Eindopdracht.elf: file format elf32-avr Sections: Idx Name Size VMA LMA File off Algn 0 .data 0000002a 00800100 00000ce4 00000d78 2**0 CONTENTS, ALLOC, LOAD, DATA 1 .text 00000ce4 00000000 00000000 00000094 2**1 CONTENTS, ALLOC, LOAD, READONLY, CODE 2 .bss 0000000c 0080012a 0080012a 00000da2 2**0 ALLOC 3 .comment 0000005c 00000000 00000000 00000da2 2**0 CONTENTS, READONLY 4 .note.gnu.avr.deviceinfo 0000003c 00000000 00000000 00000e00 2**2 CONTENTS, READONLY 5 .debug_aranges 00000158 00000000 00000000 00000e3c 2**0 CONTENTS, READONLY, DEBUGGING 6 .debug_info 0000163c 00000000 00000000 00000f94 2**0 CONTENTS, READONLY, DEBUGGING 7 .debug_abbrev 00000d50 00000000 00000000 000025d0 2**0 CONTENTS, READONLY, DEBUGGING 8 .debug_line 00000b1a 00000000 00000000 00003320 2**0 CONTENTS, READONLY, DEBUGGING 9 .debug_frame 000003cc 00000000 00000000 00003e3c 2**2 CONTENTS, READONLY, DEBUGGING 10 .debug_str 00000787 00000000 00000000 00004208 2**0 CONTENTS, READONLY, DEBUGGING 11 .debug_loc 00000956 00000000 00000000 0000498f 2**0 CONTENTS, READONLY, DEBUGGING 12 .debug_ranges 00000118 00000000 00000000 000052e5 2**0 CONTENTS, READONLY, DEBUGGING Disassembly of section .text: 00000000 <__vectors>: 0: 45 c0 rjmp .+138 ; 0x8c <__ctors_end> 2: 00 00 nop 4: 60 c0 rjmp .+192 ; 0xc6 <__bad_interrupt> 6: 00 00 nop 8: 5e c0 rjmp .+188 ; 0xc6 <__bad_interrupt> a: 00 00 nop c: 4f c1 rjmp .+670 ; 0x2ac <__vector_3> 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: 9c c1 rjmp .+824 ; 0x35e <__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: e4 ee ldi r30, 0xE4 ; 228 a0: fc e0 ldi r31, 0x0C ; 12 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: aa 32 cpi r26, 0x2A ; 42 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: aa e2 ldi r26, 0x2A ; 42 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: a6 33 cpi r26, 0x36 ; 54 be: b2 07 cpc r27, r18 c0: e1 f7 brne .-8 ; 0xba <.do_clear_bss_loop> c2: 1b d1 rcall .+566 ; 0x2fa
c4: 0d c6 rjmp .+3098 ; 0xce0 <_exit> 000000c6 <__bad_interrupt>: c6: 9c cf rjmp .-200 ; 0x0 <__vectors> 000000c8 : { int length = snprintf(NULL, 0, "%s: %.3f %s", prefix, number, suffix); char str[length + 1]; snprintf(str, length + 1, "%s: %.3f %s", prefix, number, suffix); lcd_write_string(str); } 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_ultrasonic_value(float number) { 1c6: 8f 92 push r8 1c8: 9f 92 push r9 1ca: af 92 push r10 1cc: bf 92 push r11 1ce: cf 92 push r12 1d0: df 92 push r13 1d2: ef 92 push r14 1d4: ff 92 push r15 1d6: 0f 93 push r16 1d8: 1f 93 push r17 1da: cf 93 push r28 1dc: df 93 push r29 1de: cd b7 in r28, 0x3d ; 61 1e0: de b7 in r29, 0x3e ; 62 1e2: d6 2e mov r13, r22 1e4: c7 2e mov r12, r23 1e6: 98 2e mov r9, r24 1e8: 89 2e mov r8, r25 int length = snprintf(NULL, 0, "%f CM", number); char str[length + 1]; snprintf(str, length + 1, "%f CM", number); lcd_write_string(str); } 1ea: ad b6 in r10, 0x3d ; 61 1ec: be b6 in r11, 0x3e ; 62 lcd_write_string(str); } void lcd_write_ultrasonic_value(float number) { int length = snprintf(NULL, 0, "%f CM", number); 1ee: 9f 93 push r25 1f0: 8f 93 push r24 1f2: 7f 93 push r23 1f4: 6f 93 push r22 1f6: 0f 2e mov r0, r31 1f8: f1 e2 ldi r31, 0x21 ; 33 1fa: ef 2e mov r14, r31 1fc: f1 e0 ldi r31, 0x01 ; 1 1fe: ff 2e mov r15, r31 200: f0 2d mov r31, r0 202: ff 92 push r15 204: ef 92 push r14 206: 1f 92 push r1 208: 1f 92 push r1 20a: 1f 92 push r1 20c: 1f 92 push r1 20e: 7f d2 rcall .+1278 ; 0x70e char str[length + 1]; 210: 01 96 adiw r24, 0x01 ; 1 212: 2d b7 in r18, 0x3d ; 61 214: 3e b7 in r19, 0x3e ; 62 216: 26 5f subi r18, 0xF6 ; 246 218: 3f 4f sbci r19, 0xFF ; 255 21a: 0f b6 in r0, 0x3f ; 63 21c: f8 94 cli 21e: 3e bf out 0x3e, r19 ; 62 220: 0f be out 0x3f, r0 ; 63 222: 2d bf out 0x3d, r18 ; 61 224: 28 1b sub r18, r24 226: 39 0b sbc r19, r25 228: 0f b6 in r0, 0x3f ; 63 22a: f8 94 cli 22c: 3e bf out 0x3e, r19 ; 62 22e: 0f be out 0x3f, r0 ; 63 230: 2d bf out 0x3d, r18 ; 61 232: 0d b7 in r16, 0x3d ; 61 234: 1e b7 in r17, 0x3e ; 62 236: 0f 5f subi r16, 0xFF ; 255 238: 1f 4f sbci r17, 0xFF ; 255 snprintf(str, length + 1, "%f CM", number); 23a: 8f 92 push r8 23c: 9f 92 push r9 23e: cf 92 push r12 240: df 92 push r13 242: ff 92 push r15 244: ef 92 push r14 246: 9f 93 push r25 248: 8f 93 push r24 24a: 1f 93 push r17 24c: 0f 93 push r16 24e: 5f d2 rcall .+1214 ; 0x70e lcd_write_string(str); 250: 80 2f mov r24, r16 252: 91 2f mov r25, r17 254: ac df rcall .-168 ; 0x1ae } 256: 8d b7 in r24, 0x3d ; 61 258: 9e b7 in r25, 0x3e ; 62 25a: 0a 96 adiw r24, 0x0a ; 10 25c: 0f b6 in r0, 0x3f ; 63 25e: f8 94 cli 260: 9e bf out 0x3e, r25 ; 62 262: 0f be out 0x3f, r0 ; 63 264: 8d bf out 0x3d, r24 ; 61 266: 0f b6 in r0, 0x3f ; 63 268: f8 94 cli 26a: be be out 0x3e, r11 ; 62 26c: 0f be out 0x3f, r0 ; 63 26e: ad be out 0x3d, r10 ; 61 270: df 91 pop r29 272: cf 91 pop r28 274: 1f 91 pop r17 276: 0f 91 pop r16 278: ff 90 pop r15 27a: ef 90 pop r14 27c: df 90 pop r13 27e: cf 90 pop r12 280: bf 90 pop r11 282: af 90 pop r10 284: 9f 90 pop r9 286: 8f 90 pop r8 288: 08 95 ret 0000028a : ultrasonic_send_pulse(); } static void ultrasoon_value_set_event(uint16_t value){ // if the SODAR is initialising, then look for close start object. if(initialising){ 28a: 20 91 00 01 lds r18, 0x0100 ; 0x800100 <__DATA_REGION_ORIGIN__> 28e: 22 23 and r18, r18 290: 51 f0 breq .+20 ; 0x2a6 if(value > 0 && value < MAX_DISTANCE_INIT){ 292: 01 97 sbiw r24, 0x01 ; 1 294: 43 97 sbiw r24, 0x13 ; 19 296: 38 f4 brcc .+14 ; 0x2a6 stepper_rotate_stop(); 298: d1 d0 rcall .