 01 sts 0x0116, r1 ; 0x800116 <__data_end> if(steps_to_do == 0){ 38c: 80 91 17 01 lds r24, 0x0117 ; 0x800117 390: 90 91 18 01 lds r25, 0x0118 ; 0x800118 394: 00 97 sbiw r24, 0x00 ; 0 396: 99 f4 brne .+38 ; 0x3be <__vector_9+0x74> if(rotation == ClockWise){ 398: 80 91 1d 01 lds r24, 0x011D ; 0x80011d 39c: 81 11 cpse r24, r1 39e: 04 c0 rjmp .+8 ; 0x3a8 <__vector_9+0x5e> rotation = CounterClockWise; 3a0: 81 e0 ldi r24, 0x01 ; 1 3a2: 80 93 1d 01 sts 0x011D, r24 ; 0x80011d 3a6: 02 c0 rjmp .+4 ; 0x3ac <__vector_9+0x62> } else { rotation = ClockWise; 3a8: 10 92 1d 01 sts 0x011D, r1 ; 0x80011d } steps_to_do = steps_each_turn; 3ac: 80 91 19 01 lds r24, 0x0119 ; 0x800119 3b0: 90 91 1a 01 lds r25, 0x011A ; 0x80011a 3b4: 90 93 18 01 sts 0x0118, r25 ; 0x800118 3b8: 80 93 17 01 sts 0x0117, r24 ; 0x800117 3bc: 15 c0 rjmp .+42 ; 0x3e8 <__vector_9+0x9e> } else { if(steps_to_do % 32 == 0){ 3be: 9c 01 movw r18, r24 3c0: 2f 71 andi r18, 0x1F ; 31 3c2: 33 27 eor r19, r19 3c4: 23 2b or r18, r19 3c6: 39 f4 brne .+14 ; 0x3d6 <__vector_9+0x8c> if(snap_event != NULL) 3c8: e0 91 1e 01 lds r30, 0x011E ; 0x80011e 3cc: f0 91 1f 01 lds r31, 0x011F ; 0x80011f 3d0: 30 97 sbiw r30, 0x00 ; 0 3d2: 09 f0 breq .+2 ; 0x3d6 <__vector_9+0x8c> snap_event(steps_to_do); 3d4: 09 95 icall } steps_to_do--; 3d6: 80 91 17 01 lds r24, 0x0117 ; 0x800117 3da: 90 91 18 01 lds r25, 0x0118 ; 0x800118 3de: 01 97 sbiw r24, 0x01 ; 1 3e0: 90 93 18 01 sts 0x0118, r25 ; 0x800118 3e4: 80 93 17 01 sts 0x0117, r24 ; 0x800117 } } } 3e8: ff 91 pop r31 3ea: ef 91 pop r30 3ec: bf 91 pop r27 3ee: af 91 pop r26 3f0: 9f 91 pop r25 3f2: 8f 91 pop r24 3f4: 7f 91 pop r23 3f6: 6f 91 pop r22 3f8: 5f 91 pop r21 3fa: 4f 91 pop r20 3fc: 3f 91 pop r19 3fe: 2f 91 pop r18 400: 0f 90 pop r0 402: 0b be out 0x3b, r0 ; 59 404: 0f 90 pop r0 406: 0f be out 0x3f, r0 ; 63 408: 0f 90 pop r0 40a: 1f 90 pop r1 40c: 18 95 reti 0000040e : void stepper_rotate_angle(uint16_t steps, enum rotation_wise rot){ steps_to_do = steps; 40e: 90 93 18 01 sts 0x0118, r25 ; 0x800118 412: 80 93 17 01 sts 0x0117, r24 ; 0x800117 steps_each_turn = steps; 416: 90 93 1a 01 sts 0x011A, r25 ; 0x80011a 41a: 80 93 19 01 sts 0x0119, r24 ; 0x800119 rotation = rot; 41e: 60 93 1d 01 sts 0x011D, r22 ; 0x80011d TCCR2 = 0b00001100; 422: 8c e0 ldi r24, 0x0C ; 12 424: 85 bd out 0x25, r24 ; 37 426: 08 95 ret 00000428 : } void stepper_rotate_stop(){ TCCR2 = 0b00000000; 428: 15 bc out 0x25, r1 ; 37 42a: 08 95 ret 0000042c : } void init_stepper_driver(){ DDRE = 0xff; 42c: 8f ef ldi r24, 0xFF ; 255 42e: 82 b9 out 0x02, r24 ; 2 DDRG = 0xff; 430: 80 93 64 00 sts 0x0064, r24 ; 0x800064 <__TEXT_REGION_LENGTH__+0x7e0064> PORTG = 0x01; 434: 81 e0 ldi r24, 0x01 ; 1 436: 80 93 65 00 sts 0x0065, r24 ; 0x800065 <__TEXT_REGION_LENGTH__+0x7e0065> PORTE = 0x00; 43a: 13 b8 out 0x03, r1 ; 3 OCR2 = 150; 43c: 86 e9 ldi r24, 0x96 ; 150 43e: 83 bd out 0x23, r24 ; 35 TIMSK = BIT(7); 440: 80 e8 ldi r24, 0x80 ; 128 442: 87 bf out 0x37, r24 ; 55 sei(); 444: 78 94 sei 446: 08 95 ret 00000448 : void (*value_set_event)(uint16_t); void wait_us(unsigned int us) { for(int i = 0; i < us; i++) 448: 20 e0 ldi r18, 0x00 ; 0 44a: 30 e0 ldi r19, 0x00 ; 0 44c: 06 c0 rjmp .+12 ; 0x45a #else //round up by default __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); #endif __builtin_avr_delay_cycles(__ticks_dc); 44e: 43 e0 ldi r20, 0x03 ; 3 450: 4a 95 dec r20 452: f1 f7 brne .