📄 multistep.lst
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1907 0DE2 ADD R30,R2
1908 1DF3 ADC R31,R3
1909 9125 LPM R18,Z+
190A 9134 LPM R19,0(Z)
190B E302 LDI R16,0x32
190C E010 LDI R17,0
190D 940E20B9 CALL empy16s
190F E023 LDI R18,3
1910 E030 LDI R19,0
1911 940E209F CALL div16u
1913 01C8 MOVW R24,R16
1914 5182 SUBI R24,0x12
1915 4F9D SBCI R25,0xFD
1916 0197 MOVW R18,R14
1917 5021 SUBI R18,1
1918 4030 SBCI R19,0
1919 EA06 LDI R16,0xA6
191A E01E LDI R17,0xE
191B 940E20B9 CALL empy16s
191D 016C MOVW R12,R24
191E 0EC0 ADD R12,R16
191F 1ED1 ADC R13,R17
(0123) do{temp=TCNT1;
1920 B56C IN R22,0x2C
1921 B57D IN R23,0x2D
(0124) if(temp>temp1)PORTC&=~(1<<(j-1));
1922 16C6 CP R12,R22
1923 06D7 CPC R13,R23
1924 F478 BCC 0x1934
1925 0197 MOVW R18,R14
1926 5021 SUBI R18,1
1927 4030 SBCI R19,0
1928 E001 LDI R16,1
1929 E010 LDI R17,0
192A 940E20F3 CALL lsl16
192C 0118 MOVW R2,R16
192D 9420 COM R2
192E 9430 COM R3
192F B245 IN R4,0x15
1930 2455 CLR R5
1931 2042 AND R4,R2
1932 2053 AND R5,R3
1933 BA45 OUT 0x15,R4
(0125) if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);}
1934 16A6 CP R10,R22
1935 06B7 CPC R11,R23
1936 F478 BCC 0x1946
1937 0197 MOVW R18,R14
1938 5021 SUBI R18,1
1939 4030 SBCI R19,0
193A E001 LDI R16,1
193B E010 LDI R17,0
193C 940E20F3 CALL lsl16
193E 0118 MOVW R2,R16
193F 9420 COM R2
1940 9430 COM R3
1941 B24B IN R4,0x1B
1942 2455 CLR R5
1943 2042 AND R4,R2
1944 2053 AND R5,R3
1945 BA4B OUT 0x1B,R4
1946 EA06 LDI R16,0xA6
1947 E01E LDI R17,0xE
1948 0197 MOVW R18,R14
1949 940E20B9 CALL empy16s
194B 1760 CP R22,R16
194C 0771 CPC R23,R17
194D F290 BCS 0x1920
194E 01C7 MOVW R24,R14
194F 9601 ADIW R24,1
1950 017C MOVW R14,R24
1951 01C7 MOVW R24,R14
1952 3089 CPI R24,0x9
1953 E0E0 LDI R30,0
1954 079E CPC R25,R30
1955 F408 BCC 0x1957
1956 CF57 RJMP 0x18AE
(0126) TCNT1=0x00;
1957 2422 CLR R2
1958 2433 CLR R3
1959 BC3D OUT 0x2D,R3
195A BC2C OUT 0x2C,R2
195B 5041 SUBI R20,1
195C 4050 SBCI R21,0
195D 3040 CPI R20,0
195E 0745 CPC R20,R21
195F F009 BEQ 0x1961
1960 CF45 RJMP 0x18A6
1961 01C3 MOVW R24,R6
1962 9601 ADIW R24,1
1963 013C MOVW R6,R24
1964 01C3 MOVW R24,R6
1965 3084 CPI R24,4
1966 E0E0 LDI R30,0
1967 079E CPC R25,R30
1968 F408 BCC 0x196A
1969 CF2F RJMP 0x1899
(0127) }
(0128)
(0129)
(0130)
(0131) }
(0132)
(0133) if(p==2)
196A 01C4 MOVW R24,R8
196B 3082 CPI R24,2
196C E0E0 LDI R30,0
196D 079E CPC R25,R30
