396 lines
13 KiB
Plaintext
396 lines
13 KiB
Plaintext
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Servo_driver.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 00000008 00800100 00000216 000002aa 2**0
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CONTENTS, ALLOC, LOAD, DATA
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1 .text 00000216 00000000 00000000 00000094 2**1
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CONTENTS, ALLOC, LOAD, READONLY, CODE
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2 .bss 00000005 00800108 00800108 000002b2 2**0
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ALLOC
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3 .comment 00000030 00000000 00000000 000002b2 2**0
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CONTENTS, READONLY
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4 .note.gnu.avr.deviceinfo 0000003c 00000000 00000000 000002e4 2**2
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CONTENTS, READONLY
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5 .debug_aranges 00000080 00000000 00000000 00000320 2**0
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CONTENTS, READONLY, DEBUGGING
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6 .debug_info 00000b4f 00000000 00000000 000003a0 2**0
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CONTENTS, READONLY, DEBUGGING
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7 .debug_abbrev 00000987 00000000 00000000 00000eef 2**0
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CONTENTS, READONLY, DEBUGGING
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8 .debug_line 000004cb 00000000 00000000 00001876 2**0
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CONTENTS, READONLY, DEBUGGING
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9 .debug_frame 00000110 00000000 00000000 00001d44 2**2
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CONTENTS, READONLY, DEBUGGING
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10 .debug_str 00000514 00000000 00000000 00001e54 2**0
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CONTENTS, READONLY, DEBUGGING
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11 .debug_loc 000001d2 00000000 00000000 00002368 2**0
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CONTENTS, READONLY, DEBUGGING
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12 .debug_ranges 00000060 00000000 00000000 0000253a 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: 60 c0 rjmp .+192 ; 0xc6 <__bad_interrupt>
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6: 00 00 nop
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8: 5e c0 rjmp .+188 ; 0xc6 <__bad_interrupt>
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a: 00 00 nop
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c: 5c c0 rjmp .+184 ; 0xc6 <__bad_interrupt>
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e: 00 00 nop
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10: 5a c0 rjmp .+180 ; 0xc6 <__bad_interrupt>
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12: 00 00 nop
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14: 58 c0 rjmp .+176 ; 0xc6 <__bad_interrupt>
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16: 00 00 nop
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18: 56 c0 rjmp .+172 ; 0xc6 <__bad_interrupt>
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1a: 00 00 nop
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1c: 54 c0 rjmp .+168 ; 0xc6 <__bad_interrupt>
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1e: 00 00 nop
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20: 52 c0 rjmp .+164 ; 0xc6 <__bad_interrupt>
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22: 00 00 nop
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24: 80 c0 rjmp .+256 ; 0x126 <__vector_9>
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26: 00 00 nop
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28: 4e c0 rjmp .+156 ; 0xc6 <__bad_interrupt>
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2a: 00 00 nop
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2c: 4c c0 rjmp .+152 ; 0xc6 <__bad_interrupt>
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2e: 00 00 nop
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30: 4a c0 rjmp .+148 ; 0xc6 <__bad_interrupt>
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32: 00 00 nop
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34: 48 c0 rjmp .+144 ; 0xc6 <__bad_interrupt>
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36: 00 00 nop
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38: 46 c0 rjmp .+140 ; 0xc6 <__bad_interrupt>
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3a: 00 00 nop
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3c: 44 c0 rjmp .+136 ; 0xc6 <__bad_interrupt>
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3e: 00 00 nop
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40: 42 c0 rjmp .+132 ; 0xc6 <__bad_interrupt>
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42: 00 00 nop
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44: 40 c0 rjmp .+128 ; 0xc6 <__bad_interrupt>
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46: 00 00 nop
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48: 3e c0 rjmp .+124 ; 0xc6 <__bad_interrupt>
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4a: 00 00 nop
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4c: 3c c0 rjmp .+120 ; 0xc6 <__bad_interrupt>
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4e: 00 00 nop
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50: 3a c0 rjmp .+116 ; 0xc6 <__bad_interrupt>
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52: 00 00 nop
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54: 38 c0 rjmp .+112 ; 0xc6 <__bad_interrupt>
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56: 00 00 nop
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58: 36 c0 rjmp .+108 ; 0xc6 <__bad_interrupt>
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5a: 00 00 nop
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5c: 34 c0 rjmp .+104 ; 0xc6 <__bad_interrupt>
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5e: 00 00 nop
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60: 32 c0 rjmp .+100 ; 0xc6 <__bad_interrupt>
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62: 00 00 nop
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64: 30 c0 rjmp .+96 ; 0xc6 <__bad_interrupt>
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66: 00 00 nop
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68: 2e c0 rjmp .+92 ; 0xc6 <__bad_interrupt>
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6a: 00 00 nop
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6c: 2c c0 rjmp .+88 ; 0xc6 <__bad_interrupt>
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6e: 00 00 nop