-4 ; 0x450 454: 00 00 nop 456: 2f 5f subi r18, 0xFF ; 255 458: 3f 4f sbci r19, 0xFF ; 255 45a: 28 17 cp r18, r24 45c: 39 07 cpc r19, r25 45e: b8 f3 brcs .-18 ; 0x44e { _delay_us(1); } } 460: 08 95 ret 00000462 : void wait_ms(unsigned int ms) { for(int i = 0; i < ms; i++) 462: 20 e0 ldi r18, 0x00 ; 0 464: 30 e0 ldi r19, 0x00 ; 0 466: 08 c0 rjmp .+16 ; 0x478 #else //round up by default __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); #endif __builtin_avr_delay_cycles(__ticks_dc); 468: e3 ec ldi r30, 0xC3 ; 195 46a: f9 e0 ldi r31, 0x09 ; 9 46c: 31 97 sbiw r30, 0x01 ; 1 46e: f1 f7 brne .-4 ; 0x46c 470: 00 c0 rjmp .+0 ; 0x472 472: 00 00 nop 474: 2f 5f subi r18, 0xFF ; 255 476: 3f 4f sbci r19, 0xFF ; 255 478: 28 17 cp r18, r24 47a: 39 07 cpc r19, r25 47c: a8 f3 brcs .-22 ; 0x468 { _delay_ms(1); } } 47e: 08 95 ret 00000480 : void ultrasonic_init() { DDRG = 0xFF; // port g all output. pin 0 is trig, the rest is for debug 480: 8f ef ldi r24, 0xFF ; 255 482: 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 486: 11 ba out 0x11, r1 ; 17 EICRA = 0x03; // interrupt PORTD on pin 0, rising edge 488: 83 e0 ldi r24, 0x03 ; 3 48a: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> EIMSK |= 0x01; // enable interrupt on pin 0 (INT0) 48e: 89 b7 in r24, 0x39 ; 57 490: 81 60 ori r24, 0x01 ; 1 492: 89 bf out 0x39, r24 ; 57 TCCR1A = 0b00000000; // initialize timer1, prescaler=256 494: 1f bc out 0x2f, r1 ; 47 TCCR1B = 0b00001100; // CTC compare A, RUN 496: 8c e0 ldi r24, 0x0C ; 12 498: 8e bd out 0x2e, r24 ; 46 sei(); // turn on interrupt system 49a: 78 94 sei 49c: 08 95 ret 0000049e : } void ultrasonic_send_pulse() { 49e: cf 93 push r28 4a0: df 93 push r29 PORTG = 0x00; // 10 us low pulse 4a2: c5 e6 ldi r28, 0x65 ; 101 4a4: d0 e0 ldi r29, 0x00 ; 0 4a6: 18 82 st Y, r1 wait_us(10); 4a8: 8a e0 ldi r24, 0x0A ; 10 4aa: 90 e0 ldi r25, 0x00 ; 0 4ac: cd df rcall .-102 ; 0x448 PORTG = 0x01; 4ae: 81 e0 ldi r24, 0x01 ; 1 4b0: 88 83 st Y, r24 } 4b2: df 91 pop r29 4b4: cf 91 pop r28 4b6: 08 95 ret 000004b8 : void ultrasonic_handle_interrupt() { // if the interrupt was generated on a rising edge (start sending echo) if (int_stat == INTERRUPT_RISING) 4b8: 80 91 11 01 lds r24, 0x0111 ; 0x800111 4bc: 81 30 cpi r24, 0x01 ; 1 4be: 41 f4 brne .+16 ; 0x4d0 { // set interrupt pin 0 on PORTD to falling edge EICRA = 0x02; 4c0: 82 e0 ldi r24, 0x02 ; 2 4c2: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> // reset the time in timer1 TCNT1 = 0x00; 4c6: 1d bc out 0x2d, r1 ; 45 4c8: 1c bc out 0x2c, r1 ; 44 // set interrupt status int_stat = INTERRUPT_FALLING; 4ca: 10 92 11 01 sts 0x0111, r1 ; 0x800111 4ce: 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; 4d0: 83 e0 ldi r24, 0x03 ; 3 4d2: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> // read timer1 into time_dist timer_dist = TCNT1; 4d6: 8c b5 in r24, 0x2c ; 44 4d8: 9d b5 in r25, 0x2d ; 45 4da: 90 93 1c 01 sts 0x011C, r25 ; 0x80011c 4de: 80 93 1b 01 sts 0x011B, r24 ; 0x80011b //EVENT value_set_event(timer_dist); 4e2: e0 91 20 01 lds r30, 0x0120 ; 0x800120 4e6: f0 91 21 01 lds r31, 0x0121 ; 0x800121 4ea: 09 95 icall // set interrupt status int_stat = INTERRUPT_RISING; 4ec: 81 e0 ldi r24, 0x01 ; 1 4ee: 80 93 11 01 sts 0x0111, r24 ; 0x800111 4f2: 08 95 ret 000004f4 : } } void set_value_trigger_event(void (*value_set_event_p)(uint16_t)){ // event that is triggered when a value is