📄 multistep.lst
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175D 0EC0 ADD R12,R16
175E 1ED1 ADC R13,R17
(0088) do{temp=TCNT1;
175F B56C IN R22,0x2C
1760 B57D IN R23,0x2D
(0089) if(temp>temp1)PORTC&=~(1<<(j-1));
1761 16C6 CP R12,R22
1762 06D7 CPC R13,R23
1763 F478 BCC 0x1773
1764 0197 MOVW R18,R14
1765 5021 SUBI R18,1
1766 4030 SBCI R19,0
1767 E001 LDI R16,1
1768 E010 LDI R17,0
1769 940E20F3 CALL lsl16
176B 0118 MOVW R2,R16
176C 9420 COM R2
176D 9430 COM R3
176E B245 IN R4,0x15
176F 2455 CLR R5
1770 2042 AND R4,R2
1771 2053 AND R5,R3
1772 BA45 OUT 0x15,R4
(0090) if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);
1773 16A6 CP R10,R22
1774 06B7 CPC R11,R23
1775 F478 BCC 0x1785
1776 0197 MOVW R18,R14
1777 5021 SUBI R18,1
1778 4030 SBCI R19,0
1779 E001 LDI R16,1
177A E010 LDI R17,0
177B 940E20F3 CALL lsl16
177D 0118 MOVW R2,R16
177E 9420 COM R2
177F 9430 COM R3
1780 B24B IN R4,0x1B
1781 2455 CLR R5
1782 2042 AND R4,R2
1783 2053 AND R5,R3
1784 BA4B OUT 0x1B,R4
1785 EA06 LDI R16,0xA6
1786 E01E LDI R17,0xE
1787 0197 MOVW R18,R14
1788 940E20B9 CALL empy16s
178A 1760 CP R22,R16
178B 0771 CPC R23,R17
178C F290 BCS 0x175F
178D 01C7 MOVW R24,R14
178E 9601 ADIW R24,1
178F 017C MOVW R14,R24
1790 01C7 MOVW R24,R14
1791 3089 CPI R24,0x9
1792 E0E0 LDI R30,0
1793 079E CPC R25,R30
1794 F408 BCC 0x1796
1795 CF57 RJMP 0x16ED
(0091) }
(0092) TCNT1=0x00;
1796 2422 CLR R2
1797 2433 CLR R3
1798 BC3D OUT 0x2D,R3
1799 BC2C OUT 0x2C,R2
179A 5041 SUBI R20,1
179B 4050 SBCI R21,0
179C 3040 CPI R20,0
179D 0745 CPC R20,R21
179E F009 BEQ 0x17A0
179F CF45 RJMP 0x16E5
17A0 01C3 MOVW R24,R6
17A1 9601 ADIW R24,1
17A2 013C MOVW R6,R24
17A3 90200108 LDS R2,0x108
17A5 90300109 LDS R3,0x109
17A7 1462 CP R6,R2
17A8 0473 CPC R7,R3
17A9 F408 BCC 0x17AB
17AA CF2D RJMP 0x16D8
(0093) }
(0094) do{
(0095) for(i=cycle_start1;i<totalstep1;i++)
17AB 90600108 LDS R6,0x108
17AD 90700109 LDS R7,0x109
17AF C0CB RJMP 0x187B
(0096) for(t=angle1[i][0];t>0;t--)
17B0 E10A LDI R16,0x1A
17B1 E010 LDI R17,0
17B2 0193 MOVW R18,R6
17B3 940E20B9 CALL empy16s
17B5 01F8 MOVW R30,R16
17B6 E88C LDI R24,0x8C
17B7 E090 LDI R25,0
17B8 0FE8 ADD R30,R24
17B9 1FF9 ADC R31,R25
17BA 9145 LPM R20,Z+
17BB 9154 LPM R21,0(Z)
17BC C0B7 RJMP 0x1874
(0097) {TCNT1=0x00;
17BD 2422 CLR R2
17BE 2433 CLR R3
17BF BC3D OUT 0x2D,R3
17C0 BC2C OUT 0x2C,R2
(0098) for(j=1;j<9;j++)
17C1 E081 LDI R24,1