196E F009 BEQ 0x1970
196F C295 RJMP 0x1C05
(0134) { for(i=0;i<cycle_start2;i++)
1970 2466 CLR R6
1971 2477 CLR R7
1972 C0CB RJMP 0x1A3E
(0135) for(t=angle2[i][0];t>0;t--)
1973 E10A LDI R16,0x1A
1974 E010 LDI R17,0
1975 0193 MOVW R18,R6
1976 940E20B9 CALL empy16s
1978 01F8 MOVW R30,R16
1979 EC84 LDI R24,0xC4
197A E298 LDI R25,0x28
197B 0FE8 ADD R30,R24
197C 1FF9 ADC R31,R25
197D 9145 LPM R20,Z+
197E 9154 LPM R21,0(Z)
197F C0B7 RJMP 0x1A37
(0136) { TCNT1=0x00;
1980 2422 CLR R2
1981 2433 CLR R3
1982 BC3D OUT 0x2D,R3
1983 BC2C OUT 0x2C,R2
(0137) for(j=1;j<9;j++)
1984 E081 LDI R24,1
1985 E090 LDI R25,0
1986 017C MOVW R14,R24
1987 C0A3 RJMP 0x1A2B
(0138) {if(j<5)
1988 01C7 MOVW R24,R14
1989 3085 CPI R24,5
198A E0E0 LDI R30,0
198B 079E CPC R25,R30
198C F008 BCS 0x198E
198D C037 RJMP 0x19C5
(0139) {PORTA|=(1<<(j-1));
198E 019C MOVW R18,R24
198F 5021 SUBI R18,1
1990 4030 SBCI R19,0
1991 E001 LDI R16,1
1992 E010 LDI R17,0
1993 940E20F3 CALL lsl16
1995 B22B IN R2,0x1B
1996 2433 CLR R3
1997 2A20 OR R2,R16
1998 2A31 OR R3,R17
1999 BA2B OUT 0x1B,R2
(0140) temp2=(50*angle2[i][j+8]/3+750)+(j-1)*3750;}
199A E10A LDI R16,0x1A
199B E010 LDI R17,0
199C 0193 MOVW R18,R6
199D 940E20B9 CALL empy16s
199F 0118 MOVW R2,R16
19A0 EC84 LDI R24,0xC4
19A1 E298 LDI R25,0x28
19A2 0E28 ADD R2,R24
19A3 1E39 ADC R3,R25
19A4 0197 MOVW R18,R14
19A5 5F28 SUBI R18,0xF8
19A6 4F3F SBCI R19,0xFF
19A7 E002 LDI R16,2
19A8 E010 LDI R17,0
19A9 940E20B9 CALL empy16s
19AB 01F8 MOVW R30,R16
19AC 0DE2 ADD R30,R2
19AD 1DF3 ADC R31,R3
19AE 9125 LPM R18,Z+
19AF 9134 LPM R19,0(Z)
19B0 E302 LDI R16,0x32
19B1 E010 LDI R17,0
19B2 940E20B9 CALL empy16s
19B4 E023 LDI R18,3
19B5 E030 LDI R19,0
19B6 940E209F CALL div16u
19B8 01C8 MOVW R24,R16
19B9 5182 SUBI R24,0x12
19BA 4F9D SBCI R25,0xFD
19BB 0197 MOVW R18,R14
19BC 5021 SUBI R18,1
19BD 4030 SBCI R19,0
19BE EA06 LDI R16,0xA6
19BF E01E LDI R17,0xE
19C0 940E20B9 CALL empy16s
19C2 015C MOVW R10,R24
19C3 0EA0 ADD R10,R16
19C4 1EB1 ADC R11,R17
(0141) PORTC|=(1<<(j-1));
19C5 0197 MOVW R18,R14
19C6 5021 SUBI R18,1
19C7 4030 SBCI R19,0
19C8 E001 LDI R16,1
19C9 E010 LDI R17,0
19CA 940E20F3 CALL lsl16
19CC B225 IN R2,0x15
19CD 2433 CLR R3
19CE 2A20 OR R2,R16
19CF 2A31 OR R3,R17
19D0 BA25 OUT 0x15,R2
(0142) temp1=(50*angle2[i][j]/3+750)+(j-1)*3750;
19D1 E10A LDI R16,0x1A
19D2 E010 LDI R17,0
19D3 0193 MOVW R18,R6
19D4 940E20B9 CALL empy16s
