1 .file "twimaster.c" 2 .arch atmega1284p 3 __SREG__ = 0x3f 4 __SP_H__ = 0x3e 5 __SP_L__ = 0x3d 6 __tmp_reg__ = 0 7 __zero_reg__ = 1 8 .global __do_copy_data 9 .global __do_clear_bss 10 .global BLConfig_ReadMask 11 .global BLConfig_ReadMask 12 .section .bss 15 BLConfig_ReadMask: 16 0000 0000 .skip 2,0 17 .global BLConfig_WriteMask 18 .global BLConfig_WriteMask 21 BLConfig_WriteMask: 22 0002 0000 .skip 2,0 23 .global BLFlags 24 .global BLFlags 27 BLFlags: 28 0004 00 .skip 1,0 29 .global MissingMotor 30 .global MissingMotor 33 MissingMotor: 34 0005 00 .skip 1,0 35 .global I2CTimeout 36 .data 39 I2CTimeout: 40 0000 6400 .word 100 41 .global I2C_TransferActive 42 .global I2C_TransferActive 43 .section .bss 46 I2C_TransferActive: 47 0006 00 .skip 1,0 48 .global motor_read 49 .global motor_read 52 motor_read: 53 0007 00 .skip 1,0 54 .global motor_write 55 .global motor_write 58 motor_write: 59 0008 00 .skip 1,0 60 .global dac_channel 61 .global dac_channel 64 dac_channel: 65 0009 00 .skip 1,0 66 .global twi_state 67 .global twi_state 70 twi_state: 71 000a 00 .skip 1,0 72 .text 73 .global I2C_Init 75 I2C_Init: 76 /* prologue: frame size=0 */ 77 /* prologue end (size=0) */ 78 0000 982F mov r25,r24 79 0002 2FB7 in r18,95-0x20 80 /* #APP */ 81 0004 F894 cli 82 /* #NOAPP */ 83 0006 3998 cbi 39-0x20,1 84 0008 389A sbi 39-0x20,0 85 000a 88B1 in r24,40-0x20 86 000c 8360 ori r24,lo8(3) 87 000e 88B9 out 40-0x20,r24 88 0010 8091 B900 lds r24,185 89 0014 8C7F andi r24,lo8(-4) 90 0016 8093 B900 sts 185,r24 91 001a 8AE2 ldi r24,lo8(42) 92 001c 8093 B800 sts 184,r24 93 0020 1092 0000 sts twi_state,__zero_reg__ 94 0024 1092 0000 sts motor_write,__zero_reg__ 95 0028 1092 0000 sts motor_read,__zero_reg__ 96 002c 9923 tst r25 97 002e 01F0 breq .L2 98 0030 E0E0 ldi r30,lo8(Motor) 99 0032 F0E0 ldi r31,hi8(Motor) 100 0034 8BE0 ldi r24,lo8(11) 101 .L6: 102 0036 1082 st Z,__zero_reg__ 103 0038 1182 std Z+1,__zero_reg__ 104 003a 1282 std Z+2,__zero_reg__ 105 003c 1382 std Z+3,__zero_reg__ 106 003e 1482 std Z+4,__zero_reg__ 107 0040 1582 std Z+5,__zero_reg__ 108 0042 1682 std Z+6,__zero_reg__ 109 0044 1782 std Z+7,__zero_reg__ 110 0046 8150 subi r24,lo8(-(-1)) 111 0048 3896 adiw r30,8 112 004a 87FF sbrs r24,7 113 004c 00C0 rjmp .L6 114 .L2: 115 /* #APP */ 116 004e 7894 sei 117 /* #NOAPP */ 118 0050 2FBF out 95-0x20,r18 119 /* epilogue: frame size=0 */ 120 0052 0895 ret 121 /* epilogue end (size=1) */ 122 /* function I2C_Init size 44 (43) */ 124 .global I2C_Reset 126 I2C_Reset: 127 /* prologue: frame size=0 */ 128 /* prologue end (size=0) */ 129 0054 1092 0000 sts twi_state,__zero_reg__ 130 0058 84E9 ldi r24,lo8(-108) 131 005a 8093 BC00 sts 188,r24 132 005e 80E8 ldi r24,lo8(-128) 133 0060 8093 BC00 sts 188,r24 134 0064 1092 BD00 sts 189,__zero_reg__ 135 0068 1092 BA00 sts 186,__zero_reg__ 136 006c 1092 BB00 sts 187,__zero_reg__ 137 0070 1092 B900 sts 185,__zero_reg__ 138 0074 1092 B800 sts 184,__zero_reg__ 139 0078 1092 0000 sts I2C_TransferActive,__zero_reg__ 140 007c 80E0 ldi r24,lo8(0) 141 007e 0E94 0000 call I2C_Init 142 0082 1092 BB00 sts 187,__zero_reg__ 143 0086 85E8 ldi r24,lo8(-123) 144 0088 8093 BC00 sts 188,r24 145 008c 8091 0000 lds r24,BLFlags 146 0090 8260 ori r24,lo8(2) 147 0092 8093 0000 sts BLFlags,r24 148 /* epilogue: frame size=0 */ 149 0096 0895 ret 150 /* epilogue end (size=1) */ 151 /* function I2C_Reset size 34 (33) */ 153 .lcomm missing_motor.0,1 154 .lcomm motor_read_temperature.1,1 155 .lcomm pBuff.2,2 156 .lcomm BuffLen.3,1 157 .global __vector_26 159 __vector_26: 160 /* prologue: frame size=0 */ 161 0098 1F92 push __zero_reg__ 162 009a 0F92 push __tmp_reg__ 163 009c 0FB6 in __tmp_reg__,__SREG__ 164 009e 0F92 push __tmp_reg__ 165 00a0 1124 clr __zero_reg__ 166 00a2 2F93 push r18 167 00a4 3F93 push r19 168 00a6 4F93 push r20 169 00a8 5F93 push r21 170 00aa 8F93 push r24 171 00ac 9F93 push r25 172 00ae EF93 push r30 173 00b0 FF93 push r31 174 /* prologue end (size=13) */ 175 00b2 8091 0000 lds r24,twi_state 176 00b6 282F mov r18,r24 177 00b8 3327 clr r19 178 00ba 4427 clr r20 179 00bc 5527 clr r21 180 00be 8F5F subi r24,lo8(-(1)) 181 00c0 8093 0000 sts twi_state,r24 182 00c4 F901 movw r30,r18 183 00c6 2731 cpi r18,23 184 00c8 3105 cpc r19,__zero_reg__ 185 00ca 00F0 brlo .