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70: 2a c0 rjmp .+84 ; 0xc6 <__bad_interrupt>
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72: 00 00 nop
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74: 28 c0 rjmp .+80 ; 0xc6 <__bad_interrupt>
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76: 00 00 nop
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78: 26 c0 rjmp .+76 ; 0xc6 <__bad_interrupt>
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7a: 00 00 nop
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7c: 24 c0 rjmp .+72 ; 0xc6 <__bad_interrupt>
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7e: 00 00 nop
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80: 22 c0 rjmp .+68 ; 0xc6 <__bad_interrupt>
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82: 00 00 nop
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84: 20 c0 rjmp .+64 ; 0xc6 <__bad_interrupt>
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86: 00 00 nop
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88: 1e c0 rjmp .+60 ; 0xc6 <__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: e6 e1 ldi r30, 0x16 ; 22
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a0: f2 e0 ldi r31, 0x02 ; 2
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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: a8 30 cpi r26, 0x08 ; 8
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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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000000b2 <__do_clear_bss>:
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b2: 21 e0 ldi r18, 0x01 ; 1
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b4: a8 e0 ldi r26, 0x08 ; 8
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b6: b1 e0 ldi r27, 0x01 ; 1
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b8: 01 c0 rjmp .+2 ; 0xbc <.do_clear_bss_start>
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000000ba <.do_clear_bss_loop>:
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ba: 1d 92 st X+, r1
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000000bc <.do_clear_bss_start>:
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bc: ad 30 cpi r26, 0x0D ; 13
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be: b2 07 cpc r27, r18
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c0: e1 f7 brne .-8 ; 0xba <.do_clear_bss_loop>
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c2: 16 d0 rcall .+44 ; 0xf0 <main>
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c4: a6 c0 rjmp .+332 ; 0x212 <_exit>
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000000c6 <__bad_interrupt>:
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c6: 9c cf rjmp .-200 ; 0x0 <__vectors>
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000000c8 <wait>:
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int value = 0;
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value = ADCH;
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value <<= 2;
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value += (ADCL >> 6);
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return value;
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}
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c8: 20 e0 ldi r18, 0x00 ; 0
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ca: 30 e0 ldi r19, 0x00 ; 0
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cc: 08 c0 rjmp .+16 ; 0xde <wait+0x16>
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ce: e3 ec ldi r30, 0xC3 ; 195
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d0: f9 e0 ldi r31, 0x09 ; 9
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d2: 31 97 sbiw r30, 0x01 ; 1
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d4: f1 f7 brne .-4 ; 0xd2 <wait+0xa>
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d6: 00 c0 rjmp .+0 ; 0xd8 <wait+0x10>
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d8: 00 00 nop
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da: 2f 5f subi r18, 0xFF ; 255
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dc: 3f 4f sbci r19, 0xFF ; 255
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de: 28 17 cp r18, r24
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e0: 39 07 cpc r19, r25
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e2: ac f3 brlt .-22 ; 0xce <wait+0x6>
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e4: 08 95 ret
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000000e6 <adcInit>:
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e6: 80 ee ldi r24, 0xE0 ; 224
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e8: 87 b9 out 0x07, r24 ; 7
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ea: 86 e8 ldi r24, 0x86 ; 134
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ec: 86 b9 out 0x06, r24 ; 6
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ee: 08 95 ret
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000000f0 <main>:
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int main(void)
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{
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/* Replace with your application code */
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DDRF = 0x00;
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f0: 10 92 61 00 sts 0x0061, r1 ; 0x800061 <__TEXT_REGION_LENGTH__+0x7e0061>
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adcInit();
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f4: f8 df rcall .-16 ; 0xe6 <adcInit>
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init_stepper_driver();
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f6: 7f d0 rcall .+254 ; 0x1f6 <init_stepper_driver>
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f8: 80 e0 ldi r24, 0x00 ; 0
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stepper_rotate(512);
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fa: 92 e0 ldi r25, 0x02 ; 2
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fc: 75 d0 rcall .+234 ; 0x1e8 <stepper_rotate>
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fe: 84 e6 ldi r24, 0x64 ; 100
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while (1)
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{
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wait(100);
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100: 90 e0 ldi r25, 0x00 ; 0
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102: e2 df rcall .-60 ; 0xc8 <wait>
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104: fc cf rjmp .-8 ; 0xfe <main+0xe>
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00000106 <set_stepper_state>:
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106: e8 2f mov r30, r24
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108: f0 e0 ldi r31, 0x00 ; 0
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}
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void (*snap_event)(uint8_t);