+418 ; 0x43c initialising = false; 29a: 10 92 00 01 sts 0x0100, r1 ; 0x800100 <__DATA_REGION_ORIGIN__> // when found, set the initial rotation. stepper_rotate_angle(ROTAITION_ANGLE, CounterClockWise); 29e: 61 e0 ldi r22, 0x01 ; 1 2a0: 80 e0 ldi r24, 0x00 ; 0 2a2: 92 e0 ldi r25, 0x02 ; 2 2a4: be c0 rjmp .+380 ; 0x422 2a6: 08 95 ret 000002a8 : ultrasonic_handle_interrupt(); } static void snap_event_trigger(uint8_t rotation){ // when X amount of steps are taken, do pulse. ultrasonic_send_pulse(); 2a8: 04 c1 rjmp .+520 ; 0x4b2 2aa: 08 95 ret 000002ac <__vector_3>: // if true: in init mode, looking for starting point. bool initialising = true; ISR(INT2_vect) { 2ac: 1f 92 push r1 2ae: 0f 92 push r0 2b0: 0f b6 in r0, 0x3f ; 63 2b2: 0f 92 push r0 2b4: 11 24 eor r1, r1 2b6: 0b b6 in r0, 0x3b ; 59 2b8: 0f 92 push r0 2ba: 2f 93 push r18 2bc: 3f 93 push r19 2be: 4f 93 push r20 2c0: 5f 93 push r21 2c2: 6f 93 push r22 2c4: 7f 93 push r23 2c6: 8f 93 push r24 2c8: 9f 93 push r25 2ca: af 93 push r26 2cc: bf 93 push r27 2ce: ef 93 push r30 2d0: ff 93 push r31 ultrasonic_handle_interrupt(); 2d2: fc d0 rcall .+504 ; 0x4cc } 2d4: ff 91 pop r31 2d6: ef 91 pop r30 2d8: bf 91 pop r27 2da: af 91 pop r26 2dc: 9f 91 pop r25 2de: 8f 91 pop r24 2e0: 7f 91 pop r23 2e2: 6f 91 pop r22 2e4: 5f 91 pop r21 2e6: 4f 91 pop r20 2e8: 3f 91 pop r19 2ea: 2f 91 pop r18 2ec: 0f 90 pop r0 2ee: 0b be out 0x3b, r0 ; 59 2f0: 0f 90 pop r0 2f2: 0f be out 0x3f, r0 ; 63 2f4: 0f 90 pop r0 2f6: 1f 90 pop r1 2f8: 18 95 reti 000002fa
: } int main(void) { // initialize ultrasonic sensor driver. ultrasonic_init(); 2fa: cc d0 rcall .+408 ; 0x494 // initialize LCD display in 4 bit mode. init_4bits_mode(); 2fc: 3a df rcall .-396 ; 0x172 // initialize stepper driver. init_stepper_driver(); 2fe: a0 d0 rcall .+320 ; 0x440 // set the event when a pulse must be sent. set_snap_event(&snap_event_trigger); 300: 84 e5 ldi r24, 0x54 ; 84 302: 91 e0 ldi r25, 0x01 ; 1 304: 27 d0 rcall .+78 ; 0x354 // set a event for when a value has been set from the ultrasonic sensor. set_value_trigger_event(&ultrasoon_value_set_event); 306: 85 e4 ldi r24, 0x45 ; 69 308: 91 e0 ldi r25, 0x01 ; 1 30a: fe d0 rcall .+508 ; 0x508 30c: 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); 30e: 91 e6 ldi r25, 0x61 ; 97 310: 01 97 sbiw r24, 0x01 ; 1 312: f1 f7 brne .-4 ; 0x310 314: 00 c0 rjmp .+0 ; 0x316 316: 00 00 nop _delay_ms(10); lcd_clear(); 318: 21 df rcall .-446 ; 0x15c stepper_rotate_angle(INIT_ROTAITION_ANGLE, ClockWise); 31a: 60 e0 ldi r22, 0x00 ; 0 31c: 88 e5 ldi r24, 0x58 ; 88 31e: 92 e0 ldi r25, 0x02 ; 2 while (1) { lcd_clear(); 320: 80 d0 rcall .+256 ; 0x422 322: 1c df rcall .-456 ; 0x15c // set the ultrasonic value to the lcd. lcd_write_ultrasonic_value(ultrasonic_get_timer_dist()); 324: f6 d0 rcall .+492 ; 0x512 326: 4f df rcall .-354 ; 0x1c6 328: 84 e6 ldi r24, 0x64 ; 100 32a: 90 e0 ldi r25, 0x00 ; 0 wait_ms(LCD_SET_DELAY); 32c: a4 d0 rcall .+328 ; 0x476 32e: f9 cf rjmp .-14 ; 0x322 00000330 : void stepper_rotate_full_rotation_CW(); void stepper_rotate_full_rotation_CCW(); void set_stepper_state(uint8_t count){ if(rotation == ClockWise){ 330: 90 91 31 01 lds r25, 0x0131 ; 0x800131 334: 91 11 cpse r25, r1 336: 07 c0 rjmp .+14 ; 0x346 PORTE = CW[count]; 338: e8 2f mov r30, r24 33a: f0 e0 ldi r31, 0x00 ; 0 33c: ef 5f subi r30, 0xFF ; 255 33e: fe 4f sbci r31, 0xFE ; 254 340: 80 81 ld r24, Z 342: 83 b9 out 0x03, r24 ; 3 344: 08 95 ret } else { PORTE = CCW[count]; 346: e8 2f mov r30, r24 348: f0 e0 ldi r31, 0x00 ; 0 34a: e7 5f subi r30, 0xF7 ; 247 34c: fe 4f sbci r31, 0xFE ; 254 34e: 80 81 ld r24, Z 350: 83 b9 out 0x03, r24 ; 3 352: 08 95 ret 00000354 : } void (*snap_event)(uint8_t); void set_snap_event(void (*snap_event_p)(uint8_t)){ snap_event = snap_event_p; 354: 90 93 33 01 sts 0x0133, r25 ; 0x800133 358: 80 93 32 01 sts 0x0132, r24 ; 0x800132 35c: 08 95 ret 0000035e <__vector_9>: } ISR( TIMER2_COMP_vect ){ 35e: 1f 92 push r1 360: 0f 92 push r0 362: 0f b6 in r0, 0x3f ; 63 364: 0f 92 push r0 366: 11 24 eor r1, r1 368: 0b b6 in r0, 0x3b ; 59 36a: 0f 92 push r0 36c: 2f 93 push r18 36e: 3f 93 push r19 370: 4f 93 push r20 372: 5f 93 push r21 374: 6f 93 push r22 376: 7f 93 push r23 378: 8f 93 push r24 37a: 9f 93 push r25 37c: af 93 push r26 37e: bf 93 push r27 380: ef 93 push r30 382: ff 93 push r31 TCNT2 = 0; 384: 14 bc out 0x24, r1 ; 36 set_stepper_state(stepper_state); 386: 80 91 2a 01 lds r24, 0x012A ; 0x80012a <__data_end> 38a: d2 df rcall .-92 ; 0x330 if(stepper_state < 7){ 38c: 80 91 2a 01 lds r24, 0x012A ; 0x80012a <__data_end> 390: 87 30 cpi r24, 0x07 ; 7 392: 20 f4 brcc .+8 ; 0x39c <__vector_9+0x3e> stepper_state++; 394: 8f 5f subi r24, 0xFF ; 255 396: 80 93 2a 01 sts 0x012A, r24 ; 0x80012a <__data_end> 39a: 30 c0 rjmp .+96 ; 0x3fc <__vector_9+0x9e> } else { stepper_state = 0; 39c: 10 92 2a 01 sts 0x012A, r1 ; 0x80012a <__data_end> if(steps_to_do == 0){ 3a0: 80 91 2b 01 lds r24, 0x012B ; 0x80012b 3a4: 90 91 2c 01 lds r25, 0x012C ; 0x80012c 3a8: 00 97 sbiw r24, 0x00 ; 0 3aa: 99 f4 brne .+38 ; 0x3d2 <__vector_9+0x74> // change rotation if the steps todo is 0. if(rotation == ClockWise){ 3ac: 80 91 31 01 lds r24, 0x0131 ; 0x800131 3b0: 81 11 cpse r24, r1 3b2: 04 c0 rjmp .+8 ; 0x3bc <__vector_9+0x5e> rotation = CounterClockWise; 3b4: 81 e0 ldi r24, 0x01 ; 1 3b6: 80 93 31 01 sts 0x0131, r24 ; 0x800131 3ba: 02 c0 rjmp .+4 ; 0x3c0 <__vector_9+0x62> } else { rotation = ClockWise; 3bc: 10 92 31 01 sts 0x0131, r1 ; 0x800131 } // set the steps to do again. steps_to_do = steps_each_turn; 3c0: 80 91 2d 01 lds r24, 0x012D ; 0x80012d 3c4: 90 91 2e 01 lds r25, 0x012E ; 0x80012e 3c8: 90 93 2c 01 sts 0x012C, r25 ; 0x80012c 3cc: 80 93 2b 01 sts 0x012B, r24 ; 0x80012b 3d0: 15 c0 rjmp .