+2 186 00cc 00C0 rjmp .L72 187 00ce E050 subi r30,lo8(-(pm(.L73))) 188 00d0 F040 sbci r31,hi8(-(pm(.L73))) 189 00d2 0C94 0000 jmp __tablejump2__ 190 .data 191 .section .progmem.gcc_sw_table, "a", @progbits 192 .p2align 1 193 .L73: 194 0000 0000 .word pm(.L11) 195 0002 0000 .word pm(.L17) 196 0004 0000 .word pm(.L22) 197 0006 0000 .word pm(.L27) 198 0008 0000 .word pm(.L29) 199 000a 0000 .word pm(.L33) 200 000c 0000 .word pm(.L50) 201 000e 0000 .word pm(.L72) 202 0010 0000 .word pm(.L72) 203 0012 0000 .word pm(.L72) 204 0014 0000 .word pm(.L72) 205 0016 0000 .word pm(.L72) 206 0018 0000 .word pm(.L72) 207 001a 0000 .word pm(.L72) 208 001c 0000 .word pm(.L72) 209 001e 0000 .word pm(.L72) 210 0020 0000 .word pm(.L72) 211 0022 0000 .word pm(.L72) 212 0024 0000 .word pm(.L60) 213 0026 0000 .word pm(.L61) 214 0028 0000 .word pm(.L62) 215 002a 0000 .word pm(.L68) 216 002c 0000 .word pm(.L69) 217 .text 218 .L11: 219 00d6 81E0 ldi r24,lo8(1) 220 00d8 8093 0000 sts I2C_TransferActive,r24 221 00dc 00C0 rjmp .L76 222 .L75: 223 00de 8091 0000 lds r24,motor_write 224 00e2 8C30 cpi r24,lo8(12) 225 00e4 00F4 brsh .L13 226 00e6 8091 0000 lds r24,motor_write 227 00ea 8F5F subi r24,lo8(-(1)) 228 00ec 8093 0000 sts motor_write,r24 229 .L76: 230 00f0 8091 0000 lds r24,motor_write 231 00f4 E82F mov r30,r24 232 00f6 FF27 clr r31 233 00f8 EE0F lsl r30 234 00fa FF1F rol r31 235 00fc EE0F lsl r30 236 00fe FF1F rol r31 237 0100 E050 subi r30,lo8(-(Mixer)) 238 0102 F040 sbci r31,hi8(-(Mixer)) 239 0104 8585 ldd r24,Z+13 240 0106 1816 cp __zero_reg__,r24 241 0108 04F4 brge .L75 242 .L13: 243 010a 8091 0000 lds r24,motor_write 244 010e 8C30 cpi r24,lo8(12) 245 0110 00F0 brlo .L15 246 0112 1092 0000 sts (BLConfig_WriteMask)+1,__zero_reg__ 247 0116 1092 0000 sts BLConfig_WriteMask,__zero_reg__ 248 011a 1092 0000 sts motor_write,__zero_reg__ 249 011e 85E0 ldi r24,lo8(5) 250 0120 8093 0000 sts twi_state,r24 251 0124 8091 0000 lds r24,motor_read 252 0128 880F lsl r24 253 012a 8D5A subi r24,lo8(-(83)) 254 012c 00C0 rjmp .L84 255 .L15: 256 012e 8091 0000 lds r24,motor_write 257 0132 880F lsl r24 258 0134 8E5A subi r24,lo8(-(82)) 259 .L84: 260 0136 8093 BB00 sts 187,r24 261 013a 85E8 ldi r24,lo8(-123) 262 013c 00C0 rjmp .L80 263 .L17: 264 013e 8091 0000 lds r24,motor_write 265 0142 E82F mov r30,r24 266 0144 FF27 clr r31 267 0146 83E0 ldi r24,3 268 0148 EE0F 1: lsl r30 269 014a FF1F rol r31 270 014c 8A95 dec r24 271 014e 01F4 brne 1b 272 0150 E050 subi r30,lo8(-(Motor)) 273 0152 F040 sbci r31,hi8(-(Motor)) 274 0154 8181 ldd r24,Z+1 275 0156 8093 BB00 sts 187,r24 276 015a 85E8 ldi r24,lo8(-123) 277 015c 8093 BC00 sts 188,r24 278 0160 8091 0000 lds r24,motor_write 279 0164 E82F mov r30,r24 280 0166 FF27 clr r31 281 0168 EE0F lsl r30 282 016a FF1F rol r31 283 016c EE0F lsl r30 284 016e FF1F rol r31 285 0170 EE0F lsl r30 286 0172 FF1F rol r31 287 0174 E050 subi r30,lo8(-(Motor)) 288 0176 F040 sbci r31,hi8(-(Motor)) 289 0178 8081 ld r24,Z 290 017a 80FF sbrs r24,0 291 017c 00C0 rjmp .L25 292 017e 8091 0000 lds r24,motor_write 293 0182 E82F mov r30,r24 294 0184 FF27 clr r31 295 0186 EE0F lsl r30 296 0188 FF1F rol r31 297 018a EE0F lsl r30 298 018c FF1F rol r31 299 018e EE0F lsl r30 300 0190 FF1F rol r31 301 0192 E050 subi r30,lo8(-(Motor)) 302 0194 F040 sbci r31,hi8(-(Motor)) 303 0196 8281 ldd r24,Z+2 304 0198 8823 tst r24 305 019a 01F0 breq .L21 306 019c 8091 0000 lds r24,RequiredMotors 307 01a0 8730 cpi r24,lo8(7) 308 01a2 00F4 brsh .+2 309 01a4 00C0 rjmp .L9 310 .L21: 311 01a6 8091 0000 lds r24,BLConfig_WriteMask 312 01aa 9091 0000 lds r25,(BLConfig_WriteMask)+1 313 01ae 892B or r24,r25 314 01b0 01F0 breq .+2 315 01b2 00C0 rjmp .L9 316 01b4 8091 0000 lds r24,BLConfig_ReadMask 317 01b8 9091 0000 lds r25,(BLConfig_ReadMask)+1 318 01bc 892B or r24,r25 319 01be 01F0 breq .