19D6 0118 MOVW R2,R16
19D7 EC84 LDI R24,0xC4
19D8 E298 LDI R25,0x28
19D9 0E28 ADD R2,R24
19DA 1E39 ADC R3,R25
19DB E002 LDI R16,2
19DC E010 LDI R17,0
19DD 0197 MOVW R18,R14
19DE 940E20B9 CALL empy16s
19E0 01F8 MOVW R30,R16
19E1 0DE2 ADD R30,R2
19E2 1DF3 ADC R31,R3
19E3 9125 LPM R18,Z+
19E4 9134 LPM R19,0(Z)
19E5 E302 LDI R16,0x32
19E6 E010 LDI R17,0
19E7 940E20B9 CALL empy16s
19E9 E023 LDI R18,3
19EA E030 LDI R19,0
19EB 940E209F CALL div16u
19ED 01C8 MOVW R24,R16
19EE 5182 SUBI R24,0x12
19EF 4F9D SBCI R25,0xFD
19F0 0197 MOVW R18,R14
19F1 5021 SUBI R18,1
19F2 4030 SBCI R19,0
19F3 EA06 LDI R16,0xA6
19F4 E01E LDI R17,0xE
19F5 940E20B9 CALL empy16s
19F7 016C MOVW R12,R24
19F8 0EC0 ADD R12,R16
19F9 1ED1 ADC R13,R17
(0143) do{temp=TCNT1;
19FA B56C IN R22,0x2C
19FB B57D IN R23,0x2D
(0144) if(temp>temp1)PORTC&=~(1<<(j-1));
19FC 16C6 CP R12,R22
19FD 06D7 CPC R13,R23
19FE F478 BCC 0x1A0E
19FF 0197 MOVW R18,R14
1A00 5021 SUBI R18,1
1A01 4030 SBCI R19,0
1A02 E001 LDI R16,1
1A03 E010 LDI R17,0
1A04 940E20F3 CALL lsl16
1A06 0118 MOVW R2,R16
1A07 9420 COM R2
1A08 9430 COM R3
1A09 B245 IN R4,0x15
1A0A 2455 CLR R5
1A0B 2042 AND R4,R2
1A0C 2053 AND R5,R3
1A0D BA45 OUT 0x15,R4
(0145) if(temp>temp2)PORTA&=~(1<<(j-1));}while(temp<j*3750);
1A0E 16A6 CP R10,R22
1A0F 06B7 CPC R11,R23
1A10 F478 BCC 0x1A20
1A11 0197 MOVW R18,R14
1A12 5021 SUBI R18,1
1A13 4030 SBCI R19,0
1A14 E001 LDI R16,1
1A15 E010 LDI R17,0
1A16 940E20F3 CALL lsl16
1A18 0118 MOVW R2,R16
1A19 9420 COM R2
1A1A 9430 COM R3
1A1B B24B IN R4,0x1B
1A1C 2455 CLR R5
1A1D 2042 AND R4,R2
1A1E 2053 AND R5,R3
1A1F BA4B OUT 0x1B,R4
1A20 EA06 LDI R16,0xA6
1A21 E01E LDI R17,0xE
1A22 0197 MOVW R18,R14
1A23 940E20B9 CALL empy16s
1A25 1760 CP R22,R16
1A26 0771 CPC R23,R17
1A27 F290 BCS 0x19FA
1A28 01C7 MOVW R24,R14
1A29 9601 ADIW R24,1
1A2A 017C MOVW R14,R24
1A2B 01C7 MOVW R24,R14
1A2C 3089 CPI R24,0x9
1A2D E0E0 LDI R30,0
1A2E 079E CPC R25,R30
1A2F F408 BCC 0x1A31
1A30 CF57 RJMP 0x1988
(0146) }
(0147) TCNT1=0x00;
1A31 2422 CLR R2
1A32 2433 CLR R3
1A33 BC3D OUT 0x2D,R3
1A34 BC2C OUT 0x2C,R2
1A35 5041 SUBI R20,1
1A36 4050 SBCI R21,0
1A37 3040 CPI R20,0
1A38 0745 CPC R20,R21
1A39 F009 BEQ 0x1A3B
1A3A CF45 RJMP 0x1980
1A3B 01C3 MOVW R24,R6
1A3C 9601 ADIW R24,1
1A3D 013C MOVW R6,R24
1A3E 9020010A LDS R2,0x10A
1A40 9030010B LDS R3,0x10B
1A42 1462 CP R6,R2
1A43 0473 CPC R7,R3
1A44 F408 BCC 0x1A46
