326 lines
10 KiB
Plaintext
326 lines
10 KiB
Plaintext
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ultrasonicSensor.elf: file format elf32-avr
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Sections:
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Idx Name Size VMA LMA File off Algn
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0 .data 00000002 00800100 0000017c 000001f0 2**0
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CONTENTS, ALLOC, LOAD, DATA
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1 .text 0000017c 00000000 00000000 00000074 2**1
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CONTENTS, ALLOC, LOAD, READONLY, CODE
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2 .comment 00000030 00000000 00000000 000001f2 2**0
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CONTENTS, READONLY
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3 .note.gnu.avr.deviceinfo 0000003c 00000000 00000000 00000224 2**2
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CONTENTS, READONLY
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4 .debug_aranges 00000040 00000000 00000000 00000260 2**0
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CONTENTS, READONLY, DEBUGGING
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5 .debug_info 00000a15 00000000 00000000 000002a0 2**0
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CONTENTS, READONLY, DEBUGGING
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6 .debug_abbrev 000008a7 00000000 00000000 00000cb5 2**0
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CONTENTS, READONLY, DEBUGGING
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7 .debug_line 00000384 00000000 00000000 0000155c 2**0
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CONTENTS, READONLY, DEBUGGING
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8 .debug_frame 00000080 00000000 00000000 000018e0 2**2
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CONTENTS, READONLY, DEBUGGING
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9 .debug_str 00000498 00000000 00000000 00001960 2**0
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CONTENTS, READONLY, DEBUGGING
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10 .debug_loc 0000013d 00000000 00000000 00001df8 2**0
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CONTENTS, READONLY, DEBUGGING
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11 .debug_ranges 00000030 00000000 00000000 00001f35 2**0
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CONTENTS, READONLY, DEBUGGING
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Disassembly of section .text:
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00000000 <__vectors>:
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0: 45 c0 rjmp .+138 ; 0x8c <__ctors_end>
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2: 00 00 nop
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4: 82 c0 rjmp .+260 ; 0x10a <__vector_1>
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6: 00 00 nop
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8: 56 c0 rjmp .+172 ; 0xb6 <__bad_interrupt>
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a: 00 00 nop
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c: 54 c0 rjmp .+168 ; 0xb6 <__bad_interrupt>
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e: 00 00 nop
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10: 52 c0 rjmp .+164 ; 0xb6 <__bad_interrupt>
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12: 00 00 nop
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14: 50 c0 rjmp .+160 ; 0xb6 <__bad_interrupt>
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16: 00 00 nop
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18: 4e c0 rjmp .+156 ; 0xb6 <__bad_interrupt>
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1a: 00 00 nop
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1c: 4c c0 rjmp .+152 ; 0xb6 <__bad_interrupt>
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1e: 00 00 nop
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20: 4a c0 rjmp .+148 ; 0xb6 <__bad_interrupt>
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22: 00 00 nop
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24: 48 c0 rjmp .+144 ; 0xb6 <__bad_interrupt>
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26: 00 00 nop
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28: 46 c0 rjmp .+140 ; 0xb6 <__bad_interrupt>
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2a: 00 00 nop
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2c: 44 c0 rjmp .+136 ; 0xb6 <__bad_interrupt>
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2e: 00 00 nop
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30: 42 c0 rjmp .+132 ; 0xb6 <__bad_interrupt>
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32: 00 00 nop
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34: 40 c0 rjmp .+128 ; 0xb6 <__bad_interrupt>
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36: 00 00 nop
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38: 3e c0 rjmp .+124 ; 0xb6 <__bad_interrupt>
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3a: 00 00 nop
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3c: 3c c0 rjmp .+120 ; 0xb6 <__bad_interrupt>
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3e: 00 00 nop
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40: 3a c0 rjmp .+116 ; 0xb6 <__bad_interrupt>
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42: 00 00 nop
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44: 38 c0 rjmp .+112 ; 0xb6 <__bad_interrupt>
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46: 00 00 nop
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48: 36 c0 rjmp .+108 ; 0xb6 <__bad_interrupt>
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4a: 00 00 nop
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4c: 34 c0 rjmp .+104 ; 0xb6 <__bad_interrupt>
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4e: 00 00 nop
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50: 32 c0 rjmp .+100 ; 0xb6 <__bad_interrupt>
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52: 00 00 nop
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54: 30 c0 rjmp .+96 ; 0xb6 <__bad_interrupt>
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56: 00 00 nop
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58: 2e c0 rjmp .+92 ; 0xb6 <__bad_interrupt>
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5a: 00 00 nop
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5c: 2c c0 rjmp .+88 ; 0xb6 <__bad_interrupt>
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5e: 00 00 nop
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60: 2a c0 rjmp .+84 ; 0xb6 <__bad_interrupt>
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62: 00 00 nop
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64: 28 c0 rjmp .+80 ; 0xb6 <__bad_interrupt>
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66: 00 00 nop
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68: 26 c0 rjmp .+76 ; 0xb6 <__bad_interrupt>
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6a: 00 00 nop
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6c: 24 c0 rjmp .+72 ; 0xb6 <__bad_interrupt>
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6e: 00 00 nop
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70: 22 c0 rjmp .+68 ; 0xb6 <__bad_interrupt>
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72: 00 00 nop
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74: 20 c0 rjmp .+64 ; 0xb6 <__bad_interrupt>
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76: 00 00 nop
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78: 1e c0 rjmp .+60 ; 0xb6 <__bad_interrupt>
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7a: 00 00 nop
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7c: 1c c0 rjmp .+56 ; 0xb6 <__bad_interrupt>
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7e: 00 00 nop
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80: 1a c0 rjmp .+52 ; 0xb6 <__bad_interrupt>
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82: 00 00 nop
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84: 18 c0 rjmp .+48 ; 0xb6 <__bad_interrupt>
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86: 00 00 nop
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88: 16 c0 rjmp .+44 ; 0xb6 <__bad_interrupt>
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...