set. value_set_event = value_set_event_p; 4f4: 90 93 21 01 sts 0x0121, r25 ; 0x800121 4f8: 80 93 20 01 sts 0x0120, r24 ; 0x800120 4fc: 08 95 ret 000004fe : } uint16_t ultrasonic_get_timer_dist() { return timer_dist; } 4fe: 80 91 1b 01 lds r24, 0x011B ; 0x80011b 502: 90 91 1c 01 lds r25, 0x011C ; 0x80011c 506: 08 95 ret 00000508 : 508: 0f 93 push r16 50a: 1f 93 push r17 50c: cf 93 push r28 50e: df 93 push r29 510: cd b7 in r28, 0x3d ; 61 512: de b7 in r29, 0x3e ; 62 514: 2e 97 sbiw r28, 0x0e ; 14 516: 0f b6 in r0, 0x3f ; 63 518: f8 94 cli 51a: de bf out 0x3e, r29 ; 62 51c: 0f be out 0x3f, r0 ; 63 51e: cd bf out 0x3d, r28 ; 61 520: 0d 89 ldd r16, Y+21 ; 0x15 522: 1e 89 ldd r17, Y+22 ; 0x16 524: 8f 89 ldd r24, Y+23 ; 0x17 526: 98 8d ldd r25, Y+24 ; 0x18 528: 26 e0 ldi r18, 0x06 ; 6 52a: 2c 83 std Y+4, r18 ; 0x04 52c: 1a 83 std Y+2, r17 ; 0x02 52e: 09 83 std Y+1, r16 ; 0x01 530: 97 ff sbrs r25, 7 532: 02 c0 rjmp .+4 ; 0x538 534: 80 e0 ldi r24, 0x00 ; 0 536: 90 e8 ldi r25, 0x80 ; 128 538: 01 97 sbiw r24, 0x01 ; 1 53a: 9e 83 std Y+6, r25 ; 0x06 53c: 8d 83 std Y+5, r24 ; 0x05 53e: ae 01 movw r20, r28 540: 45 5e subi r20, 0xE5 ; 229 542: 5f 4f sbci r21, 0xFF ; 255 544: 69 8d ldd r22, Y+25 ; 0x19 546: 7a 8d ldd r23, Y+26 ; 0x1a 548: ce 01 movw r24, r28 54a: 01 96 adiw r24, 0x01 ; 1 54c: 19 d0 rcall .+50 ; 0x580 54e: 4d 81 ldd r20, Y+5 ; 0x05 550: 5e 81 ldd r21, Y+6 ; 0x06 552: 57 fd sbrc r21, 7 554: 0a c0 rjmp .+20 ; 0x56a 556: 2f 81 ldd r18, Y+7 ; 0x07 558: 38 85 ldd r19, Y+8 ; 0x08 55a: 42 17 cp r20, r18 55c: 53 07 cpc r21, r19 55e: 0c f4 brge .+2 ; 0x562 560: 9a 01 movw r18, r20 562: f8 01 movw r30, r16 564: e2 0f add r30, r18 566: f3 1f adc r31, r19 568: 10 82 st Z, r1 56a: 2e 96 adiw r28, 0x0e ; 14 56c: 0f b6 in r0, 0x3f ; 63 56e: f8 94 cli 570: de bf out 0x3e, r29 ; 62 572: 0f be out 0x3f, r0 ; 63 574: cd bf out 0x3d, r28 ; 61 576: df 91 pop r29 578: cf 91 pop r28 57a: 1f 91 pop r17 57c: 0f 91 pop r16 57e: 08 95 ret 00000580 : 580: 2f 92 push r2 582: 3f 92 push r3 584: 4f 92 push r4 586: 5f 92 push r5 588: 6f 92 push r6 58a: 7f 92 push r7 58c: 8f 92 push r8 58e: 9f 92 push r9 590: af 92 push r10 592: bf 92 push r11 594: cf 92 push r12 596: df 92 push r13 598: ef 92 push r14 59a: ff 92 push r15 59c: 0f 93 push r16 59e: 1f 93 push r17 5a0: cf 93 push r28 5a2: df 93 push r29 5a4: cd b7 in r28, 0x3d ; 61 5a6: de b7 in r29, 0x3e ; 62 5a8: 2b 97 sbiw r28, 0x0b ; 11 5aa: 0f b6 in r0, 0x3f ; 63 5ac: f8 94 cli 5ae: de bf out 0x3e, r29 ; 62 5b0: 0f be out 0x3f, r0 ; 63 5b2: cd bf out 0x3d, r28 ; 61 5b4: 6c 01 movw r12, r24 5b6: 7b 01 movw r14, r22 5b8: 8a 01 movw r16, r20 5ba: fc 01 movw r30, r24 5bc: 17 82 std Z+7, r1 ; 0x07 5be: 16 82 std Z+6, r1 ; 0x06 5c0: 83 81 ldd r24, Z+3 ; 0x03 5c2: 81 ff sbrs r24, 1 5c4: bf c1 rjmp .+894 ; 0x944 5c6: ce 01 movw r24, r28 5c8: 01 96 adiw r24, 0x01 ; 1 5ca: 3c 01 movw r6, r24 5cc: f6 01 movw r30, r12 5ce: 93 81 ldd r25, Z+3 ; 0x03 5d0: f7 01 movw r30, r14 5d2: 93 fd sbrc r25, 3 5d4: 85 91 lpm r24, Z+ 5d6: 93 ff sbrs r25, 3 5d8: 81 91 ld r24, Z+ 5da: 7f 01 movw r14, r30 5dc: 88 23 and r24, r24 5de: 09 f4 brne .+2 ; 0x5e2 5e0: ad c1 rjmp .+858 ; 0x93c 5e2: 85 32 cpi r24, 0x25 ; 37 5e4: 39 f4 brne .+14 ; 0x5f4 5e6: 93 fd sbrc r25, 3 5e8: 85 91 lpm r24, Z+ 5ea: 93 ff sbrs r25, 3 5ec: 81 91 ld r24, Z+ 5ee: 7f 01 movw r14, r30 5f0: 85 32 cpi r24, 0x25 ; 37 5f2: 21 f4 brne .