+42 ; 0x3fc <__vector_9+0x9e> } else { // if the stepper step value is at a multiplier of 32 then make snap event. if(steps_to_do % STEPS_EACH_PULSE == 0){ 3d2: 9c 01 movw r18, r24 3d4: 2f 71 andi r18, 0x1F ; 31 3d6: 33 27 eor r19, r19 3d8: 23 2b or r18, r19 3da: 39 f4 brne .+14 ; 0x3ea <__vector_9+0x8c> if(snap_event != NULL) 3dc: e0 91 32 01 lds r30, 0x0132 ; 0x800132 3e0: f0 91 33 01 lds r31, 0x0133 ; 0x800133 3e4: 30 97 sbiw r30, 0x00 ; 0 3e6: 09 f0 breq .+2 ; 0x3ea <__vector_9+0x8c> snap_event(steps_to_do); 3e8: 09 95 icall } steps_to_do--; 3ea: 80 91 2b 01 lds r24, 0x012B ; 0x80012b 3ee: 90 91 2c 01 lds r25, 0x012C ; 0x80012c 3f2: 01 97 sbiw r24, 0x01 ; 1 3f4: 90 93 2c 01 sts 0x012C, r25 ; 0x80012c 3f8: 80 93 2b 01 sts 0x012B, r24 ; 0x80012b } } } 3fc: ff 91 pop r31 3fe: ef 91 pop r30 400: bf 91 pop r27 402: af 91 pop r26 404: 9f 91 pop r25 406: 8f 91 pop r24 408: 7f 91 pop r23 40a: 6f 91 pop r22 40c: 5f 91 pop r21 40e: 4f 91 pop r20 410: 3f 91 pop r19 412: 2f 91 pop r18 414: 0f 90 pop r0 416: 0b be out 0x3b, r0 ; 59 418: 0f 90 pop r0 41a: 0f be out 0x3f, r0 ; 63 41c: 0f 90 pop r0 41e: 1f 90 pop r1 420: 18 95 reti 00000422 : void stepper_rotate_angle(uint16_t steps, enum rotation_wise rot){ steps_to_do = steps; 422: 90 93 2c 01 sts 0x012C, r25 ; 0x80012c 426: 80 93 2b 01 sts 0x012B, r24 ; 0x80012b steps_each_turn = steps; 42a: 90 93 2e 01 sts 0x012E, r25 ; 0x80012e 42e: 80 93 2d 01 sts 0x012D, r24 ; 0x80012d rotation = rot; 432: 60 93 31 01 sts 0x0131, r22 ; 0x800131 TCCR2 = 0b00001100; 436: 8c e0 ldi r24, 0x0C ; 12 438: 85 bd out 0x25, r24 ; 37 43a: 08 95 ret 0000043c : } void stepper_rotate_stop(){ TCCR2 = 0b00000000; 43c: 15 bc out 0x25, r1 ; 37 43e: 08 95 ret 00000440 : } void init_stepper_driver(){ DDRE = 0xff; 440: 8f ef ldi r24, 0xFF ; 255 442: 82 b9 out 0x02, r24 ; 2 DDRG = 0xff; 444: 80 93 64 00 sts 0x0064, r24 ; 0x800064 <__TEXT_REGION_LENGTH__+0x7e0064> PORTG = 0x01; 448: 81 e0 ldi r24, 0x01 ; 1 44a: 80 93 65 00 sts 0x0065, r24 ; 0x800065 <__TEXT_REGION_LENGTH__+0x7e0065> PORTE = 0x00; 44e: 13 b8 out 0x03, r1 ; 3 OCR2 = COMPARE_VALUE; 450: 86 e9 ldi r24, 0x96 ; 150 452: 83 bd out 0x23, r24 ; 35 TIMSK = BIT(7); 454: 80 e8 ldi r24, 0x80 ; 128 456: 87 bf out 0x37, r24 ; 55 sei(); 458: 78 94 sei 45a: 08 95 ret 0000045c : void (*value_set_event)(uint16_t); void wait_us(unsigned int us) { for(int i = 0; i < us; i++) 45c: 20 e0 ldi r18, 0x00 ; 0 45e: 30 e0 ldi r19, 0x00 ; 0 460: 06 c0 rjmp .+12 ; 0x46e #else //round up by default __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); #endif __builtin_avr_delay_cycles(__ticks_dc); 462: 43 e0 ldi r20, 0x03 ; 3 464: 4a 95 dec r20 466: f1 f7 brne .-4 ; 0x464 468: 00 00 nop 46a: 2f 5f subi r18, 0xFF ; 255 46c: 3f 4f sbci r19, 0xFF ; 255 46e: 28 17 cp r18, r24 470: 39 07 cpc r19, r25 472: b8 f3 brcs .-18 ; 0x462 { _delay_us(1); } } 474: 08 95 ret 00000476 : void wait_ms(unsigned int ms) { for(int i = 0; i < ms; i++) 476: 20 e0 ldi r18, 0x00 ; 0 478: 30 e0 ldi r19, 0x00 ; 0 47a: 08 c0 rjmp .+16 ; 0x48c #else //round up by default __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); #endif __builtin_avr_delay_cycles(__ticks_dc); 47c: e3 ec ldi r30, 0xC3 ; 195 47e: f9 e0 ldi r31, 0x09 ; 9 480: 31 97 sbiw r30, 0x01 ; 1 482: f1 f7 brne .-4 ; 0x480 484: 00 c0 rjmp .+0 ; 0x486 486: 00 00 nop 488: 2f 5f subi r18, 0xFF ; 255 48a: 3f 4f sbci r19, 0xFF ; 255 48c: 28 17 cp r18, r24 48e: 39 07 cpc r19, r25 490: a8 f3 brcs .-22 ; 0x47c { _delay_ms(1); } } 492: 08 95 ret 00000494 : void ultrasonic_init() { DDRG = 0xFF; // port g all output. pin 0 is trig, the rest is for debug 494: 8f ef ldi r24, 0xFF ; 255 496: 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 49a: 11 ba out 0x11, r1 ; 17 EICRA = 0x30; // interrupt PORTD on pin 2, rising edge 49c: 80 e3 ldi r24, 0x30 ; 48 49e: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> EIMSK |= 0x04; // enable interrupt on pin 2 (INT2) 4a2: 89 b7 in r24, 0x39 ; 57 4a4: 84 60 ori r24, 0x04 ; 4 4a6: 89 bf out 0x39, r24 ; 57 TCCR1A = 0b00000000; // initialize timer1, prescaler=256 4a8: 1f bc out 0x2f, r1 ; 47 TCCR1B = 0b00001100; // CTC compare A, RUN 4aa: 8c e0 ldi r24, 0x0C ; 12 4ac: 8e bd out 0x2e, r24 ; 46 sei(); // turn on interrupt system 4ae: 78 94 sei 4b0: 08 95 ret 000004b2 : } void ultrasonic_send_pulse() { 4b2: cf 93 push r28 4b4: df 93 push r29 PORTG = 0x00; // 10 us low pulse 4b6: c5 e6 ldi r28, 0x65 ; 101 4b8: d0 e0 ldi r29, 0x00 ; 0 4ba: 18 82 st Y, r1 wait_us(10); 4bc: 8a e0 ldi r24, 0x0A ; 10 4be: 90 e0 ldi r25, 0x00 ; 0 4c0: cd df rcall .-102 ; 0x45c PORTG = 0x01; 4c2: 81 e0 ldi r24, 0x01 ; 1 4c4: 88 83 st Y, r24 } 4c6: df 91 pop r29 4c8: cf 91 pop r28 4ca: 08 95 ret 000004cc : void ultrasonic_handle_interrupt() { // if the interrupt was generated on a rising edge (start sending echo) if (int_stat == INTERRUPT_RISING) 4cc: 80 91 11 01 lds r24, 0x0111 ; 0x800111 4d0: 81 30 cpi r24, 0x01 ; 1 4d2: 41 f4 brne .