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0000008c <__ctors_end>:
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8c: 11 24 eor r1, r1
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8e: 1f be out 0x3f, r1 ; 63
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90: cf ef ldi r28, 0xFF ; 255
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92: d0 e1 ldi r29, 0x10 ; 16
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94: de bf out 0x3e, r29 ; 62
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96: cd bf out 0x3d, r28 ; 61
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00000098 <__do_copy_data>:
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98: 11 e0 ldi r17, 0x01 ; 1
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9a: a0 e0 ldi r26, 0x00 ; 0
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9c: b1 e0 ldi r27, 0x01 ; 1
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9e: ec e7 ldi r30, 0x7C ; 124
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a0: f1 e0 ldi r31, 0x01 ; 1
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a2: 00 e0 ldi r16, 0x00 ; 0
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a4: 0b bf out 0x3b, r16 ; 59
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a6: 02 c0 rjmp .+4 ; 0xac <__do_copy_data+0x14>
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a8: 07 90 elpm r0, Z+
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aa: 0d 92 st X+, r0
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ac: a2 30 cpi r26, 0x02 ; 2
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ae: b1 07 cpc r27, r17
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b0: d9 f7 brne .-10 ; 0xa8 <__do_copy_data+0x10>
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b2: 47 d0 rcall .+142 ; 0x142 <main>
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b4: 61 c0 rjmp .+194 ; 0x178 <_exit>
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000000b6 <__bad_interrupt>:
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b6: a4 cf rjmp .-184 ; 0x0 <__vectors>
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000000b8 <wait_us>:
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static enum interrupt_status int_stat = INTERRUPT_RISING;
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void wait_us(unsigned int us)
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{
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for(int i = 0; i < us; i++)
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b8: 20 e0 ldi r18, 0x00 ; 0
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ba: 30 e0 ldi r19, 0x00 ; 0
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bc: 06 c0 rjmp .+12 ; 0xca <wait_us+0x12>
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#else
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//round up by default
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__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
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#endif
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__builtin_avr_delay_cycles(__ticks_dc);
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be: 46 e0 ldi r20, 0x06 ; 6
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c0: 4a 95 dec r20
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c2: f1 f7 brne .-4 ; 0xc0 <wait_us+0x8>
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c4: 00 c0 rjmp .+0 ; 0xc6 <wait_us+0xe>
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c6: 2f 5f subi r18, 0xFF ; 255
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c8: 3f 4f sbci r19, 0xFF ; 255
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ca: 28 17 cp r18, r24
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cc: 39 07 cpc r19, r25
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ce: b8 f3 brcs .-18 ; 0xbe <wait_us+0x6>
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{
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_delay_us(1);
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}
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}
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d0: 08 95 ret
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000000d2 <wait_ms>:
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void wait_ms(unsigned int ms)
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{
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for(int i = 0; i < ms; i++)
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d2: 20 e0 ldi r18, 0x00 ; 0
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d4: 30 e0 ldi r19, 0x00 ; 0
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d6: 08 c0 rjmp .+16 ; 0xe8 <wait_ms+0x16>
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#else
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//round up by default
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__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
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#endif
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__builtin_avr_delay_cycles(__ticks_dc);
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d8: e7 e8 ldi r30, 0x87 ; 135
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da: f3 e1 ldi r31, 0x13 ; 19
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dc: 31 97 sbiw r30, 0x01 ; 1
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de: f1 f7 brne .-4 ; 0xdc <wait_ms+0xa>
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e0: 00 c0 rjmp .+0 ; 0xe2 <wait_ms+0x10>
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e2: 00 00 nop
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e4: 2f 5f subi r18, 0xFF ; 255
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e6: 3f 4f sbci r19, 0xFF ; 255
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e8: 28 17 cp r18, r24
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ea: 39 07 cpc r19, r25
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ec: a8 f3 brcs .-22 ; 0xd8 <wait_ms+0x6>
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{
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_delay_ms(1);
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}
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}
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ee: 08 95 ret
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000000f0 <ultrasonic_send_pulse>:
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void ultrasonic_send_pulse()
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{
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f0: cf 93 push r28
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f2: df 93 push r29
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PORTG = 0x00; // 10 us low pulse
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f4: c5 e6 ldi r28, 0x65 ; 101
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f6: d0 e0 ldi r29, 0x00 ; 0
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f8: 18 82 st Y, r1
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wait_us(10);
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fa: 8a e0 ldi r24, 0x0A ; 10
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fc: 90 e0 ldi r25, 0x00 ; 0
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fe: dc df rcall .-72 ; 0xb8 <wait_us>
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PORTG = 0x01;
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100: 81 e0 ldi r24, 0x01 ; 1
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102: 88 83 st Y, r24
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}
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104: df 91 pop r29
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106: cf 91 pop r28