+2 320 01c0 00C0 rjmp .L9 321 01c2 00C0 rjmp .L25 322 .L22: 323 01c4 8091 0000 lds r24,motor_write 324 01c8 21E0 ldi r18,lo8(1) 325 01ca 30E0 ldi r19,hi8(1) 326 01cc 00C0 rjmp 2f 327 01ce 220F 1: lsl r18 328 01d0 331F rol r19 329 01d2 8A95 2: dec r24 330 01d4 02F4 brpl 1b 331 01d6 8091 0000 lds r24,BLConfig_ReadMask 332 01da 9091 0000 lds r25,(BLConfig_ReadMask)+1 333 01de 2823 and r18,r24 334 01e0 3923 and r19,r25 335 01e2 232B or r18,r19 336 01e4 01F0 breq .L23 337 01e6 8091 0000 lds r24,motor_write 338 01ea E82F mov r30,r24 339 01ec FF27 clr r31 340 01ee EE0F lsl r30 341 01f0 FF1F rol r31 342 01f2 EE0F lsl r30 343 01f4 FF1F rol r31 344 01f6 EE0F lsl r30 345 01f8 FF1F rol r31 346 01fa E050 subi r30,lo8(-(Motor)) 347 01fc F040 sbci r31,hi8(-(Motor)) 348 01fe 80E1 ldi r24,lo8(16) 349 0200 8483 std Z+4,r24 350 0202 00C0 rjmp .L24 351 .L23: 352 0204 8091 0000 lds r24,motor_write 353 0208 E82F mov r30,r24 354 020a FF27 clr r31 355 020c EE0F lsl r30 356 020e FF1F rol r31 357 0210 EE0F lsl r30 358 0212 FF1F rol r31 359 0214 EE0F lsl r30 360 0216 FF1F rol r31 361 0218 E050 subi r30,lo8(-(Motor)) 362 021a F040 sbci r31,hi8(-(Motor)) 363 021c 1482 std Z+4,__zero_reg__ 364 .L24: 365 021e 8091 0000 lds r24,motor_write 366 0222 E82F mov r30,r24 367 0224 FF27 clr r31 368 0226 53E0 ldi r21,3 369 0228 EE0F 1: lsl r30 370 022a FF1F rol r31 371 022c 5A95 dec r21 372 022e 01F4 brne 1b 373 0230 E050 subi r30,lo8(-(Motor)) 374 0232 F040 sbci r31,hi8(-(Motor)) 375 0234 8481 ldd r24,Z+4 376 0236 282F mov r18,r24 377 0238 3327 clr r19 378 023a 43E0 ldi r20,3 379 023c 220F 1: lsl r18 380 023e 331F rol r19 381 0240 4A95 dec r20 382 0242 01F4 brne 1b 383 0244 8091 0000 lds r24,motor_write 384 0248 E82F mov r30,r24 385 024a FF27 clr r31 386 024c 93E0 ldi r25,3 387 024e EE0F 1: lsl r30 388 0250 FF1F rol r31 389 0252 9A95 dec r25 390 0254 01F4 brne 1b 391 0256 E050 subi r30,lo8(-(Motor)) 392 0258 F040 sbci r31,hi8(-(Motor)) 393 025a 8281 ldd r24,Z+2 394 025c 8770 andi r24,lo8(7) 395 025e 822B or r24,r18 396 0260 8093 BB00 sts 187,r24 397 0264 85E8 ldi r24,lo8(-123) 398 0266 8093 BC00 sts 188,r24 399 026a 2091 0000 lds r18,motor_write 400 026e 81E0 ldi r24,lo8(1) 401 0270 90E0 ldi r25,hi8(1) 402 0272 00C0 rjmp 2f 403 0274 880F 1: lsl r24 404 0276 991F rol r25 405 0278 2A95 2: dec r18 406 027a 02F4 brpl 1b 407 027c 2091 0000 lds r18,BLConfig_WriteMask 408 0280 3091 0000 lds r19,(BLConfig_WriteMask)+1 409 0284 8223 and r24,r18 410 0286 9323 and r25,r19 411 0288 892B or r24,r25 412 028a 01F0 breq .L25 413 028c 80E0 ldi r24,lo8(BLConfig) 414 028e 90E0 ldi r25,hi8(BLConfig) 415 0290 9093 0000 sts (pBuff.2)+1,r25 416 0294 8093 0000 sts pBuff.2,r24 417 0298 88E0 ldi r24,lo8(8) 418 029a 8093 0000 sts BuffLen.3,r24 419 029e 00C0 rjmp .L9 420 .L25: 421 02a0 84E0 ldi r24,lo8(4) 422 02a2 00C0 rjmp .L82 423 .L27: 424 02a4 E091 0000 lds r30,pBuff.2 425 02a8 F091 0000 lds r31,(pBuff.2)+1 426 02ac 8191 ld r24,Z+ 427 02ae 8093 BB00 sts 187,r24 428 02b2 85E8 ldi r24,lo8(-123) 429 02b4 8093 BC00 sts 188,r24 430 02b8 F093 0000 sts (pBuff.2)+1,r31 431 02bc E093 0000 sts pBuff.2,r30 432 02c0 8091 0000 lds r24,BuffLen.3 433 02c4 8150 subi r24,lo8(-(-1)) 434 02c6 8093 0000 sts BuffLen.3,r24 435 02ca 8823 tst r24 436 02cc 01F4 brne .+2 437 02ce 00C0 rjmp .L9 438 02d0 83E0 ldi r24,lo8(3) 439 02d2 00C0 rjmp .L82 440 .L29: 441 02d4 8091 B900 lds r24,185 442 02d8 8033 cpi r24,lo8(48) 443 02da 01F4 brne .L30 444 02dc 8091 0000 lds r24,missing_motor.0 445 02e0 8823 tst r24 446 02e2 01F4 brne .L31 447 02e4 8091 0000 lds r24,motor_write 448 02e8 8F5F subi r24,lo8(-(1)) 449 02ea 8093 0000 sts missing_motor.0,r24 450 .L31: 451 02ee 8091 0000 lds r24,motor_write 452 02f2 E82F mov r30,r24 453 02f4 FF27 clr r31 454 02f6 83E0 ldi r24,3 455 02f8 EE0F 1: lsl r30 456 02fa FF1F rol r31 457 02fc 8A95 dec r24 458 02fe 01F4 brne 1b 459 0300 E050 subi r30,lo8(-(Motor)) 460 0302 F040 sbci r31,hi8(-(Motor)) 461 0304 8381 ldd r24,Z+3 462 0306 9927 clr r25 463 0308 8F77 andi r24,lo8(127) 464 030a 9070 andi r25,hi8(127) 465 030c 8F37 cpi r24,127 466 030e 9105 cpc r25,__zero_reg__ 467 0310 04F4 brge .L30 468 0312 8091 0000 lds r24,motor_write 469 0316 E82F mov r30,r24 470 0318 FF27 clr r31 471 031a EE0F lsl r30 472 031c FF1F rol r31 473 031e EE0F lsl r30 474 0320 FF1F rol r31 475 0322 EE0F lsl r30 476 0324 FF1F rol r31 477 0326 E050 subi r30,lo8(-(Motor)) 478 0328 F040 sbci r31,hi8(-(Motor)) 479 032a 8381 ldd r24,Z+3 480 032c 8F5F subi r24,lo8(-(1)) 481 032e 8383 std Z+3,r24 482 .L30: 483 0330 1092 0000 sts twi_state,__zero_reg__ 484 0334 84E9 ldi r24,lo8(-108) 485 0336 8093 BC00 sts 188,r24 486 033a 8AE0 ldi r24,lo8(10) 487 033c 90E0 ldi r25,hi8(10) 488 033e 9093 0000 sts (I2CTimeout)+1,r25 489 0342 8093 0000 sts I2CTimeout,r24 490 0346 8091 0000 lds r24,motor_write 491 034a 