+16 ; 0x4e4 { // set interrupt pin 2 on PORTD to falling edge EICRA = 0x20; 4d4: 80 e2 ldi r24, 0x20 ; 32 4d6: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> // reset the time in timer1 TCNT1 = 0x00; 4da: 1d bc out 0x2d, r1 ; 45 4dc: 1c bc out 0x2c, r1 ; 44 // set interrupt status int_stat = INTERRUPT_FALLING; 4de: 10 92 11 01 sts 0x0111, r1 ; 0x800111 4e2: 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 = 0x30; // interrupt PORTD on pin 2, rising edge 4e4: 80 e3 ldi r24, 0x30 ; 48 4e6: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a> // read timer1 into time_dist timer_dist = TCNT1; 4ea: 8c b5 in r24, 0x2c ; 44 4ec: 9d b5 in r25, 0x2d ; 45 4ee: 90 93 30 01 sts 0x0130, r25 ; 0x800130 4f2: 80 93 2f 01 sts 0x012F, r24 ; 0x80012f //EVENT value_set_event(timer_dist); 4f6: e0 91 34 01 lds r30, 0x0134 ; 0x800134 4fa: f0 91 35 01 lds r31, 0x0135 ; 0x800135 4fe: 09 95 icall // set interrupt status int_stat = INTERRUPT_RISING; 500: 81 e0 ldi r24, 0x01 ; 1 502: 80 93 11 01 sts 0x0111, r24 ; 0x800111 506: 08 95 ret 00000508 : } } 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; 508: 90 93 35 01 sts 0x0135, r25 ; 0x800135 50c: 80 93 34 01 sts 0x0134, r24 ; 0x800134 510: 08 95 ret 00000512 : } float ultrasonic_get_timer_dist() { return (float)(timer_dist * (340 / 2.0)); 512: 60 91 2f 01 lds r22, 0x012F ; 0x80012f 516: 70 91 30 01 lds r23, 0x0130 ; 0x800130 51a: 80 e0 ldi r24, 0x00 ; 0 51c: 90 e0 ldi r25, 0x00 ; 0 51e: 06 d0 rcall .+12 ; 0x52c <__floatunsisf> 520: 20 e0 ldi r18, 0x00 ; 0 522: 30 e0 ldi r19, 0x00 ; 0 524: 4a e2 ldi r20, 0x2A ; 42 526: 53 e4 ldi r21, 0x43 ; 67 528: 3e c0 rjmp .+124 ; 0x5a6 <__mulsf3> } 52a: 08 95 ret 0000052c <__floatunsisf>: 52c: e8 94 clt 52e: 09 c0 rjmp .+18 ; 0x542 <__floatsisf+0x12> 00000530 <__floatsisf>: 530: 97 fb bst r25, 7 532: 3e f4 brtc .+14 ; 0x542 <__floatsisf+0x12> 534: 90 95 com r25 536: 80 95 com r24 538: 70 95 com r23 53a: 61 95 neg r22 53c: 7f 4f sbci r23, 0xFF ; 255 53e: 8f 4f sbci r24, 0xFF ; 255 540: 9f 4f sbci r25, 0xFF ; 255 542: 99 23 and r25, r25 544: a9 f0 breq .+42 ; 0x570 <__floatsisf+0x40> 546: f9 2f mov r31, r25 548: 96 e9 ldi r25, 0x96 ; 150 54a: bb 27 eor r27, r27 54c: 93 95 inc r25 54e: f6 95 lsr r31 550: 87 95 ror r24 552: 77 95 ror r23 554: 67 95 ror r22 556: b7 95 ror r27 558: f1 11 cpse r31, r1 55a: f8 cf rjmp .-16 ; 0x54c <__floatsisf+0x1c> 55c: fa f4 brpl .+62 ; 0x59c <__floatsisf+0x6c> 55e: bb 0f add r27, r27 560: 11 f4 brne .+4 ; 0x566 <__floatsisf+0x36> 562: 60 ff sbrs r22, 0 564: 1b c0 rjmp .+54 ; 0x59c <__floatsisf+0x6c> 566: 6f 5f subi r22, 0xFF ; 255 568: 7f 4f sbci r23, 0xFF ; 255 56a: 8f 4f sbci r24, 0xFF ; 255 56c: 9f 4f sbci r25, 0xFF ; 255 56e: 16 c0 rjmp .+44 ; 0x59c <__floatsisf+0x6c> 570: 88 23 and r24, r24 572: 11 f0 breq .+4 ; 0x578 <__floatsisf+0x48> 574: 96 e9 ldi r25, 0x96 ; 150 576: 11 c0 rjmp .+34 ; 0x59a <__floatsisf+0x6a> 578: 77 23 and r23, r23 57a: 21 f0 breq .+8 ; 0x584 <__floatsisf+0x54> 57c: 9e e8 ldi r25, 0x8E ; 142 57e: 87 2f mov r24, r23 580: 76 2f mov r23, r22 582: 05 c0 rjmp .+10 ; 0x58e <__floatsisf+0x5e> 584: 66 23 and r22, r22 586: 71 f0 breq .+28 ; 0x5a4 <__floatsisf+0x74> 588: 96 e8 ldi r25, 0x86 ; 134 58a: 86 2f mov r24, r22 58c: 70 e0 ldi r23, 0x00 ; 0 58e: 60 e0 ldi r22, 0x00 ; 0 590: 2a f0 brmi .+10 ; 0x59c <__floatsisf+0x6c> 592: 9a 95 dec r25 594: 66 0f add r22, r22 596: 77 1f adc r23, r23 598: 88 1f adc r24, r24 59a: da f7 brpl .-10 ; 0x592 <__floatsisf+0x62> 59c: 88 0f add r24, r24 59e: 96 95 lsr r25 5a0: 87 95 ror r24 5a2: 97 f9 bld r25, 7 5a4: 08 95 ret 000005a6 <__mulsf3>: 5a6: 0b d0 rcall .+22 ; 0x5be <__mulsf3x> 5a8: 78 c0 rjmp .+240 ; 0x69a <__fp_round> 5aa: 69 d0 rcall .+210 ; 0x67e <__fp_pscA> 5ac: 28 f0 brcs .+10 ; 0x5b8 <__mulsf3+0x12> 5ae: 6e d0 rcall .+220 ; 0x68c <__fp_pscB> 5b0: 18 f0 brcs .+6 ; 0x5b8 <__mulsf3+0x12> 5b2: 95 23 and r25, r21 5b4: 09 f0 breq .+2 ; 0x5b8 <__mulsf3+0x12> 5b6: 5a c0 rjmp .+180 ; 0x66c <__fp_inf> 5b8: 5f c0 rjmp .+190 ; 0x678 <__fp_nan> 5ba: 11 24 eor r1, r1 5bc: a2 c0 rjmp .+324 ; 0x702 <__fp_szero> 000005be <__mulsf3x>: 5be: 7e d0 rcall .+252 ; 0x6bc <__fp_split3> 5c0: a0 f3 brcs .-24 ; 0x5aa <__mulsf3+0x4> 000005c2 <__mulsf3_pse>: 5c2: 95 9f mul r25, r21 5c4: d1 f3 breq .-12 ; 0x5ba <__mulsf3+0x14> 5c6: 95 0f add r25, r21 5c8: 50 e0 ldi r21, 0x00 ; 0 5ca: 55 1f adc r21, r21 5cc: 62 9f mul r22, r18 5ce: f0 01 movw r30, r0 5d0: 72 9f mul r23, r18 5d2: bb 27 eor r27, r27 5d4: f0 0d add r31, r0 5d6: b1 1d adc r27, r1 5d8: 63 9f mul r22, r19 5da: aa 27 eor r26, r26 5dc: f0 0d add r31, r0 5de: b1 1d adc r27, r1 5e0: aa 1f adc r26, r26 5e2: 64 9f mul r22, r20 5e4: 66 27 eor r22, r22 5e6: b0 0d add r27, r0 5e8: a1 1d adc r26, r1 5ea: 66 1f adc r22, r22 5ec: 82 9f mul r24, r18 5ee: 22 27 eor r18, r18 5f0: b0 0d add r27, r0 5f2: a1 1d adc r26, r1 5f4: 62 1f adc r22, r18 5f6: 73 9f mul r23, r19 5f8: b0 0d add r27, r0 5fa: a1 1d adc r26, r1 5fc: 62 1f adc r22, r18 5fe: 83 9f mul r24, r19 600: a0 0d add r26, r0 602: 61 1d adc r22, r1 604: 22 1f adc r18, r18 606: 74 9f mul r23, r20 608: 33 27 eor r19, r19 60a: a0 0d add r26, r0 60c: 61 1d adc r22, r1 60e: 23 1f adc r18, r19 610: 84 9f mul r24, r20 612: 60 0d add r22, r0 614: 21 1d adc r18, r1 616: 82 2f mov r24, r18 618: 76 2f mov r23, r22 61a: 6a 2f mov r22, r26 61c: 11 24 eor r1, r1 61e: 9f 57 subi r25, 0x7F ; 127 620: 50 40 sbci r21, 0x00 ; 0 622: 8a f0 brmi .+34 ; 0x646 <__mulsf3_pse+0x84> 624: e1 f0 breq .+56 ; 0x65e <__mulsf3_pse+0x9c> 626: 88 23 and r24, r24 628: 4a f0 brmi .+18 ; 0x63c <__mulsf3_pse+0x7a> 62a: ee 0f add r30, r30 62c: ff 1f adc r31, r31 62e: bb 1f adc r27, r27 630: 66 1f adc r22, r22 632: 77 1f adc r23, r23 634: 88 1f adc r24, r24 636: 91 50 subi r25, 0x01 ; 1 638: 50 40 sbci r21, 0x00 ; 0 63a: a9 f7 brne .-22 ; 0x626 <__mulsf3_pse+0x64> 63c: 9e 3f cpi r25, 0xFE ; 254 63e: 51 05 cpc r21, r1 640: 70 f0 brcs .+28 ; 0x65e <__mulsf3_pse+0x9c> 642: 14 c0 rjmp .+40 ; 0x66c <__fp_inf> 644: 5e c0 rjmp .+188 ; 0x702 <__fp_szero> 646: 5f 3f cpi r21, 0xFF ; 255 648: ec f3 brlt .-6 ; 0x644 <__mulsf3_pse+0x82> 64a: 98 3e cpi r25, 0xE8 ; 232 64c: dc f3 brlt .-10 ; 0x644 <__mulsf3_pse+0x82> 64e: 86 95 lsr r24 650: 77 95 ror r23 652: 67 95 ror r22 654: b7 95 ror r27 656: f7 95 ror r31 658: e7 95 ror r30 65a: 9f 5f subi r25, 0xFF ; 255 65c: c1 f7 brne .