📄 main.lss
字号:
55c: 2e 0e add r2, r30
55e: 3f 1e adc r3, r31
560: e8 2e mov r14, r24
562: ff 24 eor r15, r15
564: e1 14 cp r14, r1
566: f1 04 cpc r15, r1
568: 09 f4 brne .+2 ; 0x56c <Motion_Excute+0x7a>
56a: 82 c0 rjmp .+260 ; 0x670 <Motion_Excute+0x17e>
56c: 44 e6 ldi r20, 0x64 ; 100
56e: ae 9e mul r10, r30
570: 40 01 movw r8, r0
572: af 9e mul r10, r31
574: 90 0c add r9, r0
576: be 9e mul r11, r30
578: 90 0c add r9, r0
57a: 11 24 eor r1, r1
57c: 29 81 ldd r18, Y+1 ; 0x01
57e: 3a 81 ldd r19, Y+2 ; 0x02
580: 82 0e add r8, r18
582: 93 1e adc r9, r19
{ TCNT1=0x00;
584: 1d bc out 0x2d, r1 ; 45
586: 1c bc out 0x2c, r1 ; 44
for(j=1;j<9;j++)
588: 21 e0 ldi r18, 0x01 ; 1
58a: 30 e0 ldi r19, 0x00 ; 0
58c: 79 e0 ldi r23, 0x09 ; 9
58e: c7 2e mov r12, r23
590: d1 2c mov r13, r1
592: c8 0c add r12, r8
594: d9 1c adc r13, r9
596: 64 ec ldi r22, 0xC4 ; 196
598: 66 2e mov r6, r22
59a: 69 e0 ldi r22, 0x09 ; 9
59c: 76 2e mov r7, r22
59e: 0b 85 ldd r16, Y+11 ; 0x0b
5a0: 1c 85 ldd r17, Y+12 ; 0x0c
5a2: 89 81 ldd r24, Y+1 ; 0x01
5a4: 9a 81 ldd r25, Y+2 ; 0x02
5a6: 08 0f add r16, r24
5a8: 19 1f adc r17, r25
5aa: 02 0f add r16, r18
5ac: 13 1f adc r17, r19
{ PORTA|=(1<<(j-1));
5ae: 21 50 subi r18, 0x01 ; 1
5b0: 30 40 sbci r19, 0x00 ; 0
5b2: a1 e0 ldi r26, 0x01 ; 1
5b4: b0 e0 ldi r27, 0x00 ; 0
5b6: 02 2e mov r0, r18
5b8: 02 c0 rjmp .+4 ; 0x5be <Motion_Excute+0xcc>
5ba: aa 0f add r26, r26
5bc: bb 1f adc r27, r27
5be: 0a 94 dec r0
5c0: e2 f7 brpl .-8 ; 0x5ba <Motion_Excute+0xc8>
5c2: be 87 std Y+14, r27 ; 0x0e
5c4: ad 87 std Y+13, r26 ; 0x0d
5c6: 2f 5f subi r18, 0xFF ; 255
5c8: 3f 4f sbci r19, 0xFF ; 255
5ca: 8b b3 in r24, 0x1b ; 27
5cc: 8a 2b or r24, r26
5ce: 8b bb out 0x1b, r24 ; 27
temp1=(100*angle[i][j]/9+500)+(j-1)*2500;
5d0: f8 01 movw r30, r16
5d2: 80 81 ld r24, Z
5d4: 84 9f mul r24, r20
5d6: c0 01 movw r24, r0
5d8: 11 24 eor r1, r1
5da: 69 e0 ldi r22, 0x09 ; 9
5dc: 70 e0 ldi r23, 0x00 ; 0
5de: 0e 94 7e 05 call 0xafc <__divmodhi4>
5e2: fb 01 movw r30, r22
5e4: e6 0d add r30, r6
5e6: f7 1d adc r31, r7
5e8: e0 5d subi r30, 0xD0 ; 208
