📄 robbot.lst
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0427 840E LDD R0,Y+14
0428 2000 TST R0
0429 F411 BNE 0x042C
042A E08C LDI R24,0xC
042B BB88 OUT 0x18,R24
042C 24EE CLR R14
042D EF8F LDI R24,0xFF
042E E090 LDI R25,0
042F B2C6 IN R12,0x16
0430 24DD CLR R13
0431 26C8 EOR R12,R24
0432 26D9 EOR R13,R25
0433 2D8C MOV R24,R12
0434 7C80 ANDI R24,0xC0
0435 2EC8 MOV R12,R24
0436 94C6 LSR R12
0437 94C6 LSR R12
0438 94C6 LSR R12
0439 94C6 LSR R12
043A 94C6 LSR R12
043B 94C6 LSR R12
043C 2D8C MOV R24,R12
043D 3083 CPI R24,3
043E F4C1 BNE 0x0457
043F 3063 CPI R22,3
0440 F0B1 BEQ 0x0457
0441 9543 INC R20
0442 858A LDD R24,Y+10
0443 5081 SUBI R24,1
0444 1748 CP R20,R24
0445 F429 BNE 0x044B
0446 E188 LDI R24,0x18
0447 93900077 STS 0x77,R25
0449 93800076 STS 0x76,R24
044B 840A LDD R0,Y+10
044C 1540 CP R20,R0
044D F429 BNE 0x0453
044E 850C LDD R16,Y+12
044F DF8B RCALL _action
0450 3001 CPI R16,1
0451 F409 BNE 0x0453
0452 C05A RJMP 0x04AD
0453 E10E LDI R16,0x1E
0454 E010 LDI R17,0
0455 DC0F RCALL _DELAY
0456 24AA CLR R10
0457 20AA TST R10
0458 F409 BNE 0x045A
0459 C042 RJMP 0x049C
045A 2D8A MOV R24,R10
045B 3081 CPI R24,1
045C F4F1 BNE 0x047B
045D 2D8C MOV R24,R12
045E 3082 CPI R24,2
045F F4D9 BNE 0x047B
0460 FD61 SBRC R22,1
0461 C019 RJMP 0x047B
0462 9543 INC R20
0463 858A LDD R24,Y+10
0464 5081 SUBI R24,1
0465 1748 CP R20,R24
0466 F431 BNE 0x046D
0467 E188 LDI R24,0x18
0468 E090 LDI R25,0
0469 93900077 STS 0x77,R25
046B 93800076 STS 0x76,R24
046D 840A LDD R0,Y+10
046E 1540 CP R20,R0
046F F429 BNE 0x0475
0470 850C LDD R16,Y+12
0471 DF69 RCALL _action
0472 3001 CPI R16,1
0473 F409 BNE 0x0475
0474 C038 RJMP 0x04AD
0475 E10E LDI R16,0x1E
0476 E010 LDI R17,0
0477 DBED RCALL _DELAY
0478 24AA CLR R10
0479 24EE CLR R14
047A 94E3 INC R14
047B 2D8A MOV R24,R10
047C 3082 CPI R24,2
047D F4F1 BNE 0x049C
047E 2D8C MOV R24,R12
047F 3081 CPI R24,1
0480 F4D9 BNE 0x049C
0481 FD60 SBRC R22,0
0482 C019 RJMP 0x049C
0483 9543 INC R20
0484 858A LDD R24,Y+10
0485 5081 SUBI R24,1
0486 1748 CP R20,R24
0487 F431 BNE 0x048E
0488 E188 LDI R24,0x18
0489 E090 LDI R25,0
048A 93900077 STS 0x77,R25
048C 93800076 STS 0x76,R24
048E 840A LDD R0,Y+10
048F 1540 CP R20,R0
0490 F429 BNE 0x0496
0491 850C LDD R16,Y+12
0492 DF48 RCALL _action
0493 3001 CPI R16,1
0494 F409 BNE 0x0496
0495 C017 RJMP 0x04AD
0496 E10E LDI R16,0x1E
0497 E010 LDI R17,0
0498 DBCC RCALL _DELAY
0499 24AA CLR R10
049A 24EE CLR R14
049B 94E3 INC R14
049C 20EE TST R14
049D F471 BNE 0x04AC
049E 2D8C MOV R24,R12