-16 ; 0x64e <__mulsf3_pse+0x8c> 65e: fe 2b or r31, r30 660: 88 0f add r24, r24 662: 91 1d adc r25, r1 664: 96 95 lsr r25 666: 87 95 ror r24 668: 97 f9 bld r25, 7 66a: 08 95 ret 0000066c <__fp_inf>: 66c: 97 f9 bld r25, 7 66e: 9f 67 ori r25, 0x7F ; 127 670: 80 e8 ldi r24, 0x80 ; 128 672: 70 e0 ldi r23, 0x00 ; 0 674: 60 e0 ldi r22, 0x00 ; 0 676: 08 95 ret 00000678 <__fp_nan>: 678: 9f ef ldi r25, 0xFF ; 255 67a: 80 ec ldi r24, 0xC0 ; 192 67c: 08 95 ret 0000067e <__fp_pscA>: 67e: 00 24 eor r0, r0 680: 0a 94 dec r0 682: 16 16 cp r1, r22 684: 17 06 cpc r1, r23 686: 18 06 cpc r1, r24 688: 09 06 cpc r0, r25 68a: 08 95 ret 0000068c <__fp_pscB>: 68c: 00 24 eor r0, r0 68e: 0a 94 dec r0 690: 12 16 cp r1, r18 692: 13 06 cpc r1, r19 694: 14 06 cpc r1, r20 696: 05 06 cpc r0, r21 698: 08 95 ret 0000069a <__fp_round>: 69a: 09 2e mov r0, r25 69c: 03 94 inc r0 69e: 00 0c add r0, r0 6a0: 11 f4 brne .+4 ; 0x6a6 <__fp_round+0xc> 6a2: 88 23 and r24, r24 6a4: 52 f0 brmi .+20 ; 0x6ba <__fp_round+0x20> 6a6: bb 0f add r27, r27 6a8: 40 f4 brcc .+16 ; 0x6ba <__fp_round+0x20> 6aa: bf 2b or r27, r31 6ac: 11 f4 brne .+4 ; 0x6b2 <__fp_round+0x18> 6ae: 60 ff sbrs r22, 0 6b0: 04 c0 rjmp .+8 ; 0x6ba <__fp_round+0x20> 6b2: 6f 5f subi r22, 0xFF ; 255 6b4: 7f 4f sbci r23, 0xFF ; 255 6b6: 8f 4f sbci r24, 0xFF ; 255 6b8: 9f 4f sbci r25, 0xFF ; 255 6ba: 08 95 ret 000006bc <__fp_split3>: 6bc: 57 fd sbrc r21, 7 6be: 90 58 subi r25, 0x80 ; 128 6c0: 44 0f add r20, r20 6c2: 55 1f adc r21, r21 6c4: 59 f0 breq .+22 ; 0x6dc <__fp_splitA+0x10> 6c6: 5f 3f cpi r21, 0xFF ; 255 6c8: 71 f0 breq .+28 ; 0x6e6 <__fp_splitA+0x1a> 6ca: 47 95 ror r20 000006cc <__fp_splitA>: 6cc: 88 0f add r24, r24 6ce: 97 fb bst r25, 7 6d0: 99 1f adc r25, r25 6d2: 61 f0 breq .+24 ; 0x6ec <__fp_splitA+0x20> 6d4: 9f 3f cpi r25, 0xFF ; 255 6d6: 79 f0 breq .+30 ; 0x6f6 <__fp_splitA+0x2a> 6d8: 87 95 ror r24 6da: 08 95 ret 6dc: 12 16 cp r1, r18 6de: 13 06 cpc r1, r19 6e0: 14 06 cpc r1, r20 6e2: 55 1f adc r21, r21 6e4: f2 cf rjmp .-28 ; 0x6ca <__fp_split3+0xe> 6e6: 46 95 lsr r20 6e8: f1 df rcall .-30 ; 0x6cc <__fp_splitA> 6ea: 08 c0 rjmp .+16 ; 0x6fc <__fp_splitA+0x30> 6ec: 16 16 cp r1, r22 6ee: 17 06 cpc r1, r23 6f0: 18 06 cpc r1, r24 6f2: 99 1f adc r25, r25 6f4: f1 cf rjmp .-30 ; 0x6d8 <__fp_splitA+0xc> 6f6: 86 95 lsr r24 6f8: 71 05 cpc r23, r1 6fa: 61 05 cpc r22, r1 6fc: 08 94 sec 6fe: 08 95 ret 00000700 <__fp_zero>: 700: e8 94 clt 00000702 <__fp_szero>: 702: bb 27 eor r27, r27 704: 66 27 eor r22, r22 706: 77 27 eor r23, r23 708: cb 01 movw r24, r22 70a: 97 f9 bld r25, 7 70c: 08 95 ret 0000070e : 70e: 0f 93 push r16 710: 1f 93 push r17 712: cf 93 push r28 714: df 93 push r29 716: cd b7 in r28, 0x3d ; 61 718: de b7 in r29, 0x3e ; 62 71a: 2e 97 sbiw r28, 0x0e ; 14 71c: 0f b6 in r0, 0x3f ; 63 71e: f8 94 cli 720: de bf out 0x3e, r29 ; 62 722: 0f be out 0x3f, r0 ; 63 724: cd bf out 0x3d, r28 ; 61 726: 0d 89 ldd r16, Y+21 ; 0x15 728: 1e 89 ldd r17, Y+22 ; 0x16 72a: 8f 89 ldd r24, Y+23 ; 0x17 72c: 98 8d ldd r25, Y+24 ; 0x18 72e: 26 e0 ldi r18, 0x06 ; 6 730: 2c 83 std Y+4, r18 ; 0x04 732: 1a 83 std Y+2, r17 ; 0x02 734: 09 83 std Y+1, r16 ; 0x01 736: 97 ff sbrs r25, 7 738: 02 c0 rjmp .+4 ; 0x73e 73a: 80 e0 ldi r24, 0x00 ; 0 73c: 90 e8 ldi r25, 0x80 ; 128 73e: 01 97 sbiw r24, 0x01 ; 1 740: 9e 83 std Y+6, r25 ; 0x06 742: 8d 83 std Y+5, r24 ; 0x05 744: ae 01 movw r20, r28 746: 45 5e subi r20, 0xE5 ; 229 748: 5f 4f sbci r21, 0xFF ; 255 74a: 69 8d ldd r22, Y+25 ; 0x19 74c: 7a 8d ldd r23, Y+26 ; 0x1a 74e: ce 01 movw r24, r28 750: 01 96 adiw r24, 0x01 ; 1 752: 19 d0 rcall .+50 ; 0x786 754: 4d 81 ldd r20, Y+5 ; 0x05 756: 5e 81 ldd r21, Y+6 ; 0x06 758: 57 fd sbrc r21, 7 75a: 0a c0 rjmp .+20 ; 0x770 75c: 2f 81 ldd r18, Y+7 ; 0x07 75e: 38 85 ldd r19, Y+8 ; 0x08 760: 42 17 cp r20, r18 762: 53 07 cpc r21, r19 764: 0c f4 brge .+2 ; 0x768 766: 9a 01 movw r18, r20 768: f8 01 movw r30, r16 76a: e2 0f add r30, r18 76c: f3 1f adc r31, r19 76e: 10 82 st Z, r1 770: 2e 96 adiw r28, 0x0e ; 14 772: 0f b6 in r0, 0x3f ; 63 774: f8 94 cli 776: de bf out 0x3e, r29 ; 62 778: 0f be out 0x3f, r0 ; 63 77a: cd bf out 0x3d, r28 ; 61 77c: df 91 pop r29 77e: cf 91 pop r28 780: 1f 91 pop r17 782: 0f 91 pop r16 784: 08 95 ret 00000786 : 786: 2f 92 push r2 788: 3f 92 push r3 78a: 4f 92 push r4 78c: 5f 92 push r5 78e: 6f 92 push r6 790: 7f 92 push r7 792: 8f 92 push r8 794: 9f 92 push r9 796: af 92 push r10 798: bf 92 push r11 79a: cf 92 push r12 79c: df 92 push r13 79e: ef 92 push r14 7a0: ff 92 push r15 7a2: 0f 93 push r16 7a4: 1f 93 push r17 7a6: cf 93 push r28 7a8: df 93 push r29 7aa: cd b7 in r28, 0x3d ; 61 7ac: de b7 in r29, 0x3e ; 62 7ae: 2b 97 sbiw r28, 0x0b ; 11 7b0: 0f b6 in r0, 0x3f ; 63 7b2: f8 94 cli 7b4: de bf out 0x3e, r29 ; 62 7b6: 0f be out 0x3f, r0 ; 63 7b8: cd bf out 0x3d, r28 ; 61 7ba: 6c 01 movw r12, r24 7bc: 7b 01 movw r14, r22 7be: 8a 01 movw r16, r20 7c0: fc 01 movw r30, r24 7c2: 17 82 std Z+7, r1 ; 0x07 7c4: 16 82 std Z+6, r1 ; 0x06 7c6: 83 81 ldd r24, Z+3 ; 0x03 7c8: 81 ff sbrs r24, 1 7ca: bf c1 rjmp .+894 ; 0xb4a 7cc: ce 01 movw r24, r28 7ce: 01 96 adiw r24, 0x01 ; 1 7d0: 3c 01 movw r6, r24 7d2: f6 01 movw r30, r12 7d4: 93 81 ldd r25, Z+3 ; 0x03 7d6: f7 01 movw r30, r14 7d8: 93 fd sbrc r25, 3 7da: 85 91 lpm r24, Z+ 7dc: 93 ff sbrs r25, 3 7de: 81 91 ld r24, Z+ 7e0: 7f 01 movw r14, r30 7e2: 88 23 and r24, r24 7e4: 09 f4 brne .+2 ; 0x7e8 7e6: ad c1 rjmp .+858 ; 0xb42 7e8: 85 32 cpi r24, 0x25 ; 37 7ea: 39 f4 brne .+14 ; 0x7fa 7ec: 93 fd sbrc r25, 3 7ee: 85 91 lpm r24, Z+ 7f0: 93 ff sbrs r25, 3 7f2: 81 91 ld r24, Z+ 7f4: 7f 01 movw r14, r30 7f6: 85 32 cpi r24, 0x25 ; 37 7f8: 21 f4 brne .+8 ; 0x802 7fa: b6 01 movw r22, r12 7fc: 90 e0 ldi r25, 0x00 ; 0 7fe: d6 d1 rcall .