5ea: f7 40 sbci r31, 0x07 ; 7
if(j<5)
5ec: 25 30 cpi r18, 0x05 ; 5
5ee: 31 05 cpc r19, r1
5f0: a0 f4 brcc .+40 ; 0x61a <Motion_Excute+0x128>
{PORTC|=(1<<(j-1));
5f2: 85 b3 in r24, 0x15 ; 21
5f4: 9d 85 ldd r25, Y+13 ; 0x0d
5f6: 89 2b or r24, r25
5f8: 85 bb out 0x15, r24 ; 21
temp2=(100*angle[i][j+8]/9+500)+(j-1)*2500;}
5fa: d6 01 movw r26, r12
5fc: 8c 91 ld r24, X
5fe: 84 9f mul r24, r20
600: c0 01 movw r24, r0
602: 11 24 eor r1, r1
604: 69 e0 ldi r22, 0x09 ; 9
606: 70 e0 ldi r23, 0x00 ; 0
608: 0e 94 7e 05 call 0xafc <__divmodhi4>
60c: 2b 01 movw r4, r22
60e: 46 0c add r4, r6
610: 57 1c adc r5, r7
612: 80 e3 ldi r24, 0x30 ; 48
614: 98 ef ldi r25, 0xF8 ; 248
616: 48 0e add r4, r24
618: 59 1e adc r5, r25
61a: 9d 85 ldd r25, Y+13 ; 0x0d
61c: 90 95 com r25
do{temp=TCNT1;
61e: 6c b5 in r22, 0x2c ; 44
620: 7d b5 in r23, 0x2d ; 45
if(temp>temp1)PORTA&=~(1<<(j-1));
622: e6 17 cp r30, r22
624: f7 07 cpc r31, r23
626: 18 f4 brcc .+6 ; 0x62e <Motion_Excute+0x13c>
628: 8b b3 in r24, 0x1b ; 27
62a: 89 23 and r24, r25
62c: 8b bb out 0x1b, r24 ; 27
if(temp>temp2)PORTC&=~(1<<(j-1));}while(temp<j*2500);
62e: 46 16 cp r4, r22
630: 57 06 cpc r5, r23
632: 18 f4 brcc .+6 ; 0x63a <Motion_Excute+0x148>
634: 85 b3 in r24, 0x15 ; 21
636: 89 23 and r24, r25
638: 85 bb out 0x15, r24 ; 21
63a: 66 15 cp r22, r6
63c: 77 05 cpc r23, r7
63e: 78 f3 brcs .-34 ; 0x61e <Motion_Excute+0x12c>
640: 2f 5f subi r18, 0xFF ; 255
642: 3f 4f sbci r19, 0xFF ; 255
644: 0f 5f subi r16, 0xFF ; 255
646: 1f 4f sbci r17, 0xFF ; 255
648: a4 ec ldi r26, 0xC4 ; 196
64a: b9 e0 ldi r27, 0x09 ; 9
64c: 6a 0e add r6, r26
64e: 7b 1e adc r7, r27
650: 08 94 sec
652: c1 1c adc r12, r1
654: d1 1c adc r13, r1
656: 29 30 cpi r18, 0x09 ; 9
658: 31 05 cpc r19, r1
65a: 08 f4 brcc .+2 ; 0x65e <Motion_Excute+0x16c>
65c: a8 cf rjmp .-176 ; 0x5ae <Motion_Excute+0xbc>
}
TCNT1=0x00;
65e: 1d bc out 0x2d, r1 ; 45
660: 1c bc out 0x2c, r1 ; 44
662: 08 94 sec
664: e1 08 sbc r14, r1
666: f1 08 sbc r15, r1
668: e1 14 cp r14, r1
66a: f1 04 cpc r15, r1
66c: 09 f0 breq .+2 ; 0x670 <Motion_Excute+0x17e>