17C2 E090 LDI R25,0
17C3 017C MOVW R14,R24
17C4 C0A3 RJMP 0x1868
(0099) { if(j<5)
17C5 01C7 MOVW R24,R14
17C6 3085 CPI R24,5
17C7 E0E0 LDI R30,0
17C8 079E CPC R25,R30
17C9 F008 BCS 0x17CB
17CA C037 RJMP 0x1802
(0100) {PORTA|=(1<<(j-1));
17CB 019C MOVW R18,R24
17CC 5021 SUBI R18,1
17CD 4030 SBCI R19,0
17CE E001 LDI R16,1
17CF E010 LDI R17,0
17D0 940E20F3 CALL lsl16
17D2 B22B IN R2,0x1B
17D3 2433 CLR R3
17D4 2A20 OR R2,R16
17D5 2A31 OR R3,R17
17D6 BA2B OUT 0x1B,R2
(0101) temp2=(50*angle1[i][j+8]/3+750)+(j-1)*3750;}
17D7 E10A LDI R16,0x1A
17D8 E010 LDI R17,0
17D9 0193 MOVW R18,R6
17DA 940E20B9 CALL empy16s
17DC 0118 MOVW R2,R16
17DD E88C LDI R24,0x8C
17DE E090 LDI R25,0
17DF 0E28 ADD R2,R24
17E0 1E39 ADC R3,R25
17E1 0197 MOVW R18,R14
17E2 5F28 SUBI R18,0xF8
17E3 4F3F SBCI R19,0xFF
17E4 E002 LDI R16,2
17E5 E010 LDI R17,0
17E6 940E20B9 CALL empy16s
17E8 01F8 MOVW R30,R16
17E9 0DE2 ADD R30,R2
17EA 1DF3 ADC R31,R3
17EB 9125 LPM R18,Z+
17EC 9134 LPM R19,0(Z)
17ED E302 LDI R16,0x32
17EE E010 LDI R17,0
17EF 940E20B9 CALL empy16s
17F1 E023 LDI R18,3
17F2 E030 LDI R19,0
17F3 940E209F CALL div16u
17F5 01C8 MOVW R24,R16
17F6 5182 SUBI R24,0x12
17F7 4F9D SBCI R25,0xFD
17F8 0197 MOVW R18,R14
17F9 5021 SUBI R18,1
17FA 4030 SBCI R19,0
17FB EA06 LDI R16,0xA6
17FC E01E LDI R17,0xE
17FD 940E20B9 CALL empy16s
17FF 015C MOVW R10,R24
1800 0EA0 ADD R10,R16
1801 1EB1 ADC R11,R17
(0102) PORTC|=(1<<(j-1));
1802 0197 MOVW R18,R14
1803 5021 SUBI R18,1
1804 4030 SBCI R19,0
1805 E001 LDI R16,1
1806 E010 LDI R17,0
1807 940E20F3 CALL lsl16
1809 B225 IN R2,0x15
180A 2433 CLR R3
180B 2A20 OR R2,R16
180C 2A31 OR R3,R17
180D BA25 OUT 0x15,R2
(0103) temp1=(50*angle1[i][j]/3+750)+(j-1)*3750;
180E E10A LDI R16,0x1A
180F E010 LDI R17,0
1810 0193 MOVW R18,R6
1811 940E20B9 CALL empy16s
1813 0118 MOVW R2,R16
1814 E88C LDI R24,0x8C
1815 E090 LDI R25,0
1816 0E28 ADD R2,R24
1817 1E39 ADC R3,R25
1818 E002 LDI R16,2
1819 E010 LDI R17,0
181A 0197 MOVW R18,R14
181B 940E20B9 CALL empy16s
181D 01F8 MOVW R30,R16
181E 0DE2 ADD R30,R2
181F 1DF3 ADC R31,R3
1820 9125 LPM R18,Z+
1821 9134 LPM R19,0(Z)
1822 E302 LDI R16,0x32
1823 E010 LDI R17,0
1824 940E20B9 CALL empy16s
1826 E023 LDI R18,3
1827 E030 LDI R19,0
1828 940E209F CALL div16u
182A 01C8 MOVW R24,R16
182B 5182 SUBI R24,0x12
182C 4F9D SBCI R25,0xFD
182D 0197 MOVW R18,R14
182E 5021 SUBI R18,1
182F 4030 SBCI R19,0
1830 EA06 LDI R16,0xA6