049F 3081 CPI R24,1
04A0 F421 BNE 0x04A5
04A1 FD60 SBRC R22,0
04A2 C002 RJMP 0x04A5
04A3 24AA CLR R10
04A4 94A3 INC R10
04A5 2D8C MOV R24,R12
04A6 3082 CPI R24,2
04A7 F421 BNE 0x04AC
04A8 FD61 SBRC R22,1
04A9 C002 RJMP 0x04AC
04AA E082 LDI R24,2
04AB 2EA8 MOV R10,R24
04AC CF7F RJMP 0x042C
04AD D0B0 RCALL pop_gset5
04AE 9624 ADIW R28,4
04AF 9508 RET
_main:
movedirection --> R20
movesteps --> R22
04B0 9722 SBIW R28,2
04B1 2422 CLR R2
04B2 BA2A OUT 0x1A,R2
04B3 EF8F LDI R24,0xFF
04B4 BB87 OUT 0x17,R24
04B5 BB84 OUT 0x14,R24
04B6 BB81 OUT 0x11,R24
04B7 BB8B OUT 0x1B,R24
04B8 E088 LDI R24,0x8
04B9 BB88 OUT 0x18,R24
04BA EF8F LDI R24,0xFF
04BB BB85 OUT 0x15,R24
04BC E888 LDI R24,0x88
04BD BB82 OUT 0x12,R24
04BE EF0F LDI R16,0xFF
04BF E013 LDI R17,3
04C0 DB8E RCALL _SetOutputComReg1A
04C1 EF0F LDI R16,0xFF
04C2 E013 LDI R17,3
04C3 DB93 RCALL _SetOutputComReg1B
04C4 E081 LDI R24,1
04C5 E090 LDI R25,0
04C6 8399 STD Y+1,R25
04C7 8388 STD Y+0,R24
04C8 EF23 LDI R18,0xF3
04C9 E030 LDI R19,0
04CA E802 LDI R16,0x82
04CB E010 LDI R17,0
04CC DB77 RCALL _Timer1Init
04CD 2422 CLR R2
04CE BE22 OUT 0x32,R2
04CF E087 LDI R24,7
04D0 BF83 OUT 0x33,R24
04D1 E088 LDI R24,0x8
04D2 BD82 OUT 0x22,R24
04D3 E081 LDI R24,1
04D4 BD85 OUT 0x25,R24
04D5 9478 BSET 7
04D6 E78B LDI R24,0x7B
04D7 E090 LDI R25,0
04D8 91E00079 LDS R30,0x79
04DA 27FF CLR R31
04DB 0FE8 ADD R30,R24
04DC 1FF9 ADC R31,R25
04DD 8180 LDD R24,Z+0
04DE 7081 ANDI R24,1
04DF 3081 CPI R24,1
04E0 F009 BEQ 0x04E2
04E1 C045 RJMP 0x0527
04E2 E78B LDI R24,0x7B
04E3 E090 LDI R25,0
04E4 91E00079 LDS R30,0x79
04E6 27FF CLR R31
04E7 0FE8 ADD R30,R24
04E8 1FF9 ADC R31,R25
04E9 8180 LDD R24,Z+0
04EA 7082 ANDI R24,2
04EB 3082 CPI R24,2
04EC F4C9 BNE 0x0506
04ED E78B LDI R24,0x7B
04EE E090 LDI R25,0
04EF 91E00079 LDS R30,0x79
04F1 27FF CLR R31
04F2 0FE8 ADD R30,R24
04F3 1FF9 ADC R31,R25
04F4 8160 LDD R22,Z+0
04F5 7F60 ANDI R22,0xF0
04F6 9562 SWAP R22
04F7 706F ANDI R22,0xF
04F8 91E00079 LDS R30,0x79
04FA 27FF CLR R31
04FB 0FE8 ADD R30,R24
04FC 1FF9 ADC R31,R25
04FD 8140 LDD R20,Z+0
04FE 704C ANDI R20,0xC
04FF 9546 LSR R20
0500 9546 LSR R20
0501 2422 CLR R2
0502 8228 STD Y+0,R2
0503 2F24 MOV R18,R20
0504 2F06 MOV R16,R22
0505 DF10 RCALL _Forward
0506 E78B LDI R24,0x7B
0507 E090 LDI R25,0
0508 91E00079 LDS R30,0x79
050A 27FF CLR R31
050B 0FE8 ADD R30,R24
050C 1FF9 ADC R31,R25
050D 8020 LDD R2,Z+0
050E FC21 SBRC R2,1
050F C017 RJMP 0x0527
0510 91E00079 LDS R30,0x79
0512 27FF CLR R31
0513 0FE8 ADD R30,R24
0514 1FF9 ADC R31,R25