+8 ; 0x5fc 5f4: b6 01 movw r22, r12 5f6: 90 e0 ldi r25, 0x00 ; 0 5f8: d6 d1 rcall .+940 ; 0x9a6 5fa: e8 cf rjmp .-48 ; 0x5cc 5fc: 91 2c mov r9, r1 5fe: 21 2c mov r2, r1 600: 31 2c mov r3, r1 602: ff e1 ldi r31, 0x1F ; 31 604: f3 15 cp r31, r3 606: d8 f0 brcs .+54 ; 0x63e 608: 8b 32 cpi r24, 0x2B ; 43 60a: 79 f0 breq .+30 ; 0x62a 60c: 38 f4 brcc .+14 ; 0x61c 60e: 80 32 cpi r24, 0x20 ; 32 610: 79 f0 breq .+30 ; 0x630 612: 83 32 cpi r24, 0x23 ; 35 614: a1 f4 brne .+40 ; 0x63e 616: 23 2d mov r18, r3 618: 20 61 ori r18, 0x10 ; 16 61a: 1d c0 rjmp .+58 ; 0x656 61c: 8d 32 cpi r24, 0x2D ; 45 61e: 61 f0 breq .+24 ; 0x638 620: 80 33 cpi r24, 0x30 ; 48 622: 69 f4 brne .+26 ; 0x63e 624: 23 2d mov r18, r3 626: 21 60 ori r18, 0x01 ; 1 628: 16 c0 rjmp .+44 ; 0x656 62a: 83 2d mov r24, r3 62c: 82 60 ori r24, 0x02 ; 2 62e: 38 2e mov r3, r24 630: e3 2d mov r30, r3 632: e4 60 ori r30, 0x04 ; 4 634: 3e 2e mov r3, r30 636: 2a c0 rjmp .+84 ; 0x68c 638: f3 2d mov r31, r3 63a: f8 60 ori r31, 0x08 ; 8 63c: 1d c0 rjmp .+58 ; 0x678 63e: 37 fc sbrc r3, 7 640: 2d c0 rjmp .+90 ; 0x69c 642: 20 ed ldi r18, 0xD0 ; 208 644: 28 0f add r18, r24 646: 2a 30 cpi r18, 0x0A ; 10 648: 40 f0 brcs .+16 ; 0x65a 64a: 8e 32 cpi r24, 0x2E ; 46 64c: b9 f4 brne .+46 ; 0x67c 64e: 36 fc sbrc r3, 6 650: 75 c1 rjmp .+746 ; 0x93c 652: 23 2d mov r18, r3 654: 20 64 ori r18, 0x40 ; 64 656: 32 2e mov r3, r18 658: 19 c0 rjmp .+50 ; 0x68c 65a: 36 fe sbrs r3, 6 65c: 06 c0 rjmp .+12 ; 0x66a 65e: 8a e0 ldi r24, 0x0A ; 10 660: 98 9e mul r9, r24 662: 20 0d add r18, r0 664: 11 24 eor r1, r1 666: 92 2e mov r9, r18 668: 11 c0 rjmp .+34 ; 0x68c 66a: ea e0 ldi r30, 0x0A ; 10 66c: 2e 9e mul r2, r30 66e: 20 0d add r18, r0 670: 11 24 eor r1, r1 672: 22 2e mov r2, r18 674: f3 2d mov r31, r3 676: f0 62 ori r31, 0x20 ; 32 678: 3f 2e mov r3, r31 67a: 08 c0 rjmp .+16 ; 0x68c 67c: 8c 36 cpi r24, 0x6C ; 108 67e: 21 f4 brne .+8 ; 0x688 680: 83 2d mov r24, r3 682: 80 68 ori r24, 0x80 ; 128 684: 38 2e mov r3, r24 686: 02 c0 rjmp .+4 ; 0x68c 688: 88 36 cpi r24, 0x68 ; 104 68a: 41 f4 brne .+16 ; 0x69c 68c: f7 01 movw r30, r14 68e: 93 fd sbrc r25, 3 690: 85 91 lpm r24, Z+ 692: 93 ff sbrs r25, 3 694: 81 91 ld r24, Z+ 696: 7f 01 movw r14, r30 698: 81 11 cpse r24, r1 69a: b3 cf rjmp .-154 ; 0x602 69c: 98 2f mov r25, r24 69e: 9f 7d andi r25, 0xDF ; 223 6a0: 95 54 subi r25, 0x45 ; 69 6a2: 93 30 cpi r25, 0x03 ; 3 6a4: 28 f4 brcc .+10 ; 0x6b0 6a6: 0c 5f subi r16, 0xFC ; 252 6a8: 1f 4f sbci r17, 0xFF ; 255 6aa: 9f e3 ldi r25, 0x3F ; 63 6ac: 99 83 std Y+1, r25 ; 0x01 6ae: 0d c0 rjmp .+26 ; 0x6ca 6b0: 83 36 cpi r24, 0x63 ; 99 6b2: 31 f0 breq .+12 ; 0x6c0 6b4: 83 37 cpi r24, 0x73 ; 115 6b6: 71 f0 breq .+28 ; 0x6d4 6b8: 83 35 cpi r24, 0x53 ; 83 6ba: 09 f0 breq .+2 ; 0x6be 6bc: 55 c0 rjmp .+170 ; 0x768 6be: 20 c0 rjmp .+64 ; 0x700 6c0: f8 01 movw r30, r16 6c2: 80 81 ld r24, Z 6c4: 89 83 std Y+1, r24 ; 0x01 6c6: 0e 5f subi r16, 0xFE ; 254 6c8: 1f 4f sbci r17, 0xFF ; 255 6ca: 88 24 eor r8, r8 6cc: 83 94 inc r8 6ce: 91 2c mov r9, r1 6d0: 53 01 movw r10, r6 6d2: 12 c0 rjmp .+36 ; 0x6f8 6d4: 28 01 movw r4, r16 6d6: f2 e0 ldi r31, 0x02 ; 2 6d8: 4f 0e add r4, r31 6da: 51 1c adc r5, r1 6dc: f8 01 movw r30, r16 6de: a0 80 ld r10, Z 6e0: b1 80 ldd r11, Z+1 ; 0x01 6e2: 36 fe sbrs r3, 6 6e4: 03 c0 rjmp .+6 ; 0x6ec 6e6: 69 2d mov r22, r9 6e8: 70 e0 ldi r23, 0x00 ; 0 6ea: 02 c0 rjmp .+4 ; 0x6f0 6ec: 6f ef ldi r22, 0xFF ; 255 6ee: 7f ef ldi r23, 0xFF ; 255 6f0: c5 01 movw r24, r10 6f2: 4e d1 rcall .