8F5F subi r24,lo8(-(1)) 492 034c 8093 0000 sts motor_write,r24 493 0350 1092 0000 sts twi_state,__zero_reg__ 494 0354 00C0 rjmp .L85 495 .L33: 496 0356 8091 B900 lds r24,185 497 035a 8034 cpi r24,lo8(64) 498 035c 01F0 breq .L34 499 035e 8091 0000 lds r24,motor_read 500 0362 E82F mov r30,r24 501 0364 FF27 clr r31 502 0366 EE0F lsl r30 503 0368 FF1F rol r31 504 036a EE0F lsl r30 505 036c FF1F rol r31 506 036e EE0F lsl r30 507 0370 FF1F rol r31 508 0372 E050 subi r30,lo8(-(Motor)) 509 0374 F040 sbci r31,hi8(-(Motor)) 510 0376 8381 ldd r24,Z+3 511 0378 8F77 andi r24,lo8(127) 512 037a 8383 std Z+3,r24 513 037c 8091 0000 lds r24,motor_read 514 0380 8F5F subi r24,lo8(-(1)) 515 0382 8093 0000 sts motor_read,r24 516 0386 8091 0000 lds r24,motor_read 517 038a 8C30 cpi r24,lo8(12) 518 038c 00F0 brlo .L35 519 038e 1092 0000 sts motor_read,__zero_reg__ 520 0392 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ 521 0396 1092 0000 sts BLConfig_ReadMask,__zero_reg__ 522 039a 8091 0000 lds r24,motor_read_temperature.1 523 039e 8F5F subi r24,lo8(-(1)) 524 03a0 8093 0000 sts motor_read_temperature.1,r24 525 03a4 8C30 cpi r24,lo8(12) 526 03a6 00F0 brlo .L35 527 03a8 1092 0000 sts motor_read_temperature.1,__zero_reg__ 528 03ac 8091 0000 lds r24,BLFlags 529 03b0 8D7F andi r24,lo8(-3) 530 03b2 8093 0000 sts BLFlags,r24 531 .L35: 532 03b6 8091 0000 lds r24,BLFlags 533 03ba 8160 ori r24,lo8(1) 534 03bc 8093 0000 sts BLFlags,r24 535 03c0 1092 0000 sts twi_state,__zero_reg__ 536 03c4 84E9 ldi r24,lo8(-108) 537 03c6 8093 BC00 sts 188,r24 538 03ca 1092 0000 sts I2C_TransferActive,__zero_reg__ 539 03ce 00C0 rjmp .L37 540 .L34: 541 03d0 8091 0000 lds r24,motor_read 542 03d4 E82F mov r30,r24 543 03d6 FF27 clr r31 544 03d8 EE0F lsl r30 545 03da FF1F rol r31 546 03dc EE0F lsl r30 547 03de FF1F rol r31 548 03e0 EE0F lsl r30 549 03e2 FF1F rol r31 550 03e4 E050 subi r30,lo8(-(Motor)) 551 03e6 F040 sbci r31,hi8(-(Motor)) 552 03e8 8381 ldd r24,Z+3 553 03ea 8068 ori r24,lo8(-128) 554 03ec 8383 std Z+3,r24 555 03ee 8091 0000 lds r24,motor_read 556 03f2 E82F mov r30,r24 557 03f4 FF27 clr r31 558 03f6 EE0F lsl r30 559 03f8 FF1F rol r31 560 03fa EE0F lsl r30 561 03fc FF1F rol r31 562 03fe EE0F lsl r30 563 0400 FF1F rol r31 564 0402 E050 subi r30,lo8(-(Motor)) 565 0404 F040 sbci r31,hi8(-(Motor)) 566 0406 8081 ld r24,Z 567 0408 80FF sbrs r24,0 568 040a 00C0 rjmp .L38 569 040c 8091 0000 lds r24,motor_read 570 0410 E82F mov r30,r24 571 0412 FF27 clr r31 572 0414 53E0 ldi r21,3 573 0416 EE0F 1: lsl r30 574 0418 FF1F rol r31 575 041a 5A95 dec r21 576 041c 01F4 brne 1b 577 041e E050 subi r30,lo8(-(Motor)) 578 0420 F040 sbci r31,hi8(-(Motor)) 579 0422 8481 ldd r24,Z+4 580 0424 9927 clr r25 581 0426 0097 sbiw r24,0 582 0428 01F0 breq .L41 583 042a 4097 sbiw r24,16 584 042c 01F4 brne .L44 585 042e 80E0 ldi r24,lo8(BLConfig) 586 0430 90E0 ldi r25,hi8(BLConfig) 587 0432 9093 0000 sts (pBuff.2)+1,r25 588 0436 8093 0000 sts pBuff.2,r24 589 043a 88E0 ldi r24,lo8(8) 590 043c 00C0 rjmp .L77 591 .L41: 592 043e 8091 0000 lds r24,motor_read 593 0442 9927 clr r25 594 0444 43E0 ldi r20,3 595 0446 880F 1: lsl r24 596 0448 991F rol r25 597 044a 4A95 dec r20 598 044c 01F4 brne 1b 599 044e 8050 subi r24,lo8(-(Motor+5)) 600 0450 9040 sbci r25,hi8(-(Motor+5)) 601 0452 9093 0000 sts (pBuff.2)+1,r25 602 0456 8093 0000 sts pBuff.2,r24 603 045a 9091 0000 lds r25,motor_read 604 045e 8091 0000 lds r24,motor_read_temperature.1 605 0462 9817 cp r25,r24 606 0464 01F4 brne .L45 607 0466 83E0 ldi r24,lo8(3) 608 0468 00C0 rjmp .L77 609 .L38: 610 046a 8091 0000 lds r24,motor_read 611 046e 9927 clr r25 612 0470 33E0 ldi r19,3 613 0472 880F 1: lsl r24 614 0474 991F rol r25 615 0476 3A95 dec r19 616 0478 01F4 brne 1b 617 047a 8050 subi r24,lo8(-(Motor+5)) 618 047c 9040 sbci r25,hi8(-(Motor+5)) 619 047e 9093 0000 sts (pBuff.2)+1,r25 620 0482 8093 0000 sts pBuff.2,r24 621 0486 8091 0000 lds r24,BLFlags 622 048a 81FD sbrc r24,1 623 048c 00C0 rjmp .L46 624 048e 9091 0000 lds r25,motor_read 625 0492 8091 0000 lds r24,motor_read_temperature.1 626 0496 9817 cp r25,r24 627 0498 01F4 brne .L45 628 .L46: 629 049a 82E0 ldi r24,lo8(2) 630 049c 00C0 rjmp .L77 631 .L45: 632 049e 81E0 ldi r24,lo8(1) 633 .L77: 634 04a0 8093 0000 sts BuffLen.3,r24 635 .L44: 636 04a4 8091 0000 lds r24,BuffLen.3 