0515 8160 LDD R22,Z+0
0516 7F60 ANDI R22,0xF0
0517 9562 SWAP R22
0518 706F ANDI R22,0xF
0519 91E00079 LDS R30,0x79
051B 27FF CLR R31
051C 0FE8 ADD R30,R24
051D 1FF9 ADC R31,R25
051E 8140 LDD R20,Z+0
051F 704C ANDI R20,0xC
0520 9546 LSR R20
0521 9546 LSR R20
0522 E081 LDI R24,1
0523 8388 STD Y+0,R24
0524 2F24 MOV R18,R20
0525 2F06 MOV R16,R22
0526 DEEF RCALL _Forward
0527 91800079 LDS R24,0x79
0529 5F8F SUBI R24,0xFF
052A 93800079 STS 0x79,R24
052C 3086 CPI R24,6
052D F409 BNE 0x052F
052E C001 RJMP 0x0530
052F CFA6 RJMP 0x04D6
0530 9622 ADIW R28,2
0531 9508 RET
_TIM1_OVF:
light --> Y+1
0532 D06D RCALL push_lset
0533 94F8 BCLR 7
0534 91800074 LDS R24,0x74
0536 5F8F SUBI R24,0xFF
0537 93800074 STS 0x74,R24
0539 91800075 LDS R24,0x75
053B 5F8F SUBI R24,0xFF
053C 93800075 STS 0x75,R24
053E 91800074 LDS R24,0x74
0540 3288 CPI R24,0x28
0541 F429 BNE 0x0547
0542 2422 CLR R2
0543 92200074 STS 0x74,R2
0545 DB3F RCALL _PIDA
0546 DC37 RCALL _PIDB
0547 E684 LDI R24,0x64
0548 93800075 STS 0x75,R24
054A 2388 TST R24
054B F021 BEQ 0x0550
054C 2422 CLR R2
054D 92200075 STS 0x75,R2
054F DE4E RCALL _SearchLine
0550 9478 BSET 7
0551 D065 RCALL pop_lset
0552 9518 RETI
push_arg4:
0553 933A ST R19,-Y
0554 932A ST R18,-Y
push_arg2:
0555 931A ST R17,-Y
0556 930A ST R16,-Y
0557 9508 RET
pop_gset2:
0558 E0E2 LDI R30,2
0559 C00A RJMP pop
pop_gset3:
055A E0E4 LDI R30,4
055B C008 RJMP pop
pop_gset4:
055C E0E8 LDI R30,0x8
055D C006 RJMP pop
pop_gset5:
055E 27EE CLR R30
055F C004 RJMP pop
push_gset1:
0560 935A ST R21,-Y
0561 934A ST R20,-Y
0562 9508 RET
pop_gset1:
0563 E0E1 LDI R30,1
pop:
0564 9149 LD R20,Y+
0565 9159 LD R21,Y+
0566 FDE0 SBRC R30,0
0567 9508 RET
0568 9169 LD R22,Y+
0569 9179 LD R23,Y+
056A FDE1 SBRC R30,1
056B 9508 RET
056C 90A9 LD R10,Y+
056D 90B9 LD R11,Y+
056E FDE2 SBRC R30,2
056F 9508 RET
0570 90C9 LD R12,Y+
0571 90D9 LD R13,Y+
0572 FDE3 SBRC R30,3
0573 9508 RET
0574 90E9 LD R14,Y+
0575 90F9 LD R15,Y+
0576 9508 RET
push_gset2:
0577 937A ST R23,-Y
0578 936A ST R22,-Y
0579 CFE6 RJMP push_gset1
push_gset3:
057A 92BA ST R11,-Y
057B 92AA ST R10,-Y
057C CFFA RJMP push_gset2
push_gset4:
057D 92DA ST R13,-Y
057E 92CA ST R12,-Y
057F CFFA RJMP push_gset3
push_gset5:
0580 92FA ST R15,-Y
0581 92EA ST R14,-Y
0582 CFFA RJMP push_gset4
neg32:
0583 9500 COM R16
0584 9510 COM R17
0585 9520 COM R18
0586 9530 COM R19
0587 5F0F SUBI R16,0xFF
0588 4F1F SBCI R17,0xFF
0589 4F2F SBCI R18,0xFF
058A 4F3F SBCI R19,0xFF
058B 9508 RET
lpm32:
058C 93EA ST R30,-Y
058D 93FA ST R31,-Y