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void set_snap_event(void (*snap_event_p)(uint8_t)){
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snap_event = snap_event_p;
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10a: e0 50 subi r30, 0x00 ; 0
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10c: ff 4f sbci r31, 0xFF ; 255
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10e: 80 81 ld r24, Z
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110: 83 b9 out 0x03, r24 ; 3
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112: 08 95 ret
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00000114 <stepper_rotate_full_rotation>:
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}
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}
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}
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void stepper_rotate_full_rotation(){
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steps_to_do = 512;
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114: 80 e0 ldi r24, 0x00 ; 0
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116: 92 e0 ldi r25, 0x02 ; 2
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118: 90 93 0a 01 sts 0x010A, r25 ; 0x80010a <steps_to_do+0x1>
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11c: 80 93 09 01 sts 0x0109, r24 ; 0x800109 <steps_to_do>
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TCCR2 = 0b00001100;
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120: 8c e0 ldi r24, 0x0C ; 12
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122: 85 bd out 0x25, r24 ; 37
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124: 08 95 ret
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00000126 <__vector_9>:
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snap_event = snap_event_p;
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}
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uint16_t steps_to_do = 0;
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uint8_t stepper_state = 0;
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ISR( TIMER2_COMP_vect ){
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126: 1f 92 push r1
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128: 0f 92 push r0
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12a: 0f b6 in r0, 0x3f ; 63
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12c: 0f 92 push r0
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12e: 11 24 eor r1, r1
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130: 0b b6 in r0, 0x3b ; 59
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132: 0f 92 push r0
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134: 2f 93 push r18
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136: 3f 93 push r19
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138: 4f 93 push r20
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13a: 5f 93 push r21
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13c: 6f 93 push r22
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13e: 7f 93 push r23
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140: 8f 93 push r24
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142: 9f 93 push r25
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144: af 93 push r26
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146: bf 93 push r27
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148: ef 93 push r30
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14a: ff 93 push r31
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TCNT2 = 0;
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14c: 14 bc out 0x24, r1 ; 36
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set_stepper_state(stepper_state);
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14e: 80 91 08 01 lds r24, 0x0108 ; 0x800108 <__data_end>
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152: d9 df rcall .-78 ; 0x106 <set_stepper_state>
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if(stepper_state < 7){
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154: 80 91 08 01 lds r24, 0x0108 ; 0x800108 <__data_end>
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158: 87 30 cpi r24, 0x07 ; 7
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15a: 20 f4 brcc .+8 ; 0x164 <__vector_9+0x3e>
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stepper_state++;
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15c: 8f 5f subi r24, 0xFF ; 255
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15e: 80 93 08 01 sts 0x0108, r24 ; 0x800108 <__data_end>
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162: 2f c0 rjmp .+94 ; 0x1c2 <__vector_9+0x9c>
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} else {
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//OCR2 = ADCH;
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stepper_state = 0;
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164: 10 92 08 01 sts 0x0108, r1 ; 0x800108 <__data_end>
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if(steps_to_do == 0){
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168: 80 91 09 01 lds r24, 0x0109 ; 0x800109 <steps_to_do>
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16c: 90 91 0a 01 lds r25, 0x010A ; 0x80010a <steps_to_do+0x1>
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170: 00 97 sbiw r24, 0x00 ; 0
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172: 19 f4 brne .+6 ; 0x17a <__vector_9+0x54>
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TCCR2 = 0b00000000;
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stepper_rotate_full_rotation();
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174: 15 bc out 0x25, r1 ; 37
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176: ce df rcall .-100 ; 0x114 <stepper_rotate_full_rotation>
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178: 24 c0 rjmp .+72 ; 0x1c2 <__vector_9+0x9c>
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} else {
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if(steps_to_do % 32 == 0){
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17a: 8f 71 andi r24, 0x1F ; 31
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17c: 99 27 eor r25, r25
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17e: 89 2b or r24, r25
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180: b9 f4 brne .+46 ; 0x1b0 <__vector_9+0x8a>
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if(PORTG == 0x01){
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182: 80 91 65 00 lds r24, 0x0065 ; 0x800065 <__TEXT_REGION_LENGTH__+0x7e0065>
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186: 81 30 cpi r24, 0x01 ; 1
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188: 19 f4 brne .+6 ; 0x190 <__vector_9+0x6a>
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PORTG = 0x00;