637 04a8 8130 cpi r24,lo8(1) 638 04aa 01F4 brne .L48 639 04ac 85E8 ldi r24,lo8(-123) 640 04ae 00C0 rjmp .L78 641 .L48: 642 04b0 85EC ldi r24,lo8(-59) 643 .L78: 644 04b2 8093 BC00 sts 188,r24 645 .L37: 646 04b6 8091 0000 lds r24,missing_motor.0 647 04ba 8093 0000 sts MissingMotor,r24 648 04be 1092 0000 sts missing_motor.0,__zero_reg__ 649 04c2 00C0 rjmp .L9 650 .L50: 651 04c4 E091 0000 lds r30,pBuff.2 652 04c8 F091 0000 lds r31,(pBuff.2)+1 653 04cc 8091 BB00 lds r24,187 654 04d0 8083 st Z,r24 655 04d2 8091 0000 lds r24,pBuff.2 656 04d6 9091 0000 lds r25,(pBuff.2)+1 657 04da 0196 adiw r24,1 658 04dc 9093 0000 sts (pBuff.2)+1,r25 659 04e0 8093 0000 sts pBuff.2,r24 660 04e4 8091 0000 lds r24,BuffLen.3 661 04e8 8150 subi r24,lo8(-(-1)) 662 04ea 8093 0000 sts BuffLen.3,r24 663 04ee 8230 cpi r24,lo8(2) 664 04f0 00F0 brlo .L51 665 04f2 85EC ldi r24,lo8(-59) 666 04f4 00C0 rjmp .L79 667 .L51: 668 04f6 8130 cpi r24,lo8(1) 669 04f8 01F4 brne .L53 670 04fa 85E8 ldi r24,lo8(-123) 671 04fc 00C0 rjmp .L79 672 .L53: 673 04fe 8091 0000 lds r24,BLFlags 674 0502 81FF sbrs r24,1 675 0504 00C0 rjmp .L55 676 0506 8091 0000 lds r24,FC_StatusFlags 677 050a 80FD sbrc r24,0 678 050c 00C0 rjmp .L56 679 050e 8091 0000 lds r24,motor_read 680 0512 E82F mov r30,r24 681 0514 FF27 clr r31 682 0516 23E0 ldi r18,3 683 0518 EE0F 1: lsl r30 684 051a FF1F rol r31 685 051c 2A95 dec r18 686 051e 01F4 brne 1b 687 0520 E050 subi r30,lo8(-(Motor)) 688 0522 F040 sbci r31,hi8(-(Motor)) 689 0524 8681 ldd r24,Z+6 690 0526 8A3F cpi r24,lo8(-6) 691 0528 01F4 brne .L56 692 052a 8091 0000 lds r24,motor_read 693 052e E82F mov r30,r24 694 0530 FF27 clr r31 695 0532 93E0 ldi r25,3 696 0534 EE0F 1: lsl r30 697 0536 FF1F rol r31 698 0538 9A95 dec r25 699 053a 01F4 brne 1b 700 053c E050 subi r30,lo8(-(Motor)) 701 053e F040 sbci r31,hi8(-(Motor)) 702 0540 8081 ld r24,Z 703 0542 8160 ori r24,lo8(1) 704 0544 8083 st Z,r24 705 0546 00C0 rjmp .L55 706 .L56: 707 0548 8091 0000 lds r24,motor_read 708 054c E82F mov r30,r24 709 054e FF27 clr r31 710 0550 83E0 ldi r24,3 711 0552 EE0F 1: lsl r30 712 0554 FF1F rol r31 713 0556 8A95 dec r24 714 0558 01F4 brne 1b 715 055a E050 subi r30,lo8(-(Motor)) 716 055c F040 sbci r31,hi8(-(Motor)) 717 055e 1082 st Z,__zero_reg__ 718 .L55: 719 0560 8091 0000 lds r24,motor_read 720 0564 8F5F subi r24,lo8(-(1)) 721 0566 8093 0000 sts motor_read,r24 722 056a 8091 0000 lds r24,motor_read 723 056e 8C30 cpi r24,lo8(12) 724 0570 00F0 brlo .L58 725 0572 1092 0000 sts motor_read,__zero_reg__ 726 0576 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ 727 057a 1092 0000 sts BLConfig_ReadMask,__zero_reg__ 728 057e 8091 0000 lds r24,motor_read_temperature.1 729 0582 8F5F subi r24,lo8(-(1)) 730 0584 8093 0000 sts motor_read_temperature.1,r24 731 0588 8C30 cpi r24,lo8(12) 732 058a 00F0 brlo .L58 733 058c 1092 0000 sts motor_read_temperature.1,__zero_reg__ 734 0590 8091 0000 lds r24,BLFlags 735 0594 8D7F andi r24,lo8(-3) 736 0596 8093 0000 sts BLFlags,r24 737 .L58: 738 059a 1092 0000 sts twi_state,__zero_reg__ 739 059e 84E9 ldi r24,lo8(-108) 740 05a0 8093 BC00 sts 188,r24 741 05a4 8091 0000 lds r24,BLFlags 742 05a8 8160 ori r24,lo8(1) 743 05aa 8093 0000 sts BLFlags,r24 744 05ae 00C0 rjmp .L81 745 .L79: 746 05b0 8093 BC00 sts 188,r24 747 05b4 86E0 ldi r24,lo8(6) 748 .L82: 749 05b6 8093 0000 sts twi_state,r24 750 05ba 00C0 rjmp .L9 751 .L60: 752 05bc 88E9 ldi r24,lo8(-104) 753 05be 00C0 rjmp .L84 754 .L61: 755 05c0 8091 0000 lds r24,dac_channel 756 05c4 880F lsl r24 757 05c6 805F subi r24,lo8(-(16)) 758 05c8 00C0 rjmp .L84 759 .L62: 760 05ca 8091 0000 lds r24,dac_channel 761 05ce 9927 clr r25 762 05d0 8130 cpi r24,1 763 05d2 9105 cpc r25,__zero_reg__ 764 05d4 01F0 breq .L65 765 05d6 8230 cpi r24,2 766 05d8 9105 cpc r25,__zero_reg__ 767 05da 04F4 brge .L67 768 05dc 892B or r24,r25 769 05de 01F0 breq .L64 770 05e0 00C0 rjmp .L9 771 .L67: 772 05e2 0297 sbiw r24,2 773 05e4 01F0 breq .L66 774 05e6 00C0 rjmp .L9 775 .L64: 776 05e8 8091 0000 lds r24,AnalogOffsetNick 777 05ec 00C0 rjmp .L84 778 .L65: 779 05ee 8091 0000 lds r24,AnalogOffsetRoll 780 05f2 00C0 rjmp .L84 781 .L66: 782 05f4 8091 0000 lds r24,AnalogOffsetGier 783 05f8 00C0 rjmp .L84 784 .L68: 785 05fa 80E8 ldi r24,lo8(-128) 786 05fc 00C0 rjmp .L84 787 .L69: 788 05fe 1092 0000 sts