+940 ; 0xbac 800: e8 cf rjmp .-48 ; 0x7d2 802: 91 2c mov r9, r1 804: 21 2c mov r2, r1 806: 31 2c mov r3, r1 808: ff e1 ldi r31, 0x1F ; 31 80a: f3 15 cp r31, r3 80c: d8 f0 brcs .+54 ; 0x844 80e: 8b 32 cpi r24, 0x2B ; 43 810: 79 f0 breq .+30 ; 0x830 812: 38 f4 brcc .+14 ; 0x822 814: 80 32 cpi r24, 0x20 ; 32 816: 79 f0 breq .+30 ; 0x836 818: 83 32 cpi r24, 0x23 ; 35 81a: a1 f4 brne .+40 ; 0x844 81c: 23 2d mov r18, r3 81e: 20 61 ori r18, 0x10 ; 16 820: 1d c0 rjmp .+58 ; 0x85c 822: 8d 32 cpi r24, 0x2D ; 45 824: 61 f0 breq .+24 ; 0x83e 826: 80 33 cpi r24, 0x30 ; 48 828: 69 f4 brne .+26 ; 0x844 82a: 23 2d mov r18, r3 82c: 21 60 ori r18, 0x01 ; 1 82e: 16 c0 rjmp .+44 ; 0x85c 830: 83 2d mov r24, r3 832: 82 60 ori r24, 0x02 ; 2 834: 38 2e mov r3, r24 836: e3 2d mov r30, r3 838: e4 60 ori r30, 0x04 ; 4 83a: 3e 2e mov r3, r30 83c: 2a c0 rjmp .+84 ; 0x892 83e: f3 2d mov r31, r3 840: f8 60 ori r31, 0x08 ; 8 842: 1d c0 rjmp .+58 ; 0x87e 844: 37 fc sbrc r3, 7 846: 2d c0 rjmp .+90 ; 0x8a2 848: 20 ed ldi r18, 0xD0 ; 208 84a: 28 0f add r18, r24 84c: 2a 30 cpi r18, 0x0A ; 10 84e: 40 f0 brcs .+16 ; 0x860 850: 8e 32 cpi r24, 0x2E ; 46 852: b9 f4 brne .+46 ; 0x882 854: 36 fc sbrc r3, 6 856: 75 c1 rjmp .+746 ; 0xb42 858: 23 2d mov r18, r3 85a: 20 64 ori r18, 0x40 ; 64 85c: 32 2e mov r3, r18 85e: 19 c0 rjmp .+50 ; 0x892 860: 36 fe sbrs r3, 6 862: 06 c0 rjmp .+12 ; 0x870 864: 8a e0 ldi r24, 0x0A ; 10 866: 98 9e mul r9, r24 868: 20 0d add r18, r0 86a: 11 24 eor r1, r1 86c: 92 2e mov r9, r18 86e: 11 c0 rjmp .+34 ; 0x892 870: ea e0 ldi r30, 0x0A ; 10 872: 2e 9e mul r2, r30 874: 20 0d add r18, r0 876: 11 24 eor r1, r1 878: 22 2e mov r2, r18 87a: f3 2d mov r31, r3 87c: f0 62 ori r31, 0x20 ; 32 87e: 3f 2e mov r3, r31 880: 08 c0 rjmp .+16 ; 0x892 882: 8c 36 cpi r24, 0x6C ; 108 884: 21 f4 brne .+8 ; 0x88e 886: 83 2d mov r24, r3 888: 80 68 ori r24, 0x80 ; 128 88a: 38 2e mov r3, r24 88c: 02 c0 rjmp .+4 ; 0x892 88e: 88 36 cpi r24, 0x68 ; 104 890: 41 f4 brne .+16 ; 0x8a2 892: f7 01 movw r30, r14 894: 93 fd sbrc r25, 3 896: 85 91 lpm r24, Z+ 898: 93 ff sbrs r25, 3 89a: 81 91 ld r24, Z+ 89c: 7f 01 movw r14, r30 89e: 81 11 cpse r24, r1 8a0: b3 cf rjmp .-154 ; 0x808 8a2: 98 2f mov r25, r24 8a4: 9f 7d andi r25, 0xDF ; 223 8a6: 95 54 subi r25, 0x45 ; 69 8a8: 93 30 cpi r25, 0x03 ; 3 8aa: 28 f4 brcc .+10 ; 0x8b6 8ac: 0c 5f subi r16, 0xFC ; 252 8ae: 1f 4f sbci r17, 0xFF ; 255 8b0: 9f e3 ldi r25, 0x3F ; 63 8b2: 99 83 std Y+1, r25 ; 0x01 8b4: 0d c0 rjmp .+26 ; 0x8d0 8b6: 83 36 cpi r24, 0x63 ; 99 8b8: 31 f0 breq .+12 ; 0x8c6 8ba: 83 37 cpi r24, 0x73 ; 115 8bc: 71 f0 breq .+28 ; 0x8da 8be: 83 35 cpi r24, 0x53 ; 83 8c0: 09 f0 breq .+2 ; 0x8c4 8c2: 55 c0 rjmp .+170 ; 0x96e 8c4: 20 c0 rjmp .+64 ; 0x906 8c6: f8 01 movw r30, r16 8c8: 80 81 ld r24, Z 8ca: 89 83 std Y+1, r24 ; 0x01 8cc: 0e 5f subi r16, 0xFE ; 254 8ce: 1f 4f sbci r17, 0xFF ; 255 8d0: 88 24 eor r8, r8 8d2: 83 94 inc r8 8d4: 91 2c mov r9, r1 8d6: 53 01 movw r10, r6 8d8: 12 c0 rjmp .+36 ; 0x8fe 8da: 28 01 movw r4, r16 8dc: f2 e0 ldi r31, 0x02 ; 2 8de: 4f 0e add r4, r31 8e0: 51 1c adc r5, r1 8e2: f8 01 movw r30, r16 8e4: a0 80 ld r10, Z 8e6: b1 80 ldd r11, Z+1 ; 0x01 8e8: 36 fe sbrs r3, 6 8ea: 03 c0 rjmp .+6 ; 0x8f2 8ec: 69 2d mov r22, r9 8ee: 70 e0 ldi r23, 0x00 ; 0 8f0: 02 c0 rjmp .+4 ; 0x8f6 8f2: 6f ef ldi r22, 0xFF ; 255 8f4: 7f ef ldi r23, 0xFF ; 255 8f6: c5 01 movw r24, r10 8f8: 4e d1 rcall .+668 ; 0xb96 8fa: 4c 01 movw r8, r24 8fc: 82 01 movw r16, r4 8fe: f3 2d mov r31, r3 900: ff 77 andi r31, 0x7F ; 127 902: 3f 2e mov r3, r31 904: 15 c0 rjmp .+42 ; 0x930 906: 28 01 movw r4, r16 908: 22 e0 ldi r18, 0x02 ; 2 90a: 42 0e add r4, r18 90c: 51 1c adc r5, r1 90e: f8 01 movw r30, r16 910: a0 80 ld r10, Z 912: b1 80 ldd r11, Z+1 ; 0x01 914: 36 fe sbrs r3, 6 916: 03 c0 rjmp .+6 ; 0x91e 918: 69 2d mov r22, r9 91a: 70 e0 ldi r23, 0x00 ; 0 91c: 02 c0 rjmp .+4 ; 0x922 91e: 6f ef ldi r22, 0xFF ; 255 920: 7f ef ldi r23, 0xFF ; 255 922: c5 01 movw r24, r10 924: 2d d1 rcall .+602 ; 0xb80 926: 4c 01 movw r8, r24 928: f3 2d mov r31, r3 92a: f0 68 ori r31, 0x80 ; 128 92c: 3f 2e mov r3, r31 92e: 82 01 movw r16, r4 930: 33 fc sbrc r3, 3 932: 19 c0 rjmp .+50 ; 0x966 934: 82 2d mov r24, r2 936: 90 e0 ldi r25, 0x00 ; 0 938: 88 16 cp r8, r24 93a: 99 06 cpc r9, r25 93c: a0 f4 brcc .+40 ; 0x966 93e: b6 01 movw r22, r12 940: 80 e2 ldi r24, 0x20 ; 32 942: 90 e0 ldi r25, 0x00 ; 0 944: 33 d1 rcall .+614 ; 0xbac 946: 2a 94 dec r2 948: f5 cf rjmp .-22 ; 0x934 94a: f5 01 movw r30, r10 94c: 37 fc sbrc r3, 7 94e: 85 91 lpm r24, Z+ 950: 37 fe sbrs r3, 7 952: 81 91 ld r24, Z+ 954: 5f 01 movw r10, r30 956: b6 01 movw r22, r12 958: 90 e0 ldi r25, 0x00 ; 0 95a: 28 d1 rcall .+592 ; 0xbac 95c: 21 10 cpse r2, r1 95e: 2a 94 dec r2 960: 21 e0 ldi r18, 0x01 ; 1 962: 82 1a sub r8, r18 964: 91 08 sbc r9, r1 966: 81 14 cp r8, r1 968: 91 04 cpc r9, r1 96a: 79 f7 brne .-34 ; 0x94a 96c: e1 c0 rjmp .+450 ; 0xb30 96e: 84 36 cpi r24, 0x64 ; 100 970: 11 f0 breq .+4 ; 0x976 972: 89 36 cpi r24, 0x69 ; 105 974: 39 f5 brne .+78 ; 0x9c4 976: f8 01 movw r30, r16 978: 37 fe sbrs r3, 7 97a: 07 c0 rjmp .+14 ; 0x98a 97c: 60 81 ld r22, Z 97e: 71 81 ldd r23, Z+1 ; 0x01 980: 82 81 ldd r24, Z+2 ; 0x02 982: 93 81 ldd r25, Z+3 ; 0x03 984: 0c 5f subi r16, 0xFC ; 252 986: 1f 4f sbci r17, 0xFF ; 255 988: 08 c0 rjmp .+16 ; 0x99a 98a: 60 81 ld r22, Z 98c: 71 81 ldd r23, Z+1 ; 0x01 98e: 07 2e mov r0, r23 990: 00 0c add r0, r0 992: 88 0b sbc r24, r24 994: 99 0b sbc r25, r25 996: 0e 5f subi r16, 0xFE ; 254 998: 1f 4f sbci r17, 0xFF ; 255 99a: f3 2d mov r31, r3 99c: ff 76 andi r31, 0x6F ; 111 99e: 3f 2e mov r3, r31 9a0: 97 ff sbrs r25, 7 9a2: 09 c0 rjmp .