1A45 CF2D RJMP 0x1973
(0148) }
(0149) do{
(0150) for(i=cycle_start2;i<totalstep2;i++)
1A46 9060010A LDS R6,0x10A
1A48 9070010B LDS R7,0x10B
1A4A C0CB RJMP 0x1B16
(0151) for(t=angle2[i][0];t>0;t--)
1A4B E10A LDI R16,0x1A
1A4C E010 LDI R17,0
1A4D 0193 MOVW R18,R6
1A4E 940E20B9 CALL empy16s
1A50 01F8 MOVW R30,R16
1A51 EC84 LDI R24,0xC4
1A52 E298 LDI R25,0x28
1A53 0FE8 ADD R30,R24
1A54 1FF9 ADC R31,R25
1A55 9145 LPM R20,Z+
1A56 9154 LPM R21,0(Z)
1A57 C0B7 RJMP 0x1B0F
(0152) {TCNT1=0x00;
1A58 2422 CLR R2
1A59 2433 CLR R3
1A5A BC3D OUT 0x2D,R3
1A5B BC2C OUT 0x2C,R2
(0153) for(j=1;j<9;j++)
1A5C E081 LDI R24,1
1A5D E090 LDI R25,0
1A5E 017C MOVW R14,R24
1A5F C0A3 RJMP 0x1B03
(0154) { if(j<5)
1A60 01C7 MOVW R24,R14
1A61 3085 CPI R24,5
1A62 E0E0 LDI R30,0
1A63 079E CPC R25,R30
1A64 F008 BCS 0x1A66
1A65 C037 RJMP 0x1A9D
(0155) {PORTA|=(1<<(j-1));
1A66 019C MOVW R18,R24
1A67 5021 SUBI R18,1
1A68 4030 SBCI R19,0
1A69 E001 LDI R16,1
1A6A E010 LDI R17,0
1A6B 940E20F3 CALL lsl16
1A6D B22B IN R2,0x1B
1A6E 2433 CLR R3
1A6F 2A20 OR R2,R16
1A70 2A31 OR R3,R17
1A71 BA2B OUT 0x1B,R2
(0156) temp2=(50*angle2[i][j+8]/3+750)+(j-1)*3750;}
1A72 E10A LDI R16,0x1A
1A73 E010 LDI R17,0
1A74 0193 MOVW R18,R6
1A75 940E20B9 CALL empy16s
1A77 0118 MOVW R2,R16
1A78 EC84 LDI R24,0xC4
1A79 E298 LDI R25,0x28
1A7A 0E28 ADD R2,R24
1A7B 1E39 ADC R3,R25
1A7C 0197 MOVW R18,R14
1A7D 5F28 SUBI R18,0xF8
1A7E 4F3F SBCI R19,0xFF
1A7F E002 LDI R16,2
1A80 E010 LDI R17,0
1A81 940E20B9 CALL empy16s
1A83 01F8 MOVW R30,R16
1A84 0DE2 ADD R30,R2
1A85 1DF3 ADC R31,R3
1A86 9125 LPM R18,Z+
1A87 9134 LPM R19,0(Z)
1A88 E302 LDI R16,0x32
1A89 E010 LDI R17,0
1A8A 940E20B9 CALL empy16s
1A8C E023 LDI R18,3
1A8D E030 LDI R19,0
1A8E 940E209F CALL div16u
1A90 01C8 MOVW R24,R16
1A91 5182 SUBI R24,0x12
1A92 4F9D SBCI R25,0xFD
1A93 0197 MOVW R18,R14
1A94 5021 SUBI R18,1
1A95 4030 SBCI R19,0
1A96 EA06 LDI R16,0xA6
1A97 E01E LDI R17,0xE
1A98 940E20B9 CALL empy16s
1A9A 015C MOVW R10,R24
1A9B 0EA0 ADD R10,R16
1A9C 1EB1 ADC R11,R17
(0157) PORTC|=(1<<(j-1));
1A9D 0197 MOVW R18,R14
1A9E 5021 SUBI R18,1
1A9F 4030 SBCI R19,0
1AA0 E001 LDI R16,1
1AA1 E010 LDI R17,0
1AA2 940E20F3 CALL lsl16
1AA4 B225 IN R2,0x15
1AA5 2433 CLR R3
1AA6 2A20 OR R2,R16
1AA7 2A31 OR R3,R17
1AA8 BA25 OUT 0x15,R2
(0158) temp1=(50*angle2[i][j]/3+750)+(j-1)*3750;
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