+668 ; 0x990 6f4: 4c 01 movw r8, r24 6f6: 82 01 movw r16, r4 6f8: f3 2d mov r31, r3 6fa: ff 77 andi r31, 0x7F ; 127 6fc: 3f 2e mov r3, r31 6fe: 15 c0 rjmp .+42 ; 0x72a 700: 28 01 movw r4, r16 702: 22 e0 ldi r18, 0x02 ; 2 704: 42 0e add r4, r18 706: 51 1c adc r5, r1 708: f8 01 movw r30, r16 70a: a0 80 ld r10, Z 70c: b1 80 ldd r11, Z+1 ; 0x01 70e: 36 fe sbrs r3, 6 710: 03 c0 rjmp .+6 ; 0x718 712: 69 2d mov r22, r9 714: 70 e0 ldi r23, 0x00 ; 0 716: 02 c0 rjmp .+4 ; 0x71c 718: 6f ef ldi r22, 0xFF ; 255 71a: 7f ef ldi r23, 0xFF ; 255 71c: c5 01 movw r24, r10 71e: 2d d1 rcall .+602 ; 0x97a 720: 4c 01 movw r8, r24 722: f3 2d mov r31, r3 724: f0 68 ori r31, 0x80 ; 128 726: 3f 2e mov r3, r31 728: 82 01 movw r16, r4 72a: 33 fc sbrc r3, 3 72c: 19 c0 rjmp .+50 ; 0x760 72e: 82 2d mov r24, r2 730: 90 e0 ldi r25, 0x00 ; 0 732: 88 16 cp r8, r24 734: 99 06 cpc r9, r25 736: a0 f4 brcc .+40 ; 0x760 738: b6 01 movw r22, r12 73a: 80 e2 ldi r24, 0x20 ; 32 73c: 90 e0 ldi r25, 0x00 ; 0 73e: 33 d1 rcall .+614 ; 0x9a6 740: 2a 94 dec r2 742: f5 cf rjmp .-22 ; 0x72e 744: f5 01 movw r30, r10 746: 37 fc sbrc r3, 7 748: 85 91 lpm r24, Z+ 74a: 37 fe sbrs r3, 7 74c: 81 91 ld r24, Z+ 74e: 5f 01 movw r10, r30 750: b6 01 movw r22, r12 752: 90 e0 ldi r25, 0x00 ; 0 754: 28 d1 rcall .+592 ; 0x9a6 756: 21 10 cpse r2, r1 758: 2a 94 dec r2 75a: 21 e0 ldi r18, 0x01 ; 1 75c: 82 1a sub r8, r18 75e: 91 08 sbc r9, r1 760: 81 14 cp r8, r1 762: 91 04 cpc r9, r1 764: 79 f7 brne .-34 ; 0x744 766: e1 c0 rjmp .+450 ; 0x92a 768: 84 36 cpi r24, 0x64 ; 100 76a: 11 f0 breq .+4 ; 0x770 76c: 89 36 cpi r24, 0x69 ; 105 76e: 39 f5 brne .+78 ; 0x7be 770: f8 01 movw r30, r16 772: 37 fe sbrs r3, 7 774: 07 c0 rjmp .+14 ; 0x784 776: 60 81 ld r22, Z 778: 71 81 ldd r23, Z+1 ; 0x01 77a: 82 81 ldd r24, Z+2 ; 0x02 77c: 93 81 ldd r25, Z+3 ; 0x03 77e: 0c 5f subi r16, 0xFC ; 252 780: 1f 4f sbci r17, 0xFF ; 255 782: 08 c0 rjmp .+16 ; 0x794 784: 60 81 ld r22, Z 786: 71 81 ldd r23, Z+1 ; 0x01 788: 07 2e mov r0, r23 78a: 00 0c add r0, r0 78c: 88 0b sbc r24, r24 78e: 99 0b sbc r25, r25 790: 0e 5f subi r16, 0xFE ; 254 792: 1f 4f sbci r17, 0xFF ; 255 794: f3 2d mov r31, r3 796: ff 76 andi r31, 0x6F ; 111 798: 3f 2e mov r3, r31 79a: 97 ff sbrs r25, 7 79c: 09 c0 rjmp .+18 ; 0x7b0 79e: 90 95 com r25 7a0: 80 95 com r24 7a2: 70 95 com r23 7a4: 61 95 neg r22 7a6: 7f 4f sbci r23, 0xFF ; 255 7a8: 8f 4f sbci r24, 0xFF ; 255 7aa: 9f 4f sbci r25, 0xFF ; 255 7ac: f0 68 ori r31, 0x80 ; 128 7ae: 3f 2e mov r3, r31 7b0: 2a e0 ldi r18, 0x0A ; 10 7b2: 30 e0 ldi r19, 0x00 ; 0 7b4: a3 01 movw r20, r6 7b6: 33 d1 rcall .+614 ; 0xa1e <__ultoa_invert> 7b8: 88 2e mov r8, r24 7ba: 86 18 sub r8, r6 7bc: 44 c0 rjmp .+136 ; 0x846 7be: 85 37 cpi r24, 0x75 ; 117 7c0: 31 f4 brne .+12 ; 0x7ce 7c2: 23 2d mov r18, r3 7c4: 2f 7e andi r18, 0xEF ; 239 7c6: b2 2e mov r11, r18 7c8: 2a e0 ldi r18, 0x0A ; 10 7ca: 30 e0 ldi r19, 0x00 ; 0 7cc: 25 c0 rjmp .+74 ; 0x818 7ce: 93 2d mov r25, r3 7d0: 99 7f andi r25, 0xF9 ; 249 7d2: b9 2e mov r11, r25 7d4: 8f 36 cpi r24, 0x6F ; 111 7d6: c1 f0 breq .+48 ; 0x808 7d8: 18 f4 brcc .+6 ; 0x7e0 7da: 88 35 cpi r24, 0x58 ; 88 7dc: 79 f0 breq .+30 ; 0x7fc 7de: ae c0 rjmp .+348 ; 0x93c 7e0: 80 37 cpi r24, 0x70 ; 112 7e2: 19 f0 breq .+6 ; 0x7ea 7e4: 88 37 cpi r24, 0x78 ; 120 7e6: 21 f0 breq .+8 ; 0x7f0 7e8: a9 c0 rjmp .