+18 ; 0x9b6 9a4: 90 95 com r25 9a6: 80 95 com r24 9a8: 70 95 com r23 9aa: 61 95 neg r22 9ac: 7f 4f sbci r23, 0xFF ; 255 9ae: 8f 4f sbci r24, 0xFF ; 255 9b0: 9f 4f sbci r25, 0xFF ; 255 9b2: f0 68 ori r31, 0x80 ; 128 9b4: 3f 2e mov r3, r31 9b6: 2a e0 ldi r18, 0x0A ; 10 9b8: 30 e0 ldi r19, 0x00 ; 0 9ba: a3 01 movw r20, r6 9bc: 33 d1 rcall .+614 ; 0xc24 <__ultoa_invert> 9be: 88 2e mov r8, r24 9c0: 86 18 sub r8, r6 9c2: 44 c0 rjmp .+136 ; 0xa4c 9c4: 85 37 cpi r24, 0x75 ; 117 9c6: 31 f4 brne .+12 ; 0x9d4 9c8: 23 2d mov r18, r3 9ca: 2f 7e andi r18, 0xEF ; 239 9cc: b2 2e mov r11, r18 9ce: 2a e0 ldi r18, 0x0A ; 10 9d0: 30 e0 ldi r19, 0x00 ; 0 9d2: 25 c0 rjmp .+74 ; 0xa1e 9d4: 93 2d mov r25, r3 9d6: 99 7f andi r25, 0xF9 ; 249 9d8: b9 2e mov r11, r25 9da: 8f 36 cpi r24, 0x6F ; 111 9dc: c1 f0 breq .+48 ; 0xa0e 9de: 18 f4 brcc .+6 ; 0x9e6 9e0: 88 35 cpi r24, 0x58 ; 88 9e2: 79 f0 breq .+30 ; 0xa02 9e4: ae c0 rjmp .+348 ; 0xb42 9e6: 80 37 cpi r24, 0x70 ; 112 9e8: 19 f0 breq .+6 ; 0x9f0 9ea: 88 37 cpi r24, 0x78 ; 120 9ec: 21 f0 breq .+8 ; 0x9f6 9ee: a9 c0 rjmp .+338 ; 0xb42 9f0: e9 2f mov r30, r25 9f2: e0 61 ori r30, 0x10 ; 16 9f4: be 2e mov r11, r30 9f6: b4 fe sbrs r11, 4 9f8: 0d c0 rjmp .+26 ; 0xa14 9fa: fb 2d mov r31, r11 9fc: f4 60 ori r31, 0x04 ; 4 9fe: bf 2e mov r11, r31 a00: 09 c0 rjmp .+18 ; 0xa14 a02: 34 fe sbrs r3, 4 a04: 0a c0 rjmp .+20 ; 0xa1a a06: 29 2f mov r18, r25 a08: 26 60 ori r18, 0x06 ; 6 a0a: b2 2e mov r11, r18 a0c: 06 c0 rjmp .+12 ; 0xa1a a0e: 28 e0 ldi r18, 0x08 ; 8 a10: 30 e0 ldi r19, 0x00 ; 0 a12: 05 c0 rjmp .+10 ; 0xa1e a14: 20 e1 ldi r18, 0x10 ; 16 a16: 30 e0 ldi r19, 0x00 ; 0 a18: 02 c0 rjmp .+4 ; 0xa1e a1a: 20 e1 ldi r18, 0x10 ; 16 a1c: 32 e0 ldi r19, 0x02 ; 2 a1e: f8 01 movw r30, r16 a20: b7 fe sbrs r11, 7 a22: 07 c0 rjmp .+14 ; 0xa32 a24: 60 81 ld r22, Z a26: 71 81 ldd r23, Z+1 ; 0x01 a28: 82 81 ldd r24, Z+2 ; 0x02 a2a: 93 81 ldd r25, Z+3 ; 0x03 a2c: 0c 5f subi r16, 0xFC ; 252 a2e: 1f 4f sbci r17, 0xFF ; 255 a30: 06 c0 rjmp .+12 ; 0xa3e a32: 60 81 ld r22, Z a34: 71 81 ldd r23, Z+1 ; 0x01 a36: 80 e0 ldi r24, 0x00 ; 0 a38: 90 e0 ldi r25, 0x00 ; 0 a3a: 0e 5f subi r16, 0xFE ; 254 a3c: 1f 4f sbci r17, 0xFF ; 255 a3e: a3 01 movw r20, r6 a40: f1 d0 rcall .+482 ; 0xc24 <__ultoa_invert> a42: 88 2e mov r8, r24 a44: 86 18 sub r8, r6 a46: fb 2d mov r31, r11 a48: ff 77 andi r31, 0x7F ; 127 a4a: 3f 2e mov r3, r31 a4c: 36 fe sbrs r3, 6 a4e: 0d c0 rjmp .+26 ; 0xa6a a50: 23 2d mov r18, r3 a52: 2e 7f andi r18, 0xFE ; 254 a54: a2 2e mov r10, r18 a56: 89 14 cp r8, r9 a58: 58 f4 brcc .+22 ; 0xa70 a5a: 34 fe sbrs r3, 4 a5c: 0b c0 rjmp .+22 ; 0xa74 a5e: 32 fc sbrc r3, 2 a60: 09 c0 rjmp .+18 ; 0xa74 a62: 83 2d mov r24, r3 a64: 8e 7e andi r24, 0xEE ; 238 a66: a8 2e mov r10, r24 a68: 05 c0 rjmp .+10 ; 0xa74 a6a: b8 2c mov r11, r8 a6c: a3 2c mov r10, r3 a6e: 03 c0 rjmp .+6 ; 0xa76 a70: b8 2c mov r11, r8 a72: 01 c0 rjmp .+2 ; 0xa76 a74: b9 2c mov r11, r9 a76: a4 fe sbrs r10, 4 a78: 0f c0 rjmp .+30 ; 0xa98 a7a: fe 01 movw r30, r28 a7c: e8 0d add r30, r8 a7e: f1 1d adc r31, r1 a80: 80 81 ld r24, Z a82: 80 33 cpi r24, 0x30 ; 48 a84: 21 f4 brne .+8 ; 0xa8e a86: 9a 2d mov r25, r10 a88: 99 7e andi r25, 0xE9 ; 233 a8a: a9 2e mov r10, r25 a8c: 09 c0 rjmp .+18 ; 0xaa0 a8e: a2 fe sbrs r10, 2 a90: 06 c0 rjmp .+12 ; 0xa9e a92: b3 94 inc r11 a94: b3 94 inc r11 a96: 04 c0 rjmp .+8 ; 0xaa0 a98: 8a 2d mov r24, r10 a9a: 86 78 andi r24, 0x86 ; 134 a9c: 09 f0 breq .+2 ; 0xaa0 a9e: b3 94 inc r11 aa0: a3 fc sbrc r10, 3 aa2: 10 c0 rjmp .+32 ; 0xac4 aa4: a0 fe sbrs r10, 0 aa6: 06 c0 rjmp .+12 ; 0xab4 aa8: b2 14 cp r11, r2 aaa: 80 f4 brcc .+32 ; 0xacc aac: 28 0c add r2, r8 aae: 92 2c mov r9, r2 ab0: 9b 18 sub r9, r11 ab2: 0d c0 rjmp .+26 ; 0xace ab4: b2 14 cp r11, r2 ab6: 58 f4 brcc .+22 ; 0xace ab8: b6 01 movw r22, r12 aba: 80 e2 ldi r24, 0x20 ; 32 abc: 90 e0 ldi r25, 0x00 ; 0 abe: 76 d0 rcall .+236 ; 0xbac ac0: b3 94 inc r11 ac2: f8 cf rjmp .-16 ; 0xab4 ac4: b2 14 cp r11, r2 ac6: 18 f4 brcc .+6 ; 0xace ac8: 2b 18 sub r2, r11 aca: 02 c0 rjmp .+4 ; 0xad0 acc: 98 2c mov r9, r8 ace: 21 2c mov r2, r1 ad0: a4 fe sbrs r10, 4 ad2: 0f c0 rjmp .+30 ; 0xaf2 ad4: b6 01 movw r22, r12 ad6: 80 e3 ldi r24, 0x30 ; 48 ad8: 90 e0 ldi r25, 0x00 ; 0 ada: 68 d0 rcall .+208 ; 0xbac adc: a2 fe sbrs r10, 2 ade: 16 c0 rjmp .+44 ; 0xb0c ae0: a1 fc sbrc r10, 1 ae2: 03 c0 rjmp .+6 ; 0xaea ae4: 88 e7 ldi r24, 0x78 ; 120 ae6: 90 e0 ldi r25, 0x00 ; 0 ae8: 02 c0 rjmp .+4 ; 0xaee aea: 88 e5 ldi r24, 0x58 ; 88 aec: 90 e0 ldi r25, 0x00 ; 0 aee: b6 01 movw r22, r12 af0: 0c c0 rjmp .+24 ; 0xb0a af2: 8a 2d mov r24, r10 af4: 86 78 andi r24, 0x86 ; 134 af6: 51 f0 breq .+20 ; 0xb0c af8: a1 fe sbrs r10, 1 afa: 02 c0 rjmp .+4 ; 0xb00 afc: 8b e2 ldi r24, 0x2B ; 43 afe: 01 c0 rjmp .+2 ; 0xb02 b00: 80 e2 ldi r24, 0x20 ; 32 b02: a7 fc sbrc r10, 7 b04: 8d e2 ldi r24, 0x2D ; 45 b06: b6 01 movw r22, r12 b08: 90 e0 ldi r25, 0x00 ; 0 b0a: 50 d0 rcall .+160 ; 0xbac b0c: 89 14 cp r8, r9 b0e: 30 f4 brcc .+12 ; 0xb1c b10: b6 01 movw r22, r12 b12: 80 e3 ldi r24, 0x30 ; 48 b14: 90 e0 ldi r25, 0x00 ; 0 b16: 4a d0 rcall .+148 ; 0xbac b18: 9a 94 dec r9 b1a: f8 cf rjmp .-16 ; 0xb0c b1c: 8a 94 dec r8 b1e: f3 01 movw r30, r6 b20: e8 0d add r30, r8 b22: f1 1d adc r31, r1 b24: 80 81 ld r24, Z b26: b6 01 movw r22, r12 b28: 90 e0 ldi r25, 0x00 ; 0 b2a: 40 d0 rcall .+128 ; 0xbac b2c: 81 10 cpse r8, r1 b2e: f6 cf rjmp .-20 ; 0xb1c b30: 22 20 and r2, r2 b32: 09 f4 brne .+2 ; 0xb36 b34: 4e ce rjmp .-868 ; 0x7d2 b36: b6 01 movw r22, r12 b38: 80 e2 ldi r24, 0x20 ; 32 b3a: 90 e0 ldi r25, 0x00 ; 0 b3c: 37 d0 rcall .+110 ; 0xbac b3e: 2a 94 dec r2 b40: f7 cf rjmp .