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18a: 10 92 65 00 sts 0x0065, r1 ; 0x800065 <__TEXT_REGION_LENGTH__+0x7e0065>
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18e: 07 c0 rjmp .+14 ; 0x19e <__vector_9+0x78>
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} else if (PORTG == 0x00){
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190: 80 91 65 00 lds r24, 0x0065 ; 0x800065 <__TEXT_REGION_LENGTH__+0x7e0065>
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194: 81 11 cpse r24, r1
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196: 03 c0 rjmp .+6 ; 0x19e <__vector_9+0x78>
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PORTG = 0x01;
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198: 81 e0 ldi r24, 0x01 ; 1
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19a: 80 93 65 00 sts 0x0065, r24 ; 0x800065 <__TEXT_REGION_LENGTH__+0x7e0065>
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}
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if(snap_event != NULL)
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19e: e0 91 0b 01 lds r30, 0x010B ; 0x80010b <snap_event>
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1a2: f0 91 0c 01 lds r31, 0x010C ; 0x80010c <snap_event+0x1>
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1a6: 30 97 sbiw r30, 0x00 ; 0
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1a8: 19 f0 breq .+6 ; 0x1b0 <__vector_9+0x8a>
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snap_event(steps_to_do);
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1aa: 80 91 09 01 lds r24, 0x0109 ; 0x800109 <steps_to_do>
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1ae: 09 95 icall
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}
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steps_to_do--;
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1b0: 80 91 09 01 lds r24, 0x0109 ; 0x800109 <steps_to_do>
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1b4: 90 91 0a 01 lds r25, 0x010A ; 0x80010a <steps_to_do+0x1>
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1b8: 01 97 sbiw r24, 0x01 ; 1
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1ba: 90 93 0a 01 sts 0x010A, r25 ; 0x80010a <steps_to_do+0x1>
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1be: 80 93 09 01 sts 0x0109, r24 ; 0x800109 <steps_to_do>
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}
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}
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}
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1c2: ff 91 pop r31
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1c4: ef 91 pop r30
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1c6: bf 91 pop r27
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1c8: af 91 pop r26
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1ca: 9f 91 pop r25
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1cc: 8f 91 pop r24
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1ce: 7f 91 pop r23
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1d0: 6f 91 pop r22
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1d2: 5f 91 pop r21
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1d4: 4f 91 pop r20
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1d6: 3f 91 pop r19
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1d8: 2f 91 pop r18
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1da: 0f 90 pop r0
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1dc: 0b be out 0x3b, r0 ; 59
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1de: 0f 90 pop r0
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1e0: 0f be out 0x3f, r0 ; 63
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1e2: 0f 90 pop r0
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1e4: 1f 90 pop r1
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1e6: 18 95 reti
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000001e8 <stepper_rotate>:
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steps_to_do = 512;
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TCCR2 = 0b00001100;
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}
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void stepper_rotate(uint16_t steps){
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steps_to_do = steps;
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1e8: 90 93 0a 01 sts 0x010A, r25 ; 0x80010a <steps_to_do+0x1>
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1ec: 80 93 09 01 sts 0x0109, r24 ; 0x800109 <steps_to_do>
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TCCR2 = 0b00001100;
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1f0: 8c e0 ldi r24, 0x0C ; 12
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1f2: 85 bd out 0x25, r24 ; 37
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1f4: 08 95 ret
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000001f6 <init_stepper_driver>:
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}
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void init_stepper_driver(){
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DDRE = 0xff;
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1f6: 8f ef ldi r24, 0xFF ; 255
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1f8: 82 b9 out 0x02, r24 ; 2
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DDRG = 0xff;
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1fa: 80 93 64 00 sts 0x0064, r24 ; 0x800064 <__TEXT_REGION_LENGTH__+0x7e0064>
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PORTG = 0x01;
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1fe: 81 e0 ldi r24, 0x01 ; 1
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200: 80 93 65 00 sts 0x0065, r24 ; 0x800065 <__TEXT_REGION_LENGTH__+0x7e0065>
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PORTE = 0x00;
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204: 13 b8 out 0x03, r1 ; 3
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OCR2 = 50;
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206: 82 e3 ldi r24, 0x32 ; 50
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208: 83 bd out 0x23, r24 ; 35
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TIMSK = BIT(7);
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20a: 80 e8 ldi r24, 0x80 ; 128
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20c: 87 bf out 0x37, r24 ; 55
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sei();
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20e: 78 94 sei
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210: 08 95 ret
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00000212 <_exit>:
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212: f8 94 cli
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00000214 <__stop_program>:
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214: ff cf rjmp .-2 ; 0x214 <__stop_program>
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