twi_state,__zero_reg__ 789 0602 84E9 ldi r24,lo8(-108) 790 0604 8093 BC00 sts 188,r24 791 0608 1092 0000 sts I2C_TransferActive,__zero_reg__ 792 060c 8AE0 ldi r24,lo8(10) 793 060e 90E0 ldi r25,hi8(10) 794 0610 9093 0000 sts (I2CTimeout)+1,r25 795 0614 8093 0000 sts I2CTimeout,r24 796 0618 8091 0000 lds r24,dac_channel 797 061c 8230 cpi r24,lo8(2) 798 061e 00F4 brsh .L70 799 0620 8091 0000 lds r24,dac_channel 800 0624 8F5F subi r24,lo8(-(1)) 801 0626 8093 0000 sts dac_channel,r24 802 062a 82E1 ldi r24,lo8(18) 803 062c 8093 0000 sts twi_state,r24 804 .L85: 805 0630 8091 0000 lds r24,BLFlags 806 0634 8E7F andi r24,lo8(-2) 807 0636 8093 0000 sts BLFlags,r24 808 063a 85EA ldi r24,lo8(-91) 809 .L80: 810 063c 8093 BC00 sts 188,r24 811 0640 00C0 rjmp .L9 812 .L70: 813 0642 1092 0000 sts dac_channel,__zero_reg__ 814 0646 8091 0000 lds r24,BLFlags 815 064a 8160 ori r24,lo8(1) 816 064c 8093 0000 sts BLFlags,r24 817 0650 00C0 rjmp .L9 818 .L72: 819 0652 1092 0000 sts twi_state,__zero_reg__ 820 0656 84E9 ldi r24,lo8(-108) 821 0658 8093 BC00 sts 188,r24 822 065c 8091 0000 lds r24,BLFlags 823 0660 8160 ori r24,lo8(1) 824 0662 8093 0000 sts BLFlags,r24 825 0666 8AE0 ldi r24,lo8(10) 826 0668 90E0 ldi r25,hi8(10) 827 066a 9093 0000 sts (I2CTimeout)+1,r25 828 066e 8093 0000 sts I2CTimeout,r24 829 0672 1092 0000 sts motor_write,__zero_reg__ 830 0676 1092 0000 sts motor_read,__zero_reg__ 831 .L81: 832 067a 1092 0000 sts I2C_TransferActive,__zero_reg__ 833 .L9: 834 /* epilogue: frame size=0 */ 835 067e FF91 pop r31 836 0680 EF91 pop r30 837 0682 9F91 pop r25 838 0684 8F91 pop r24 839 0686 5F91 pop r21 840 0688 4F91 pop r20 841 068a 3F91 pop r19 842 068c 2F91 pop r18 843 068e 0F90 pop __tmp_reg__ 844 0690 0FBE out __SREG__,__tmp_reg__ 845 0692 0F90 pop __tmp_reg__ 846 0694 1F90 pop __zero_reg__ 847 0696 1895 reti 848 /* epilogue end (size=13) */ 849 /* function __vector_26 size 796 (770) */ 851 .global I2C_WriteBLConfig 853 I2C_WriteBLConfig: 854 /* prologue: frame size=0 */ 855 0698 1F93 push r17 856 069a CF93 push r28 857 069c DF93 push r29 858 /* prologue end (size=3) */ 859 069e 182F mov r17,r24 860 06a0 8091 0000 lds r24,MotorenEin 861 06a4 8823 tst r24 862 06a6 01F4 brne .L88 863 06a8 8091 0000 lds r24,PC_MotortestActive 864 06ac 8823 tst r24 865 06ae 01F0 breq .L87 866 .L88: 867 06b0 81E0 ldi r24,lo8(1) 868 06b2 90E0 ldi r25,hi8(1) 869 06b4 00C0 rjmp .L86 870 .L87: 871 06b6 1D30 cpi r17,lo8(13) 872 06b8 00F0 brlo .+2 873 06ba 00C0 rjmp .L115 874 06bc 1123 tst r17 875 06be 01F0 breq .L90 876 06c0 E12F mov r30,r17 877 06c2 FF27 clr r31 878 06c4 23E0 ldi r18,3 879 06c6 EE0F 1: lsl r30 880 06c8 FF1F rol r31 881 06ca 2A95 dec r18 882 06cc 01F4 brne 1b 883 06ce E050 subi r30,lo8(-(Motor)) 884 06d0 F040 sbci r31,hi8(-(Motor)) 885 06d2 3597 sbiw r30,5 886 06d4 8081 ld r24,Z 887 06d6 3596 adiw r30,5 888 06d8 8823 tst r24 889 06da 04F0 brlt .+2 890 06dc 00C0 rjmp .L115 891 06de 3897 sbiw r30,8 892 06e0 8081 ld r24,Z 893 06e2 80FD sbrc r24,0 894 06e4 00C0 rjmp .L90 895 06e6 83E0 ldi r24,lo8(3) 896 06e8 90E0 ldi r25,hi8(3) 897 06ea 00C0 rjmp .L86 898 .L90: 899 06ec 8091 0000 lds r24,BLConfig 900 06f0 8230 cpi r24,lo8(2) 901 06f2 01F0 breq .L93 902 06f4 84E0 ldi r24,lo8(4) 903 06f6 90E0 ldi r25,hi8(4) 904 06f8 00C0 rjmp .L86 905 .L93: 906 06fa 67E0 ldi r22,lo8(7) 907 06fc 70E0 ldi r23,hi8(7) 908 06fe 80E0 ldi r24,lo8(BLConfig) 909 0700 90E0 ldi r25,hi8(BLConfig) 910 0702 0E94 0000 call RAM_Checksum 911 0706 9091 0000 lds r25,BLConfig+7 912 070a 8917 cp r24,r25 913 070c 01F0 breq .L94 914 070e 85E0 ldi r24,lo8(5) 915 0710 90E0 ldi r25,hi8(5) 916 0712 00C0 rjmp .L86 917 .L94: 918 0714 80ED ldi r24,lo8(2000) 919 0716 97E0 ldi r25,hi8(2000) 920 0718 0E94 0000 call SetDelay 921 071c EC01 movw r28,r24 922 .L95: 923 071e 8091 0000 lds r24,BLFlags 924 0722 80FD sbrc r24,0 925 0724 00C0 rjmp .L96 926 0726 CE01 movw r24,r28 927 0728 0E94 0000 call CheckDelay 928 072c 8823 tst r24 929 072e 01F0 breq .L95 930 .L96: 931 0730 1123 tst r17 932 0732 01F4 brne .L98 933 0734 8FEF ldi r24,lo8(255) 934 0736 90E0 ldi r25,hi8(255) 935 0738 00C0 rjmp .L114 936 .L98: 937 073a 212F mov r18,r17 938 073c 3327 clr r19 939 073e 2150 subi r18,lo8(-(-1)) 940 0740 3040 sbci r19,hi8(-(-1)) 941 0742 81E0 ldi r24,lo8(1) 942 0744 90E0 ldi r25,hi8(1) 943 0746 00C0 