1831 E01E LDI R17,0xE
1832 940E20B9 CALL empy16s
1834 016C MOVW R12,R24
1835 0EC0 ADD R12,R16
1836 1ED1 ADC R13,R17
(0104) do{ temp=TCNT1;
1837 B56C IN R22,0x2C
1838 B57D IN R23,0x2D
(0105) if(temp>temp1)PORTC&=~(1<<(j-1));
1839 16C6 CP R12,R22
183A 06D7 CPC R13,R23
183B F478 BCC 0x184B
183C 0197 MOVW R18,R14
183D 5021 SUBI R18,1
183E 4030 SBCI R19,0
183F E001 LDI R16,1
1840 E010 LDI R17,0
1841 940E20F3 CALL lsl16
1843 0118 MOVW R2,R16
1844 9420 COM R2
1845 9430 COM R3
1846 B245 IN R4,0x15
1847 2455 CLR R5
1848 2042 AND R4,R2
1849 2053 AND R5,R3
184A BA45 OUT 0x15,R4
(0106) if(temp>temp2)PORTA&=~(1<<(j-1));
184B 16A6 CP R10,R22
184C 06B7 CPC R11,R23
184D F478 BCC 0x185D
184E 0197 MOVW R18,R14
184F 5021 SUBI R18,1
1850 4030 SBCI R19,0
1851 E001 LDI R16,1
1852 E010 LDI R17,0
1853 940E20F3 CALL lsl16
1855 0118 MOVW R2,R16
1856 9420 COM R2
1857 9430 COM R3
1858 B24B IN R4,0x1B
1859 2455 CLR R5
185A 2042 AND R4,R2
185B 2053 AND R5,R3
185C BA4B OUT 0x1B,R4
(0107) } while(temp<j*3750);
185D EA06 LDI R16,0xA6
185E E01E LDI R17,0xE
185F 0197 MOVW R18,R14
1860 940E20B9 CALL empy16s
1862 1760 CP R22,R16
1863 0771 CPC R23,R17
1864 F290 BCS 0x1837
1865 01C7 MOVW R24,R14
1866 9601 ADIW R24,1
1867 017C MOVW R14,R24
1868 01C7 MOVW R24,R14
1869 3089 CPI R24,0x9
186A E0E0 LDI R30,0
186B 079E CPC R25,R30
186C F408 BCC 0x186E
186D CF57 RJMP 0x17C5
(0108) }
(0109) TCNT1=0x00;
186E 2422 CLR R2
186F 2433 CLR R3
1870 BC3D OUT 0x2D,R3
1871 BC2C OUT 0x2C,R2
1872 5041 SUBI R20,1
1873 4050 SBCI R21,0
1874 3040 CPI R20,0
1875 0745 CPC R20,R21
1876 F009 BEQ 0x1878
1877 CF45 RJMP 0x17BD
1878 01C3 MOVW R24,R6
1879 9601 ADIW R24,1
187A 013C MOVW R6,R24
187B 90200110 LDS R2,0x110
187D 90300111 LDS R3,0x111
187F 1462 CP R6,R2
1880 0473 CPC R7,R3
1881 F408 BCC 0x1883
1882 CF2D RJMP 0x17B0
(0110) }
(0111) N1--;
1883 91800100 LDS R24,0x100
1885 91900101 LDS R25,0x101
1887 9701 SBIW R24,1
1888 93900101 STS 0x101,R25
188A 93800100 STS 0x100,R24
(0112) } while(N1);
188C 90200100 LDS R2,0x100
188E 90300101 LDS R3,0x101
1890 2022 TST R2
1891 F009 BEQ 0x1893
1892 CF18 RJMP 0x17AB
1893 2033 TST R3
1894 F009 BEQ 0x1896
1895 CF15 RJMP 0x17AB
(0113)
(0114) for(i=0;i<4;i++)
1896 2466 CLR R6
1897 2477 CLR R7
1898 C0CB RJMP 0x1964
(0115) for(t=angle1_2[i][0];t>0;t--)
1899 E10A LDI R16,0x1A
189A E010 LDI R17,0
189B 0193 MOVW R18,R6
189C 940E20B9 CALL empy16s
189E 01F8 MOVW R30,R16