+338 ; 0x93c 7ea: e9 2f mov r30, r25 7ec: e0 61 ori r30, 0x10 ; 16 7ee: be 2e mov r11, r30 7f0: b4 fe sbrs r11, 4 7f2: 0d c0 rjmp .+26 ; 0x80e 7f4: fb 2d mov r31, r11 7f6: f4 60 ori r31, 0x04 ; 4 7f8: bf 2e mov r11, r31 7fa: 09 c0 rjmp .+18 ; 0x80e 7fc: 34 fe sbrs r3, 4 7fe: 0a c0 rjmp .+20 ; 0x814 800: 29 2f mov r18, r25 802: 26 60 ori r18, 0x06 ; 6 804: b2 2e mov r11, r18 806: 06 c0 rjmp .+12 ; 0x814 808: 28 e0 ldi r18, 0x08 ; 8 80a: 30 e0 ldi r19, 0x00 ; 0 80c: 05 c0 rjmp .+10 ; 0x818 80e: 20 e1 ldi r18, 0x10 ; 16 810: 30 e0 ldi r19, 0x00 ; 0 812: 02 c0 rjmp .+4 ; 0x818 814: 20 e1 ldi r18, 0x10 ; 16 816: 32 e0 ldi r19, 0x02 ; 2 818: f8 01 movw r30, r16 81a: b7 fe sbrs r11, 7 81c: 07 c0 rjmp .+14 ; 0x82c 81e: 60 81 ld r22, Z 820: 71 81 ldd r23, Z+1 ; 0x01 822: 82 81 ldd r24, Z+2 ; 0x02 824: 93 81 ldd r25, Z+3 ; 0x03 826: 0c 5f subi r16, 0xFC ; 252 828: 1f 4f sbci r17, 0xFF ; 255 82a: 06 c0 rjmp .+12 ; 0x838 82c: 60 81 ld r22, Z 82e: 71 81 ldd r23, Z+1 ; 0x01 830: 80 e0 ldi r24, 0x00 ; 0 832: 90 e0 ldi r25, 0x00 ; 0 834: 0e 5f subi r16, 0xFE ; 254 836: 1f 4f sbci r17, 0xFF ; 255 838: a3 01 movw r20, r6 83a: f1 d0 rcall .+482 ; 0xa1e <__ultoa_invert> 83c: 88 2e mov r8, r24 83e: 86 18 sub r8, r6 840: fb 2d mov r31, r11 842: ff 77 andi r31, 0x7F ; 127 844: 3f 2e mov r3, r31 846: 36 fe sbrs r3, 6 848: 0d c0 rjmp .+26 ; 0x864 84a: 23 2d mov r18, r3 84c: 2e 7f andi r18, 0xFE ; 254 84e: a2 2e mov r10, r18 850: 89 14 cp r8, r9 852: 58 f4 brcc .+22 ; 0x86a 854: 34 fe sbrs r3, 4 856: 0b c0 rjmp .+22 ; 0x86e 858: 32 fc sbrc r3, 2 85a: 09 c0 rjmp .+18 ; 0x86e 85c: 83 2d mov r24, r3 85e: 8e 7e andi r24, 0xEE ; 238 860: a8 2e mov r10, r24 862: 05 c0 rjmp .+10 ; 0x86e 864: b8 2c mov r11, r8 866: a3 2c mov r10, r3 868: 03 c0 rjmp .+6 ; 0x870 86a: b8 2c mov r11, r8 86c: 01 c0 rjmp .+2 ; 0x870 86e: b9 2c mov r11, r9 870: a4 fe sbrs r10, 4 872: 0f c0 rjmp .+30 ; 0x892 874: fe 01 movw r30, r28 876: e8 0d add r30, r8 878: f1 1d adc r31, r1 87a: 80 81 ld r24, Z 87c: 80 33 cpi r24, 0x30 ; 48 87e: 21 f4 brne .+8 ; 0x888 880: 9a 2d mov r25, r10 882: 99 7e andi r25, 0xE9 ; 233 884: a9 2e mov r10, r25 886: 09 c0 rjmp .+18 ; 0x89a 888: a2 fe sbrs r10, 2 88a: 06 c0 rjmp .+12 ; 0x898 88c: b3 94 inc r11 88e: b3 94 inc r11 890: 04 c0 rjmp .+8 ; 0x89a 892: 8a 2d mov r24, r10 894: 86 78 andi r24, 0x86 ; 134 896: 09 f0 breq .+2 ; 0x89a 898: b3 94 inc r11 89a: a3 fc sbrc r10, 3 89c: 10 c0 rjmp .+32 ; 0x8be 89e: a0 fe sbrs r10, 0 8a0: 06 c0 rjmp .+12 ; 0x8ae 8a2: b2 14 cp r11, r2 8a4: 80 f4 brcc .+32 ; 0x8c6 8a6: 28 0c add r2, r8 8a8: 92 2c mov r9, r2 8aa: 9b 18 sub r9, r11 8ac: 0d c0 rjmp .+26 ; 0x8c8 8ae: b2 14 cp r11, r2 8b0: 58 f4 brcc .+22 ; 0x8c8 8b2: b6 01 movw r22, r12 8b4: 80 e2 ldi r24, 0x20 ; 32 8b6: 90 e0 ldi r25, 0x00 ; 0 8b8: 76 d0 rcall .+236 ; 0x9a6 8ba: b3 94 inc r11 8bc: f8 cf rjmp .-16 ; 0x8ae 8be: b2 14 cp r11, r2 8c0: 18 f4 brcc .+6 ; 0x8c8 8c2: 2b 18 sub r2, r11 8c4: 02 c0 rjmp .+4 ; 0x8ca 8c6: 98 2c mov r9, r8 8c8: 21 2c mov r2, r1 8ca: a4 fe sbrs r10, 4 8cc: 0f c0 rjmp .+30 ; 0x8ec 8ce: b6 01 movw r22, r12 8d0: 80 e3 ldi r24, 0x30 ; 48 8d2: 90 e0 ldi r25, 0x00 ; 0 8d4: 68 d0 rcall .+208 ; 0x9a6 8d6: a2 fe sbrs r10, 2 8d8: 16 c0 rjmp .+44 ; 0x906 8da: a1 fc sbrc r10, 1 8dc: 03 c0 rjmp .+6 ; 0x8e4 8de: 88 e7 ldi r24, 0x78 ; 120 8e0: 90 e0 ldi r25, 0x00 ; 0 8e2: 02 c0 rjmp .+4 ; 0x8e8 8e4: 88 e5 ldi r24, 0x58 ; 88 8e6: 90 e0 ldi r25, 0x00 ; 0 8e8: b6 01 movw r22, r12 8ea: 0c c0 rjmp .