rjmp 2f 944 0748 880F 1: lsl r24 945 074a 991F rol r25 946 074c 2A95 2: dec r18 947 074e 02F4 brpl 1b 948 .L114: 949 0750 9093 0000 sts (BLConfig_WriteMask)+1,r25 950 0754 8093 0000 sts BLConfig_WriteMask,r24 951 0758 A1E0 ldi r26,lo8(1) 952 075a B0E0 ldi r27,hi8(1) 953 075c E0E0 ldi r30,lo8(Motor) 954 075e F0E0 ldi r31,hi8(Motor) 955 0760 40E0 ldi r20,lo8(0) 956 0762 50E0 ldi r21,hi8(0) 957 0764 6BE0 ldi r22,lo8(11) 958 .L104: 959 0766 CD01 movw r24,r26 960 0768 042E mov r0,r20 961 076a 00C0 rjmp 2f 962 076c 880F 1: lsl r24 963 076e 991F rol r25 964 0770 0A94 2: dec r0 965 0772 02F4 brpl 1b 966 0774 2091 0000 lds r18,BLConfig_WriteMask 967 0778 3091 0000 lds r19,(BLConfig_WriteMask)+1 968 077c 8223 and r24,r18 969 077e 9323 and r25,r19 970 0780 892B or r24,r25 971 0782 01F0 breq .L102 972 0784 1182 std Z+1,__zero_reg__ 973 0786 1282 std Z+2,__zero_reg__ 974 .L102: 975 0788 6150 subi r22,lo8(-(-1)) 976 078a 4F5F subi r20,lo8(-(1)) 977 078c 5F4F sbci r21,hi8(-(1)) 978 078e 3896 adiw r30,8 979 0790 67FF sbrs r22,7 980 0792 00C0 rjmp .L104 981 0794 1092 0000 sts motor_write,__zero_reg__ 982 .L105: 983 0798 1092 0000 sts twi_state,__zero_reg__ 984 079c 8091 0000 lds r24,BLFlags 985 07a0 8E7F andi r24,lo8(-2) 986 07a2 8093 0000 sts BLFlags,r24 987 07a6 85EA ldi r24,lo8(-91) 988 07a8 8093 BC00 sts 188,r24 989 .L108: 990 07ac 8091 0000 lds r24,BLFlags 991 07b0 80FD sbrc r24,0 992 07b2 00C0 rjmp .L109 993 07b4 CE01 movw r24,r28 994 07b6 0E94 0000 call CheckDelay 995 07ba 8823 tst r24 996 07bc 01F0 breq .L108 997 .L109: 998 07be 8091 0000 lds r24,BLConfig_WriteMask 999 07c2 9091 0000 lds r25,(BLConfig_WriteMask)+1 1000 07c6 892B or r24,r25 1001 07c8 01F0 breq .L106 1002 07ca CE01 movw r24,r28 1003 07cc 0E94 0000 call CheckDelay 1004 07d0 8823 tst r24 1005 07d2 01F0 breq .L105 1006 .L106: 1007 07d4 8091 0000 lds r24,BLConfig_WriteMask 1008 07d8 9091 0000 lds r25,(BLConfig_WriteMask)+1 1009 07dc 0097 sbiw r24,0 1010 07de 01F0 breq .L86 1011 .L115: 1012 07e0 82E0 ldi r24,lo8(2) 1013 07e2 90E0 ldi r25,hi8(2) 1014 .L86: 1015 /* epilogue: frame size=0 */ 1016 07e4 DF91 pop r29 1017 07e6 CF91 pop r28 1018 07e8 1F91 pop r17 1019 07ea 0895 ret 1020 /* epilogue end (size=4) */ 1021 /* function I2C_WriteBLConfig size 172 (165) */ 1023 .global I2C_ReadBLConfig 1025 I2C_ReadBLConfig: 1026 /* prologue: frame size=0 */ 1027 07ec 0F93 push r16 1028 07ee 1F93 push r17 1029 07f0 CF93 push r28 1030 07f2 DF93 push r29 1031 /* prologue end (size=4) */ 1032 07f4 982F mov r25,r24 1033 07f6 8091 0000 lds r24,MotorenEin 1034 07fa 8823 tst r24 1035 07fc 01F4 brne .L118 1036 07fe 8091 0000 lds r24,PC_MotortestActive 1037 0802 8823 tst r24 1038 0804 01F0 breq .L117 1039 .L118: 1040 0806 81E0 ldi r24,lo8(1) 1041 0808 90E0 ldi r25,hi8(1) 1042 080a 00C0 rjmp .L116 1043 .L117: 1044 080c 9D30 cpi r25,lo8(13) 1045 080e 00F4 brsh .L141 1046 0810 9923 tst r25 1047 0812 01F4 brne .L120 1048 0814 86E0 ldi r24,lo8(6) 1049 0816 90E0 ldi r25,hi8(6) 1050 0818 00C0 rjmp .L116 1051 .L120: 1052 081a C92F mov r28,r25 1053 081c DD27 clr r29 1054 081e FE01 movw r30,r28 1055 0820 33E0 ldi r19,3 1056 0822 EE0F 1: lsl r30 1057 0824 FF1F rol r31 1058 0826 3A95 dec r19 1059 0828 01F4 brne 1b 1060 082a E050 subi r30,lo8(-(Motor)) 1061 082c F040 sbci r31,hi8(-(Motor)) 1062 082e 3597 sbiw r30,5 1063 0830 8081 ld r24,Z 1064 0832 3596 adiw r30,5 1065 0834 87FD sbrc r24,7 1066 0836 00C0 rjmp .L121 1067 .L141: 1068 0838 82E0 ldi r24,lo8(2) 1069 083a 90E0 ldi r25,hi8(2) 1070 083c 00C0 rjmp .L116 1071 .L121: 1072 083e 3897 sbiw r30,8 1073 0840 8081 ld r24,Z 1074 0842 80FD sbrc r24,0 1075 0844 00C0 rjmp .L122 1076 0846 83E0 ldi r24,lo8(3) 1077 0848 90E0 ldi r25,hi8(3) 1078 084a 00C0 rjmp .L116 1079 .L122: 1080 084c 80ED ldi r24,lo8(2000) 1081 084e 97E0 ldi r25,hi8(2000) 1082 0850 0E94 0000 call SetDelay 1083 0854 8C01 movw r16,r24 1084 .L123: 1085 0856 8091 0000 lds r24,BLFlags 1086 085a 80FD sbrc r24,0 1087 085c 00C0 rjmp .L124 1088 085e C801 movw r24,r16 1089 0860 0E94 0000 call CheckDelay 1090 0864 8823 tst r24 1091 0866 01F0 breq .L123 1092 .L124: 1093 0868 2197 sbiw r28,1 1094 086a 21E0 ldi r18,lo8(1) 1095 086c 30E0 ldi r19,hi8(1) 1096 086e C901 movw r24,r18 1097 0870 00C0 rjmp 2f 1098 0872 880F 1: lsl r24 1099 0874 991F rol r25 1100 0876 CA95 2: dec r28 1101 