189F E58C LDI R24,0x5C
18A0 E298 LDI R25,0x28
18A1 0FE8 ADD R30,R24
18A2 1FF9 ADC R31,R25
18A3 9145 LPM R20,Z+
18A4 9154 LPM R21,0(Z)
18A5 C0B7 RJMP 0x195D
(0116) { TCNT1=0x00;
18A6 2422 CLR R2
18A7 2433 CLR R3
18A8 BC3D OUT 0x2D,R3
18A9 BC2C OUT 0x2C,R2
(0117) for(j=1;j<9;j++)
18AA E081 LDI R24,1
18AB E090 LDI R25,0
18AC 017C MOVW R14,R24
18AD C0A3 RJMP 0x1951
(0118) {if(j<5)
18AE 01C7 MOVW R24,R14
18AF 3085 CPI R24,5
18B0 E0E0 LDI R30,0
18B1 079E CPC R25,R30
18B2 F008 BCS 0x18B4
18B3 C037 RJMP 0x18EB
(0119) {PORTA|=(1<<(j-1));
18B4 019C MOVW R18,R24
18B5 5021 SUBI R18,1
18B6 4030 SBCI R19,0
18B7 E001 LDI R16,1
18B8 E010 LDI R17,0
18B9 940E20F3 CALL lsl16
18BB B22B IN R2,0x1B
18BC 2433 CLR R3
18BD 2A20 OR R2,R16
18BE 2A31 OR R3,R17
18BF BA2B OUT 0x1B,R2
(0120) temp2=(50*angle1_2[i][j+8]/3+750)+(j-1)*3750;}
18C0 E10A LDI R16,0x1A
18C1 E010 LDI R17,0
18C2 0193 MOVW R18,R6
18C3 940E20B9 CALL empy16s
18C5 0118 MOVW R2,R16
18C6 E58C LDI R24,0x5C
18C7 E298 LDI R25,0x28
18C8 0E28 ADD R2,R24
18C9 1E39 ADC R3,R25
18CA 0197 MOVW R18,R14
18CB 5F28 SUBI R18,0xF8
18CC 4F3F SBCI R19,0xFF
18CD E002 LDI R16,2
18CE E010 LDI R17,0
18CF 940E20B9 CALL empy16s
18D1 01F8 MOVW R30,R16
18D2 0DE2 ADD R30,R2
18D3 1DF3 ADC R31,R3
18D4 9125 LPM R18,Z+
18D5 9134 LPM R19,0(Z)
18D6 E302 LDI R16,0x32
18D7 E010 LDI R17,0
18D8 940E20B9 CALL empy16s
18DA E023 LDI R18,3
18DB E030 LDI R19,0
18DC 940E209F CALL div16u
18DE 01C8 MOVW R24,R16
18DF 5182 SUBI R24,0x12
18E0 4F9D SBCI R25,0xFD
18E1 0197 MOVW R18,R14
18E2 5021 SUBI R18,1
18E3 4030 SBCI R19,0
18E4 EA06 LDI R16,0xA6
18E5 E01E LDI R17,0xE
18E6 940E20B9 CALL empy16s
18E8 015C MOVW R10,R24
18E9 0EA0 ADD R10,R16
18EA 1EB1 ADC R11,R17
(0121) PORTC|=(1<<(j-1));
18EB 0197 MOVW R18,R14
18EC 5021 SUBI R18,1
18ED 4030 SBCI R19,0
18EE E001 LDI R16,1
18EF E010 LDI R17,0
18F0 940E20F3 CALL lsl16
18F2 B225 IN R2,0x15
18F3 2433 CLR R3
18F4 2A20 OR R2,R16
18F5 2A31 OR R3,R17
18F6 BA25 OUT 0x15,R2
(0122) temp1=(50*angle1_2[i][j]/3+750)+(j-1)*3750;
18F7 E10A LDI R16,0x1A
18F8 E010 LDI R17,0
18F9 0193 MOVW R18,R6
18FA 940E20B9 CALL empy16s
18FC 0118 MOVW R2,R16
18FD E58C LDI R24,0x5C
18FE E298 LDI R25,0x28
18FF 0E28 ADD R2,R24
1900 1E39 ADC R3,R25
1901 E002 LDI R16,2
1902 E010 LDI R17,0
1903 0197 MOVW R18,R14
1904 940E20B9 CALL empy16s
1906 01F8 MOVW R30,R16
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