66e: 8a cf rjmp .-236 ; 0x584 <Motion_Excute+0x92>
670: 08 94 sec
672: a1 1c adc r10, r1
674: b1 1c adc r11, r1
676: eb 85 ldd r30, Y+11 ; 0x0b
678: fc 85 ldd r31, Y+12 ; 0x0c
67a: 3d 96 adiw r30, 0x0d ; 13
67c: fc 87 std Y+12, r31 ; 0x0c
67e: eb 87 std Y+11, r30 ; 0x0b
680: 2d 81 ldd r18, Y+5 ; 0x05
682: 3e 81 ldd r19, Y+6 ; 0x06
684: a2 16 cp r10, r18
686: b3 06 cpc r11, r19
688: 08 f4 brcc .+2 ; 0x68c <Motion_Excute+0x19a>
68a: 64 cf rjmp .-312 ; 0x554 <Motion_Excute+0x62>
}
do{
for(i=cycle_start;i<totalstep;i++)
68c: ad 80 ldd r10, Y+5 ; 0x05
68e: be 80 ldd r11, Y+6 ; 0x06
690: 8b 81 ldd r24, Y+3 ; 0x03
692: 9c 81 ldd r25, Y+4 ; 0x04
694: a8 16 cp r10, r24
696: b9 06 cpc r11, r25
698: 08 f0 brcs .+2 ; 0x69c <Motion_Excute+0x1aa>
69a: ab c0 rjmp .+342 ; 0x7f2 <Motion_Excute+0x300>
69c: 8d e0 ldi r24, 0x0D ; 13
69e: 90 e0 ldi r25, 0x00 ; 0
6a0: a8 9e mul r10, r24
6a2: 40 01 movw r8, r0
6a4: a9 9e mul r10, r25
6a6: 90 0c add r9, r0
6a8: b8 9e mul r11, r24
6aa: 90 0c add r9, r0
6ac: 11 24 eor r1, r1
6ae: a9 81 ldd r26, Y+1 ; 0x01
6b0: ba 81 ldd r27, Y+2 ; 0x02
6b2: a8 0d add r26, r8
6b4: b9 1d adc r27, r9
6b6: ba 87 std Y+10, r27 ; 0x0a
6b8: a9 87 std Y+9, r26 ; 0x09
for(t=angle[i][0];t>0;t--)
6ba: e9 85 ldd r30, Y+9 ; 0x09
6bc: fa 85 ldd r31, Y+10 ; 0x0a
6be: 80 81 ld r24, Z
6c0: 3d 96 adiw r30, 0x0d ; 13
6c2: fa 87 std Y+10, r31 ; 0x0a
6c4: e9 87 std Y+9, r30 ; 0x09
6c6: e8 2e mov r14, r24
6c8: ff 24 eor r15, r15
6ca: e1 14 cp r14, r1
6cc: f1 04 cpc r15, r1
6ce: 09 f4 brne .+2 ; 0x6d2 <Motion_Excute+0x1e0>
6d0: 83 c0 rjmp .+262 ; 0x7d8 <Motion_Excute+0x2e6>
6d2: 44 e6 ldi r20, 0x64 ; 100
6d4: 8d e0 ldi r24, 0x0D ; 13
6d6: 90 e0 ldi r25, 0x00 ; 0
6d8: a8 9e mul r10, r24
6da: 30 01 movw r6, r0
6dc: a9 9e mul r10, r25
6de: 70 0c add r7, r0
6e0: b8 9e mul r11, r24
6e2: 70 0c add r7, r0
6e4: 11 24 eor r1, r1
6e6: 29 81 ldd r18, Y+1 ; 0x01
6e8: 3a 81 ldd r19, Y+2 ; 0x02
6ea: 62 0e add r6, r18
6ec: 73 1e adc r7, r19
{TCNT1=0x00;
6ee: 1d bc out 0x2d, r1 ; 45
6f0: 1c bc out 0x2c, r1 ; 44
for(j=1;j<9;j++)
6f2: 21 e0 ldi r18, 0x01 ; 1
6f4: 30 e0 ldi r19, 0x00 ; 0