0878 02F4 brpl 1b 1102 087a 9093 0000 sts (BLConfig_ReadMask)+1,r25 1103 087e 8093 0000 sts BLConfig_ReadMask,r24 1104 0882 D901 movw r26,r18 1105 0884 E0E0 ldi r30,lo8(Motor) 1106 0886 F0E0 ldi r31,hi8(Motor) 1107 0888 40E0 ldi r20,lo8(0) 1108 088a 50E0 ldi r21,hi8(0) 1109 088c 6BE0 ldi r22,lo8(11) 1110 .L130: 1111 088e CD01 movw r24,r26 1112 0890 042E mov r0,r20 1113 0892 00C0 rjmp 2f 1114 0894 880F 1: lsl r24 1115 0896 991F rol r25 1116 0898 0A94 2: dec r0 1117 089a 02F4 brpl 1b 1118 089c 2091 0000 lds r18,BLConfig_ReadMask 1119 08a0 3091 0000 lds r19,(BLConfig_ReadMask)+1 1120 08a4 8223 and r24,r18 1121 08a6 9323 and r25,r19 1122 08a8 892B or r24,r25 1123 08aa 01F0 breq .L128 1124 08ac 1182 std Z+1,__zero_reg__ 1125 08ae 1282 std Z+2,__zero_reg__ 1126 .L128: 1127 08b0 6150 subi r22,lo8(-(-1)) 1128 08b2 4F5F subi r20,lo8(-(1)) 1129 08b4 5F4F sbci r21,hi8(-(1)) 1130 08b6 3896 adiw r30,8 1131 08b8 67FF sbrs r22,7 1132 08ba 00C0 rjmp .L130 1133 08bc 1092 0000 sts motor_read,__zero_reg__ 1134 08c0 1092 0000 sts BLConfig,__zero_reg__ 1135 08c4 1092 0000 sts BLConfig+7,__zero_reg__ 1136 .L131: 1137 08c8 1092 0000 sts twi_state,__zero_reg__ 1138 08cc 8091 0000 lds r24,BLFlags 1139 08d0 8E7F andi r24,lo8(-2) 1140 08d2 8093 0000 sts BLFlags,r24 1141 08d6 85EA ldi r24,lo8(-91) 1142 08d8 8093 BC00 sts 188,r24 1143 .L134: 1144 08dc 8091 0000 lds r24,BLFlags 1145 08e0 80FD sbrc r24,0 1146 08e2 00C0 rjmp .L135 1147 08e4 C801 movw r24,r16 1148 08e6 0E94 0000 call CheckDelay 1149 08ea 8823 tst r24 1150 08ec 01F0 breq .L134 1151 .L135: 1152 08ee 8091 0000 lds r24,BLConfig_ReadMask 1153 08f2 9091 0000 lds r25,(BLConfig_ReadMask)+1 1154 08f6 892B or r24,r25 1155 08f8 01F0 breq .L132 1156 08fa C801 movw r24,r16 1157 08fc 0E94 0000 call CheckDelay 1158 0900 8823 tst r24 1159 0902 01F0 breq .L131 1160 .L132: 1161 0904 8091 0000 lds r24,BLConfig 1162 0908 8230 cpi r24,lo8(2) 1163 090a 01F0 breq .L137 1164 090c 84E0 ldi r24,lo8(4) 1165 090e 90E0 ldi r25,hi8(4) 1166 0910 00C0 rjmp .L116 1167 .L137: 1168 0912 67E0 ldi r22,lo8(7) 1169 0914 70E0 ldi r23,hi8(7) 1170 0916 80E0 ldi r24,lo8(BLConfig) 1171 0918 90E0 ldi r25,hi8(BLConfig) 1172 091a 0E94 0000 call RAM_Checksum 1173 091e 9091 0000 lds r25,BLConfig+7 1174 0922 8917 cp r24,r25 1175 0924 01F0 breq .L138 1176 0926 85E0 ldi r24,lo8(5) 1177 0928 90E0 ldi r25,hi8(5) 1178 092a 00C0 rjmp .L116 1179 .L138: 1180 092c 80E0 ldi r24,lo8(0) 1181 092e 90E0 ldi r25,hi8(0) 1182 .L116: 1183 /* epilogue: frame size=0 */ 1184 0930 DF91 pop r29 1185 0932 CF91 pop r28 1186 0934 1F91 pop r17 1187 0936 0F91 pop r16 1188 0938 0895 ret 1189 /* epilogue end (size=5) */ 1190 /* function I2C_ReadBLConfig size 168 (159) */ 1192 .comm Motor,96,1 1193 .comm BLConfig,8,1 1194 /* File "twimaster.c": code 1214 = 0x04be (1170), prologues 20, epilogues 24 */ DEFINED SYMBOLS *ABS*:00000000 twimaster.c C:\Temp/ccl9hPxm.s:3 *ABS*:0000003f __SREG__ C:\Temp/ccl9hPxm.s:4 *ABS*:0000003e __SP_H__ C:\Temp/ccl9hPxm.s:5 *ABS*:0000003d __SP_L__ C:\Temp/ccl9hPxm.s:6 *ABS*:00000000 __tmp_reg__ C:\Temp/ccl9hPxm.s:7 *ABS*:00000001 __zero_reg__ C:\Temp/ccl9hPxm.s:15 .bss:00000000 BLConfig_ReadMask C:\Temp/ccl9hPxm.s:21 .bss:00000002 BLConfig_WriteMask C:\Temp/ccl9hPxm.s:27 .bss:00000004 BLFlags C:\Temp/ccl9hPxm.s:33 .bss:00000005 MissingMotor C:\Temp/ccl9hPxm.s:39 .data:00000000 I2CTimeout C:\Temp/ccl9hPxm.s:46 .bss:00000006 I2C_TransferActive C:\Temp/ccl9hPxm.s:52 .bss:00000007 motor_read C:\Temp/ccl9hPxm.s:58 .bss:00000008 motor_write C:\Temp/ccl9hPxm.s:64 .bss:00000009 dac_channel C:\Temp/ccl9hPxm.s:70 .bss:0000000a twi_state C:\Temp/ccl9hPxm.s:75 .text:00000000 I2C_Init *COM*:00000060 Motor C:\Temp/ccl9hPxm.s:126 .text:00000054 I2C_Reset .bss:0000000b missing_motor.0 C:\Temp/ccl9hPxm.s:153 .bss:0000000c motor_read_temperature.1 C:\Temp/ccl9hPxm.s:154 .bss:0000000d pBuff.2 C:\Temp/ccl9hPxm.s:155 .bss:0000000f BuffLen.3 C:\Temp/ccl9hPxm.s:159 .text:00000098 __vector_26 *COM*:00000008 BLConfig C:\Temp/ccl9hPxm.s:853 .text:00000698 I2C_WriteBLConfig C:\Temp/ccl9hPxm.s:1025 .text:000007ec I2C_ReadBLConfig UNDEFINED SYMBOLS __do_copy_data __do_clear_bss __tablejump2__ Mixer RequiredMotors FC_StatusFlags AnalogOffsetNick AnalogOffsetRoll AnalogOffsetGier MotorenEin PC_MotortestActive RAM_Checksum SetDelay CheckDelay