+24 ; 0x904 8ec: 8a 2d mov r24, r10 8ee: 86 78 andi r24, 0x86 ; 134 8f0: 51 f0 breq .+20 ; 0x906 8f2: a1 fe sbrs r10, 1 8f4: 02 c0 rjmp .+4 ; 0x8fa 8f6: 8b e2 ldi r24, 0x2B ; 43 8f8: 01 c0 rjmp .+2 ; 0x8fc 8fa: 80 e2 ldi r24, 0x20 ; 32 8fc: a7 fc sbrc r10, 7 8fe: 8d e2 ldi r24, 0x2D ; 45 900: b6 01 movw r22, r12 902: 90 e0 ldi r25, 0x00 ; 0 904: 50 d0 rcall .+160 ; 0x9a6 906: 89 14 cp r8, r9 908: 30 f4 brcc .+12 ; 0x916 90a: b6 01 movw r22, r12 90c: 80 e3 ldi r24, 0x30 ; 48 90e: 90 e0 ldi r25, 0x00 ; 0 910: 4a d0 rcall .+148 ; 0x9a6 912: 9a 94 dec r9 914: f8 cf rjmp .-16 ; 0x906 916: 8a 94 dec r8 918: f3 01 movw r30, r6 91a: e8 0d add r30, r8 91c: f1 1d adc r31, r1 91e: 80 81 ld r24, Z 920: b6 01 movw r22, r12 922: 90 e0 ldi r25, 0x00 ; 0 924: 40 d0 rcall .+128 ; 0x9a6 926: 81 10 cpse r8, r1 928: f6 cf rjmp .-20 ; 0x916 92a: 22 20 and r2, r2 92c: 09 f4 brne .+2 ; 0x930 92e: 4e ce rjmp .-868 ; 0x5cc 930: b6 01 movw r22, r12 932: 80 e2 ldi r24, 0x20 ; 32 934: 90 e0 ldi r25, 0x00 ; 0 936: 37 d0 rcall .+110 ; 0x9a6 938: 2a 94 dec r2 93a: f7 cf rjmp .-18 ; 0x92a 93c: f6 01 movw r30, r12 93e: 86 81 ldd r24, Z+6 ; 0x06 940: 97 81 ldd r25, Z+7 ; 0x07 942: 02 c0 rjmp .+4 ; 0x948 944: 8f ef ldi r24, 0xFF ; 255 946: 9f ef ldi r25, 0xFF ; 255 948: 2b 96 adiw r28, 0x0b ; 11 94a: 0f b6 in r0, 0x3f ; 63 94c: f8 94 cli 94e: de bf out 0x3e, r29 ; 62 950: 0f be out 0x3f, r0 ; 63 952: cd bf out 0x3d, r28 ; 61 954: df 91 pop r29 956: cf 91 pop r28 958: 1f 91 pop r17 95a: 0f 91 pop r16 95c: ff 90 pop r15 95e: ef 90 pop r14 960: df 90 pop r13 962: cf 90 pop r12 964: bf 90 pop r11 966: af 90 pop r10 968: 9f 90 pop r9 96a: 8f 90 pop r8 96c: 7f 90 pop r7 96e: 6f 90 pop r6 970: 5f 90 pop r5 972: 4f 90 pop r4 974: 3f 90 pop r3 976: 2f 90 pop r2 978: 08 95 ret 0000097a : 97a: fc 01 movw r30, r24 97c: 05 90 lpm r0, Z+ 97e: 61 50 subi r22, 0x01 ; 1 980: 70 40 sbci r23, 0x00 ; 0 982: 01 10 cpse r0, r1 984: d8 f7 brcc .-10 ; 0x97c 986: 80 95 com r24 988: 90 95 com r25 98a: 8e 0f add r24, r30 98c: 9f 1f adc r25, r31 98e: 08 95 ret 00000990 : 990: fc 01 movw r30, r24 992: 61 50 subi r22, 0x01 ; 1 994: 70 40 sbci r23, 0x00 ; 0 996: 01 90 ld r0, Z+ 998: 01 10 cpse r0, r1 99a: d8 f7 brcc .-10 ; 0x992 99c: 80 95 com r24 99e: 90 95 com r25 9a0: 8e 0f add r24, r30 9a2: 9f 1f adc r25, r31 9a4: 08 95 ret 000009a6 : 9a6: 0f 93 push r16 9a8: 1f 93 push r17 9aa: cf 93 push r28 9ac: df 93 push r29 9ae: fb 01 movw r30, r22 9b0: 23 81 ldd r18, Z+3 ; 0x03 9b2: 21 fd sbrc r18, 1 9b4: 03 c0 rjmp .+6 ; 0x9bc 9b6: 8f ef ldi r24, 0xFF ; 255 9b8: 9f ef ldi r25, 0xFF ; 255 9ba: 2c c0 rjmp .+88 ; 0xa14 9bc: 22 ff sbrs r18, 2 9be: 16 c0 rjmp .+44 ; 0x9ec 9c0: 46 81 ldd r20, Z+6 ; 0x06 9c2: 57 81 ldd r21, Z+7 ; 0x07 9c4: 24 81 ldd r18, Z+4 ; 0x04 9c6: 35 81 ldd r19, Z+5 ; 0x05 9c8: 42 17 cp r20, r18 9ca: 53 07 cpc r21, r19 9cc: 44 f4 brge .+16 ; 0x9de 9ce: a0 81 ld r26, Z 9d0: b1 81 ldd r27, Z+1 ; 0x01 9d2: 9d 01 movw r18, r26 9d4: 2f 5f subi r18, 0xFF ; 255 9d6: 3f 4f sbci r19, 0xFF ; 255 9d8: 31 83 std Z+1, r19 ; 0x01 9da: 20 83 st Z, r18 9dc: 8c 93 st X, r24 9de: 26 81 ldd r18, Z+6 ; 0x06 9e0: 37 81 ldd r19, Z+7 ; 0x07 9e2: 2f 5f subi r18, 0xFF ; 255 9e4: 3f 4f sbci r19, 0xFF ; 255 9e6: 37 83 std Z+7, r19 ; 0x07 9e8: 26 83 std Z+6, r18 ; 0x06 9ea: 14 c0 rjmp .