6f6: 59 e0 ldi r21, 0x09 ; 9
6f8: c5 2e mov r12, r21
6fa: d1 2c mov r13, r1
6fc: c6 0c add r12, r6
6fe: d7 1c adc r13, r7
700: 94 ec ldi r25, 0xC4 ; 196
702: 29 2e mov r2, r25
704: 99 e0 ldi r25, 0x09 ; 9
706: 39 2e mov r3, r25
708: 09 81 ldd r16, Y+1 ; 0x01
70a: 1a 81 ldd r17, Y+2 ; 0x02
70c: 08 0d add r16, r8
70e: 19 1d adc r17, r9
710: 02 0f add r16, r18
712: 13 1f adc r17, r19
{ PORTA|=(1<<(j-1));
714: 21 50 subi r18, 0x01 ; 1
716: 30 40 sbci r19, 0x00 ; 0
718: 81 e0 ldi r24, 0x01 ; 1
71a: 90 e0 ldi r25, 0x00 ; 0
71c: 02 2e mov r0, r18
71e: 02 c0 rjmp .+4 ; 0x724 <Motion_Excute+0x232>
720: 88 0f add r24, r24
722: 99 1f adc r25, r25
724: 0a 94 dec r0
726: e2 f7 brpl .-8 ; 0x720 <Motion_Excute+0x22e>
728: 9e 87 std Y+14, r25 ; 0x0e
72a: 8d 87 std Y+13, r24 ; 0x0d
72c: 2f 5f subi r18, 0xFF ; 255
72e: 3f 4f sbci r19, 0xFF ; 255
730: 8b b3 in r24, 0x1b ; 27
732: 9d 85 ldd r25, Y+13 ; 0x0d
734: 89 2b or r24, r25
736: 8b bb out 0x1b, r24 ; 27
temp1=(100*angle[i][j]/9+500)+(j-1)*2500;
738: d8 01 movw r26, r16
73a: 8c 91 ld r24, X
73c: 84 9f mul r24, r20
73e: c0 01 movw r24, r0
740: 11 24 eor r1, r1
742: 69 e0 ldi r22, 0x09 ; 9
744: 70 e0 ldi r23, 0x00 ; 0
746: 0e 94 7e 05 call 0xafc <__divmodhi4>
74a: fb 01 movw r30, r22
74c: e2 0d add r30, r2
74e: f3 1d adc r31, r3
750: e0 5d subi r30, 0xD0 ; 208
752: f7 40 sbci r31, 0x07 ; 7
if(j<5)
754: 25 30 cpi r18, 0x05 ; 5
756: 31 05 cpc r19, r1
758: a0 f4 brcc .+40 ; 0x782 <Motion_Excute+0x290>
{PORTC|=(1<<(j-1));
75a: 85 b3 in r24, 0x15 ; 21
75c: bd 85 ldd r27, Y+13 ; 0x0d
75e: 8b 2b or r24, r27
760: 85 bb out 0x15, r24 ; 21
temp2=(100*angle[i][j+8]/9+500)+(j-1)*2500;}
762: d6 01 movw r26, r12
764: 8c 91 ld r24, X
766: 84 9f mul r24, r20
768: c0 01 movw r24, r0
76a: 11 24 eor r1, r1
76c: 69 e0 ldi r22, 0x09 ; 9
76e: 70 e0 ldi r23, 0x00 ; 0
770: 0e 94 7e 05 call 0xafc <__divmodhi4>
774: 2b 01 movw r4, r22
776: 42 0c add r4, r2
778: 53 1c adc r5, r3
77a: 80 e3 ldi r24, 0x30 ; 48
77c: 98 ef ldi r25, 0xF8 ; 248
77e: 48 0e add r4, r24
780: 59 1e adc r5, r25
782: 9d 85 ldd r25, Y+13 ; 0x0d