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108: 08 95 ret
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0000010a <__vector_1>:
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ISR(INT0_vect)
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{
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10a: 1f 92 push r1
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10c: 0f 92 push r0
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10e: 0f b6 in r0, 0x3f ; 63
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110: 0f 92 push r0
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112: 11 24 eor r1, r1
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114: 8f 93 push r24
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// if the interrupt was generated on a rising edge (start sending echo)
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if (int_stat == INTERRUPT_RISING)
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116: 80 91 00 01 lds r24, 0x0100 ; 0x800100 <__DATA_REGION_ORIGIN__>
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11a: 81 30 cpi r24, 0x01 ; 1
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11c: 31 f4 brne .+12 ; 0x12a <__vector_1+0x20>
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{
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// set interrupt pin 0 on PORTD to falling edge
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EICRA = 0x02;
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11e: 82 e0 ldi r24, 0x02 ; 2
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120: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a>
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// set interrupt status
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int_stat = INTERRUPT_FALLING;
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124: 10 92 00 01 sts 0x0100, r1 ; 0x800100 <__DATA_REGION_ORIGIN__>
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128: 06 c0 rjmp .+12 ; 0x136 <__vector_1+0x2c>
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} else
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// else if it was generated on a falling edge (end sending echo)
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{
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// set interrupt pin 0 on PORTD to rising edge
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EICRA = 0x03;
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12a: 83 e0 ldi r24, 0x03 ; 3
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12c: 80 93 6a 00 sts 0x006A, r24 ; 0x80006a <__TEXT_REGION_LENGTH__+0x7e006a>
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// set interrupt status
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int_stat = INTERRUPT_RISING;
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130: 81 e0 ldi r24, 0x01 ; 1
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132: 80 93 00 01 sts 0x0100, r24 ; 0x800100 <__DATA_REGION_ORIGIN__>
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}
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}
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136: 8f 91 pop r24
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138: 0f 90 pop r0
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13a: 0f be out 0x3f, r0 ; 63
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13c: 0f 90 pop r0
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13e: 1f 90 pop r1
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140: 18 95 reti
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00000142 <main>:
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int main(void)
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{
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DDRG = 0xFF; // port g all output. pin 0 is trig, the rest is for debug
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142: 8f ef ldi r24, 0xFF ; 255
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144: 80 93 64 00 sts 0x0064, r24 ; 0x800064 <__TEXT_REGION_LENGTH__+0x7e0064>
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DDRD = 0x00; // port D pin 0 on input. 0 is echo and also interrupt
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148: 11 ba out 0x11, r1 ; 17
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DDRA = 0xFF;
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14a: 8a bb out 0x1a, r24 ; 26
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EICRA |= 0x03; // interrupt PORTD on pin 0, rising edge
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14c: ea e6 ldi r30, 0x6A ; 106
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14e: f0 e0 ldi r31, 0x00 ; 0
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150: 80 81 ld r24, Z
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152: 83 60 ori r24, 0x03 ; 3
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154: 80 83 st Z, r24
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EIMSK |= 0x01; // enable interrupt on pin 0 (INT0)
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156: 89 b7 in r24, 0x39 ; 57
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158: 81 60 ori r24, 0x01 ; 1
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15a: 89 bf out 0x39, r24 ; 57
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sei(); // turn on interrupt system
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15c: 78 94 sei
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/* Replace with your application code */
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while (1)
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{
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ultrasonic_send_pulse();
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15e: c8 df rcall .-112 ; 0xf0 <ultrasonic_send_pulse>
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if (int_stat == INTERRUPT_FALLING)
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160: 80 91 00 01 lds r24, 0x0100 ; 0x800100 <__DATA_REGION_ORIGIN__>
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164: 81 11 cpse r24, r1
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166: 03 c0 rjmp .+6 ; 0x16e <main+0x2c>
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{
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PORTA = 0xFF;
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168: 8f ef ldi r24, 0xFF ; 255
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16a: 8b bb out 0x1b, r24 ; 27
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16c: 01 c0 rjmp .+2 ; 0x170 <main+0x2e>
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} else {
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PORTA = 0x00;
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16e: 1b ba out 0x1b, r1 ; 27
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}
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wait_ms(1000);
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170: 88 ee ldi r24, 0xE8 ; 232
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172: 93 e0 ldi r25, 0x03 ; 3
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174: ae df rcall .-164 ; 0xd2 <wait_ms>
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}
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176: f3 cf rjmp .-26 ; 0x15e <main+0x1c>
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00000178 <_exit>:
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178: f8 94 cli
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0000017a <__stop_program>:
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17a: ff cf rjmp .-2 ; 0x17a <__stop_program>
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