+40 ; 0xa14 9ec: 8b 01 movw r16, r22 9ee: ec 01 movw r28, r24 9f0: fb 01 movw r30, r22 9f2: 00 84 ldd r0, Z+8 ; 0x08 9f4: f1 85 ldd r31, Z+9 ; 0x09 9f6: e0 2d mov r30, r0 9f8: 09 95 icall 9fa: 89 2b or r24, r25 9fc: e1 f6 brne .-72 ; 0x9b6 9fe: d8 01 movw r26, r16 a00: 16 96 adiw r26, 0x06 ; 6 a02: 8d 91 ld r24, X+ a04: 9c 91 ld r25, X a06: 17 97 sbiw r26, 0x07 ; 7 a08: 01 96 adiw r24, 0x01 ; 1 a0a: 17 96 adiw r26, 0x07 ; 7 a0c: 9c 93 st X, r25 a0e: 8e 93 st -X, r24 a10: 16 97 sbiw r26, 0x06 ; 6 a12: ce 01 movw r24, r28 a14: df 91 pop r29 a16: cf 91 pop r28 a18: 1f 91 pop r17 a1a: 0f 91 pop r16 a1c: 08 95 ret 00000a1e <__ultoa_invert>: a1e: fa 01 movw r30, r20 a20: aa 27 eor r26, r26 a22: 28 30 cpi r18, 0x08 ; 8 a24: 51 f1 breq .+84 ; 0xa7a <__ultoa_invert+0x5c> a26: 20 31 cpi r18, 0x10 ; 16 a28: 81 f1 breq .+96 ; 0xa8a <__ultoa_invert+0x6c> a2a: e8 94 clt a2c: 6f 93 push r22 a2e: 6e 7f andi r22, 0xFE ; 254 a30: 6e 5f subi r22, 0xFE ; 254 a32: 7f 4f sbci r23, 0xFF ; 255 a34: 8f 4f sbci r24, 0xFF ; 255 a36: 9f 4f sbci r25, 0xFF ; 255 a38: af 4f sbci r26, 0xFF ; 255 a3a: b1 e0 ldi r27, 0x01 ; 1 a3c: 3e d0 rcall .+124 ; 0xaba <__ultoa_invert+0x9c> a3e: b4 e0 ldi r27, 0x04 ; 4 a40: 3c d0 rcall .+120 ; 0xaba <__ultoa_invert+0x9c> a42: 67 0f add r22, r23 a44: 78 1f adc r23, r24 a46: 89 1f adc r24, r25 a48: 9a 1f adc r25, r26 a4a: a1 1d adc r26, r1 a4c: 68 0f add r22, r24 a4e: 79 1f adc r23, r25 a50: 8a 1f adc r24, r26 a52: 91 1d adc r25, r1 a54: a1 1d adc r26, r1 a56: 6a 0f add r22, r26 a58: 71 1d adc r23, r1 a5a: 81 1d adc r24, r1 a5c: 91 1d adc r25, r1 a5e: a1 1d adc r26, r1 a60: 20 d0 rcall .+64 ; 0xaa2 <__ultoa_invert+0x84> a62: 09 f4 brne .+2 ; 0xa66 <__ultoa_invert+0x48> a64: 68 94 set a66: 3f 91 pop r19 a68: 2a e0 ldi r18, 0x0A ; 10 a6a: 26 9f mul r18, r22 a6c: 11 24 eor r1, r1 a6e: 30 19 sub r19, r0 a70: 30 5d subi r19, 0xD0 ; 208 a72: 31 93 st Z+, r19 a74: de f6 brtc .-74 ; 0xa2c <__ultoa_invert+0xe> a76: cf 01 movw r24, r30 a78: 08 95 ret a7a: 46 2f mov r20, r22 a7c: 47 70 andi r20, 0x07 ; 7 a7e: 40 5d subi r20, 0xD0 ; 208 a80: 41 93 st Z+, r20 a82: b3 e0 ldi r27, 0x03 ; 3 a84: 0f d0 rcall .+30 ; 0xaa4 <__ultoa_invert+0x86> a86: c9 f7 brne .-14 ; 0xa7a <__ultoa_invert+0x5c> a88: f6 cf rjmp .-20 ; 0xa76 <__ultoa_invert+0x58> a8a: 46 2f mov r20, r22 a8c: 4f 70 andi r20, 0x0F ; 15 a8e: 40 5d subi r20, 0xD0 ; 208 a90: 4a 33 cpi r20, 0x3A ; 58 a92: 18 f0 brcs .+6 ; 0xa9a <__ultoa_invert+0x7c> a94: 49 5d subi r20, 0xD9 ; 217 a96: 31 fd sbrc r19, 1 a98: 40 52 subi r20, 0x20 ; 32 a9a: 41 93 st Z+, r20 a9c: 02 d0 rcall .+4 ; 0xaa2 <__ultoa_invert+0x84> a9e: a9 f7 brne .-22 ; 0xa8a <__ultoa_invert+0x6c> aa0: ea cf rjmp .-44 ; 0xa76 <__ultoa_invert+0x58> aa2: b4 e0 ldi r27, 0x04 ; 4 aa4: a6 95 lsr r26 aa6: 97 95 ror r25 aa8: 87 95 ror r24 aaa: 77 95 ror r23 aac: 67 95 ror r22 aae: ba 95 dec r27 ab0: c9 f7 brne .-14 ; 0xaa4 <__ultoa_invert+0x86> ab2: 00 97 sbiw r24, 0x00 ; 0 ab4: 61 05 cpc r22, r1 ab6: 71 05 cpc r23, r1 ab8: 08 95 ret aba: 9b 01 movw r18, r22 abc: ac 01 movw r20, r24 abe: 0a 2e mov r0, r26 ac0: 06 94 lsr r0 ac2: 57 95 ror r21 ac4: 47 95 ror r20 ac6: 37 95 ror r19 ac8: 27 95 ror r18 aca: ba 95 dec r27 acc: c9 f7 brne .-14 ; 0xac0 <__ultoa_invert+0xa2> ace: 62 0f add r22, r18 ad0: 73 1f adc r23, r19 ad2: 84 1f adc r24, r20 ad4: 95 1f adc r25, r21 ad6: a0 1d adc r26, r0 ad8: 08 95 ret 00000ada <_exit>: ada: f8 94 cli 00000adc <__stop_program>: adc: ff cf rjmp .-2 ; 0xadc <__stop_program>