784: 90 95 com r25
do{temp=TCNT1;
786: 6c b5 in r22, 0x2c ; 44
788: 7d b5 in r23, 0x2d ; 45
if(temp>temp1)PORTA&=~(1<<(j-1));
78a: e6 17 cp r30, r22
78c: f7 07 cpc r31, r23
78e: 18 f4 brcc .+6 ; 0x796 <Motion_Excute+0x2a4>
790: 8b b3 in r24, 0x1b ; 27
792: 89 23 and r24, r25
794: 8b bb out 0x1b, r24 ; 27
if(temp>temp2)PORTC&=~(1<<(j-1));}while(temp<j*2500);
796: 46 16 cp r4, r22
798: 57 06 cpc r5, r23
79a: 18 f4 brcc .+6 ; 0x7a2 <Motion_Excute+0x2b0>
79c: 85 b3 in r24, 0x15 ; 21
79e: 89 23 and r24, r25
7a0: 85 bb out 0x15, r24 ; 21
7a2: 62 15 cp r22, r2
7a4: 73 05 cpc r23, r3
7a6: 78 f3 brcs .-34 ; 0x786 <Motion_Excute+0x294>
7a8: 2f 5f subi r18, 0xFF ; 255
7aa: 3f 4f sbci r19, 0xFF ; 255
7ac: 0f 5f subi r16, 0xFF ; 255
7ae: 1f 4f sbci r17, 0xFF ; 255
7b0: a4 ec ldi r26, 0xC4 ; 196
7b2: b9 e0 ldi r27, 0x09 ; 9
7b4: 2a 0e add r2, r26
7b6: 3b 1e adc r3, r27
7b8: 08 94 sec
7ba: c1 1c adc r12, r1
7bc: d1 1c adc r13, r1
7be: 29 30 cpi r18, 0x09 ; 9
7c0: 31 05 cpc r19, r1
7c2: 08 f4 brcc .+2 ; 0x7c6 <Motion_Excute+0x2d4>
7c4: a7 cf rjmp .-178 ; 0x714 <Motion_Excute+0x222>
}
TCNT1=0x00;
7c6: 1d bc out 0x2d, r1 ; 45
7c8: 1c bc out 0x2c, r1 ; 44
7ca: 08 94 sec
7cc: e1 08 sbc r14, r1
7ce: f1 08 sbc r15, r1
7d0: e1 14 cp r14, r1
7d2: f1 04 cpc r15, r1
7d4: 09 f0 breq .+2 ; 0x7d8 <Motion_Excute+0x2e6>
7d6: 8b cf rjmp .-234 ; 0x6ee <Motion_Excute+0x1fc>
7d8: 08 94 sec
7da: a1 1c adc r10, r1
7dc: b1 1c adc r11, r1
7de: ed e0 ldi r30, 0x0D ; 13
7e0: f0 e0 ldi r31, 0x00 ; 0
7e2: 8e 0e add r8, r30
7e4: 9f 1e adc r9, r31
7e6: 2b 81 ldd r18, Y+3 ; 0x03
7e8: 3c 81 ldd r19, Y+4 ; 0x04
7ea: a2 16 cp r10, r18
7ec: b3 06 cpc r11, r19
7ee: 08 f4 brcc .+2 ; 0x7f2 <Motion_Excute+0x300>
7f0: 64 cf rjmp .-312 ; 0x6ba <Motion_Excute+0x1c8>
}
cycle_number--;
7f2: 8f 81 ldd r24, Y+7 ; 0x07
7f4: 98 85 ldd r25, Y+8 ; 0x08
7f6: 01 97 sbiw r24, 0x01 ; 1
7f8: 98 87 std Y+8, r25 ; 0x08
7fa: 8f 83 std Y+7, r24 ; 0x07
} while(cycle_number);
7fc: 89 2b or r24, r25
7fe: 09 f0 breq .+2 ; 0x802 <Motion_Excute+0x310>
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