058E 920A ST R0,-Y
058F 2FE0 MOV R30,R16
0590 2FF1 MOV R31,R17
0591 95C8 LPM
0592 2D00 MOV R16,R0
0593 9631 ADIW R30,1
0594 95C8 LPM
0595 2D10 MOV R17,R0
0596 9631 ADIW R30,1
0597 95C8 LPM
0598 2D20 MOV R18,R0
0599 9631 ADIW R30,1
059A 95C8 LPM
059B 2D30 MOV R19,R0
059C 9009 LD R0,Y+
059D 91F9 LD R31,Y+
059E 91E9 LD R30,Y+
059F 9508 RET
push_lset:
05A0 93FA ST R31,-Y
05A1 93EA ST R30,-Y
05A2 93BA ST R27,-Y
05A3 93AA ST R26,-Y
05A4 939A ST R25,-Y
05A5 938A ST R24,-Y
05A6 933A ST R19,-Y
05A7 932A ST R18,-Y
05A8 931A ST R17,-Y
05A9 930A ST R16,-Y
05AA 929A ST R9,-Y
05AB 928A ST R8,-Y
05AC 927A ST R7,-Y
05AD 926A ST R6,-Y
05AE 925A ST R5,-Y
05AF 924A ST R4,-Y
05B0 923A ST R3,-Y
05B1 922A ST R2,-Y
05B2 921A ST R1,-Y
05B3 920A ST R0,-Y
05B4 B60F IN R0,0x3F
05B5 920A ST R0,-Y
05B6 9508 RET
pop_lset:
05B7 9009 LD R0,Y+
05B8 BE0F OUT 0x3F,R0
05B9 9009 LD R0,Y+
05BA 9019 LD R1,Y+
05BB 9029 LD R2,Y+
05BC 9039 LD R3,Y+
05BD 9049 LD R4,Y+
05BE 9059 LD R5,Y+
05BF 9069 LD R6,Y+
05C0 9079 LD R7,Y+
05C1 9089 LD R8,Y+
05C2 9099 LD R9,Y+
05C3 9109 LD R16,Y+
05C4 9119 LD R17,Y+
05C5 9129 LD R18,Y+
05C6 9139 LD R19,Y+
05C7 9189 LD R24,Y+
05C8 9199 LD R25,Y+
05C9 91A9 LD R26,Y+
05CA 91B9 LD R27,Y+
05CB 91E9 LD R30,Y+
05CC 91F9 LD R31,Y+
05CD 9508 RET
fp2int:
05CE D19C RCALL savfacc1
05CF D00F RCALL FTOI
05D0 2F02 MOV R16,R18
05D1 2F13 MOV R17,R19
05D2 FD87 SBRC R24,7
05D3 C001 RJMP nojump1
05D4 C199 RJMP restorefacc1
nojump1:
05D5 9510 COM R17
05D6 9501 NEG R16
05D7 4F1F SBCI R17,0xFF
05D8 C195 RJMP restorefacc1
fp2long:
05D9 D191 RCALL savfacc1
05DA D006 RCALL FTOL
05DB FF87 SBRS R24,7
05DC C001 RJMP nojump2
05DD DFA5 RCALL neg32
nojump2:
05DE C18F RJMP restorefacc1
FTOI:
05DF E0BE LDI R27,0xE
05E0 C001 RJMP 0x05E2
FTOL:
05E1 E1BE LDI R27,0x1E
05E2 D18E RCALL unpackfacc1
05E3 F059 BEQ 0x05EF
05E4 1BB3 SUB R27,R19
05E5 F009 BEQ 0x05E7
05E6 F45A BPL 0x05F2
05E7 2388 TST R24
05E8 F01A BMI 0x05EC
05E9 E010 LDI R17,0
05EA E10C LDI R16,0x1C
05EB CFA0 RJMP lpm32
05EC E010 LDI R17,0
05ED E202 LDI R16,0x22
05EE CF9D RJMP lpm32
05EF E010 LDI R17,0
05F0 E200 LDI R16,0x20
05F1 CF9A RJMP lpm32
05F2 9533 INC R19
05F3 F3DA BMI 0x05EF
05F4 E030 LDI R19,0
05F5 50B8 SUBI R27,0x8
05F6 F452 BPL 0x0601
05F7 5FB8 SUBI R27,0xF8
05F8 2F32 MOV R19,R18
05F9 2F21 MOV R18,R17
05FA 2F10 MOV R17,R16
05FB E800 LDI R16,0x80
05FC C006 RJMP 0x0603
05FD 2F01 MOV R16,R17
05FE 2F12 MOV R17,R18
05FF E020 LDI R18,0
0600 50B8 SUBI R27,0x8
0601 30B8 CPI R27,0x8
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