-18 ; 0xb30 b42: f6 01 movw r30, r12 b44: 86 81 ldd r24, Z+6 ; 0x06 b46: 97 81 ldd r25, Z+7 ; 0x07 b48: 02 c0 rjmp .+4 ; 0xb4e b4a: 8f ef ldi r24, 0xFF ; 255 b4c: 9f ef ldi r25, 0xFF ; 255 b4e: 2b 96 adiw r28, 0x0b ; 11 b50: 0f b6 in r0, 0x3f ; 63 b52: f8 94 cli b54: de bf out 0x3e, r29 ; 62 b56: 0f be out 0x3f, r0 ; 63 b58: cd bf out 0x3d, r28 ; 61 b5a: df 91 pop r29 b5c: cf 91 pop r28 b5e: 1f 91 pop r17 b60: 0f 91 pop r16 b62: ff 90 pop r15 b64: ef 90 pop r14 b66: df 90 pop r13 b68: cf 90 pop r12 b6a: bf 90 pop r11 b6c: af 90 pop r10 b6e: 9f 90 pop r9 b70: 8f 90 pop r8 b72: 7f 90 pop r7 b74: 6f 90 pop r6 b76: 5f 90 pop r5 b78: 4f 90 pop r4 b7a: 3f 90 pop r3 b7c: 2f 90 pop r2 b7e: 08 95 ret 00000b80 : b80: fc 01 movw r30, r24 b82: 05 90 lpm r0, Z+ b84: 61 50 subi r22, 0x01 ; 1 b86: 70 40 sbci r23, 0x00 ; 0 b88: 01 10 cpse r0, r1 b8a: d8 f7 brcc .-10 ; 0xb82 b8c: 80 95 com r24 b8e: 90 95 com r25 b90: 8e 0f add r24, r30 b92: 9f 1f adc r25, r31 b94: 08 95 ret 00000b96 : b96: fc 01 movw r30, r24 b98: 61 50 subi r22, 0x01 ; 1 b9a: 70 40 sbci r23, 0x00 ; 0 b9c: 01 90 ld r0, Z+ b9e: 01 10 cpse r0, r1 ba0: d8 f7 brcc .-10 ; 0xb98 ba2: 80 95 com r24 ba4: 90 95 com r25 ba6: 8e 0f add r24, r30 ba8: 9f 1f adc r25, r31 baa: 08 95 ret 00000bac : bac: 0f 93 push r16 bae: 1f 93 push r17 bb0: cf 93 push r28 bb2: df 93 push r29 bb4: fb 01 movw r30, r22 bb6: 23 81 ldd r18, Z+3 ; 0x03 bb8: 21 fd sbrc r18, 1 bba: 03 c0 rjmp .+6 ; 0xbc2 bbc: 8f ef ldi r24, 0xFF ; 255 bbe: 9f ef ldi r25, 0xFF ; 255 bc0: 2c c0 rjmp .+88 ; 0xc1a bc2: 22 ff sbrs r18, 2 bc4: 16 c0 rjmp .+44 ; 0xbf2 bc6: 46 81 ldd r20, Z+6 ; 0x06 bc8: 57 81 ldd r21, Z+7 ; 0x07 bca: 24 81 ldd r18, Z+4 ; 0x04 bcc: 35 81 ldd r19, Z+5 ; 0x05 bce: 42 17 cp r20, r18 bd0: 53 07 cpc r21, r19 bd2: 44 f4 brge .+16 ; 0xbe4 bd4: a0 81 ld r26, Z bd6: b1 81 ldd r27, Z+1 ; 0x01 bd8: 9d 01 movw r18, r26 bda: 2f 5f subi r18, 0xFF ; 255 bdc: 3f 4f sbci r19, 0xFF ; 255 bde: 31 83 std Z+1, r19 ; 0x01 be0: 20 83 st Z, r18 be2: 8c 93 st X, r24 be4: 26 81 ldd r18, Z+6 ; 0x06 be6: 37 81 ldd r19, Z+7 ; 0x07 be8: 2f 5f subi r18, 0xFF ; 255 bea: 3f 4f sbci r19, 0xFF ; 255 bec: 37 83 std Z+7, r19 ; 0x07 bee: 26 83 std Z+6, r18 ; 0x06 bf0: 14 c0 rjmp .+40 ; 0xc1a bf2: 8b 01 movw r16, r22 bf4: ec 01 movw r28, r24 bf6: fb 01 movw r30, r22 bf8: 00 84 ldd r0, Z+8 ; 0x08 bfa: f1 85 ldd r31, Z+9 ; 0x09 bfc: e0 2d mov r30, r0 bfe: 09 95 icall c00: 89 2b or r24, r25 c02: e1 f6 brne .-72 ; 0xbbc c04: d8 01 movw r26, r16 c06: 16 96 adiw r26, 0x06 ; 6 c08: 8d 91 ld r24, X+ c0a: 9c 91 ld r25, X c0c: 17 97 sbiw r26, 0x07 ; 7 c0e: 01 96 adiw r24, 0x01 ; 1 c10: 17 96 adiw r26, 0x07 ; 7 c12: 9c 93 st X, r25 c14: 8e 93 st -X, r24 c16: 16 97 sbiw r26, 0x06 ; 6 c18: ce 01 movw r24, r28 c1a: df 91 pop r29 c1c: cf 91 pop r28 c1e: 1f 91 pop r17 c20: 0f 91 pop r16 c22: 08 95 ret 00000c24 <__ultoa_invert>: c24: fa 01 movw r30, r20 c26: aa 27 eor r26, r26 c28: 28 30 cpi r18, 0x08 ; 8 c2a: 51 f1 breq .+84 ; 0xc80 <__ultoa_invert+0x5c> c2c: 20 31 cpi r18, 0x10 ; 16 c2e: 81 f1 breq .+96 ; 0xc90 <__ultoa_invert+0x6c> c30: e8 94 clt c32: 6f 93 push r22 c34: 6e 7f andi r22, 0xFE ; 254 c36: 6e 5f subi r22, 0xFE ; 254 c38: 7f 4f sbci r23, 0xFF ; 255 c3a: 8f 4f sbci r24, 0xFF ; 255 c3c: 9f 4f sbci r25, 0xFF ; 255 c3e: af 4f sbci r26, 0xFF ; 255 c40: b1 e0 ldi r27, 0x01 ; 1 c42: 3e d0 rcall .+124 ; 0xcc0 <__ultoa_invert+0x9c> c44: b4 e0 ldi r27, 0x04 ; 4 c46: 3c d0 rcall .+120 ; 0xcc0 <__ultoa_invert+0x9c> c48: 67 0f add r22, r23 c4a: 78 1f adc r23, r24 c4c: 89 1f adc r24, r25 c4e: 9a 1f adc r25, r26 c50: a1 1d adc r26, r1 c52: 68 0f add r22, r24 c54: 79 1f adc r23, r25 c56: 8a 1f adc r24, r26 c58: 91 1d adc r25, r1 c5a: a1 1d adc r26, r1 c5c: 6a 0f add r22, r26 c5e: 71 1d adc r23, r1 c60: 81 1d adc r24, r1 c62: 91 1d adc r25, r1 c64: a1 1d adc r26, r1 c66: 20 d0 rcall .+64 ; 0xca8 <__ultoa_invert+0x84> c68: 09 f4 brne .+2 ; 0xc6c <__ultoa_invert+0x48> c6a: 68 94 set c6c: 3f 91 pop r19 c6e: 2a e0 ldi r18, 0x0A ; 10 c70: 26 9f mul r18, r22 c72: 11 24 eor r1, r1 c74: 30 19 sub r19, r0 c76: 30 5d subi r19, 0xD0 ; 208 c78: 31 93 st Z+, r19 c7a: de f6 brtc .-74 ; 0xc32 <__ultoa_invert+0xe> c7c: cf 01 movw r24, r30 c7e: 08 95 ret c80: 46 2f mov r20, r22 c82: 47 70 andi r20, 0x07 ; 7 c84: 40 5d subi r20, 0xD0 ; 208 c86: 41 93 st Z+, r20 c88: b3 e0 ldi r27, 0x03 ; 3 c8a: 0f d0 rcall .+30 ; 0xcaa <__ultoa_invert+0x86> c8c: c9 f7 brne .-14 ; 0xc80 <__ultoa_invert+0x5c> c8e: f6 cf rjmp .-20 ; 0xc7c <__ultoa_invert+0x58> c90: 46 2f mov r20, r22 c92: 4f 70 andi r20, 0x0F ; 15 c94: 40 5d subi r20, 0xD0 ; 208 c96: 4a 33 cpi r20, 0x3A ; 58 c98: 18 f0 brcs .+6 ; 0xca0 <__ultoa_invert+0x7c> c9a: 49 5d subi r20, 0xD9 ; 217 c9c: 31 fd sbrc r19, 1 c9e: 40 52 subi r20, 0x20 ; 32 ca0: 41 93 st Z+, r20 ca2: 02 d0 rcall .+4 ; 0xca8 <__ultoa_invert+0x84> ca4: a9 f7 brne .-22 ; 0xc90 <__ultoa_invert+0x6c> ca6: ea cf rjmp .-44 ; 0xc7c <__ultoa_invert+0x58> ca8: b4 e0 ldi r27, 0x04 ; 4 caa: a6 95 lsr r26 cac: 97 95 ror r25 cae: 87 95 ror r24 cb0: 77 95 ror r23 cb2: 67 95 ror r22 cb4: ba 95 dec r27 cb6: c9 f7 brne .-14 ; 0xcaa <__ultoa_invert+0x86> cb8: 00 97 sbiw r24, 0x00 ; 0 cba: 61 05 cpc r22, r1 cbc: 71 05 cpc r23, r1 cbe: 08 95 ret cc0: 9b 01 movw r18, r22 cc2: ac 01 movw r20, r24 cc4: 0a 2e mov r0, r26 cc6: 06 94 lsr r0 cc8: 57 95 ror r21 cca: 47 95 ror r20 ccc: 37 95 ror r19 cce: 27 95 ror r18 cd0: ba 95 dec r27 cd2: c9 f7 brne .-14 ; 0xcc6 <__ultoa_invert+0xa2> cd4: 62 0f add r22, r18 cd6: 73 1f adc r23, r19 cd8: 84 1f adc r24, r20 cda: 95 1f adc r25, r21 cdc: a0 1d adc r26, r0 cde: 08 95 ret 00000ce0 <_exit>: ce0: f8 94 cli 00000ce2 <__stop_program>: ce2: ff cf rjmp .-2 ; 0xce2 <__stop_program>