📄 motorctrl.lst
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263:motorctrl.c **** }
852 .stabn 68,0,263,.LM81-motorSetCoeffs
853 .LM81:
854 /* epilogue: frame size=0 */
855 048a 0895 ret
856 /* epilogue end (size=1) */
857 /* function motorSetCoeffs size 42 (41) */
858 .size motorSetCoeffs, .-motorSetCoeffs
859 .Lscope4:
860 .stabs "",36,0,0,.Lscope4-motorSetCoeffs
861 .section .progmem.data
862 .type __c.12, @object
863 .size __c.12, 26
864 __c.12:
865 007d 436F 6E74 .string "Control Mode set to: %d\r\n"
865 726F 6C20
865 4D6F 6465
865 2073 6574
865 2074 6F3A
866 .text
867 .stabs "motorSetMode:F(0,20)",36,0,266,motorSetMode
868 .global motorSetMode
869 .type motorSetMode, @function
870 motorSetMode:
264:motorctrl.c ****
265:motorctrl.c **** void motorSetMode(void)
266:motorctrl.c **** {
871 .stabn 68,0,266,.LM82-motorSetMode
872 .LM82:
873 /* prologue: frame size=0 */
874 /* prologue end (size=0) */
267:motorctrl.c **** Controller.mode = cmdlineGetArgInt(1);
875 .stabn 68,0,267,.LM83-motorSetMode
876 .LM83:
877 .LBB5:
878 048c 81E0 ldi r24,lo8(1)
879 048e 0E94 0000 call cmdlineGetArgInt
880 0492 DC01 movw r26,r24
881 0494 CB01 movw r24,r22
882 0496 8093 0000 sts Controller+52,r24
268:motorctrl.c **** rprintf("Control Mode set to: %d\r\n", Controller.mode);
883 .stabn 68,0,268,.LM84-motorSetMode
884 .LM84:
885 049a 8091 0000 lds r24,Controller+52
886 049e 9927 clr r25
887 04a0 9F93 push r25
888 04a2 8F93 push r24
889 04a4 80E0 ldi r24,lo8(__c.12)
890 04a6 90E0 ldi r25,hi8(__c.12)
891 04a8 9F93 push r25
892 04aa 8F93 push r24
893 04ac 81E0 ldi r24,lo8(1)
894 04ae 8F93 push r24
895 04b0 0E94 0000 call rprintf1RamRom
896 .LBE5:
897 04b4 0F90 pop __tmp_reg__
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 22
898 04b6 0F90 pop __tmp_reg__
899 04b8 0F90 pop __tmp_reg__
900 04ba 0F90 pop __tmp_reg__
901 04bc 0F90 pop __tmp_reg__
269:motorctrl.c **** }
902 .stabn 68,0,269,.LM85-motorSetMode
903 .LM85:
904 /* epilogue: frame size=0 */
905 04be 0895 ret
906 /* epilogue end (size=1) */
907 /* function motorSetMode size 26 (25) */
908 .size motorSetMode, .-motorSetMode
909 .Lscope5:
910 .stabs "",36,0,0,.Lscope5-motorSetMode
911 .stabs "motorShowPID:F(0,20)",36,0,272,motorShowPID
912 .global motorShowPID
913 .type motorShowPID, @function
914 motorShowPID:
270:motorctrl.c ****
271:motorctrl.c **** void motorShowPID(void)
272:motorctrl.c **** {
915 .stabn 68,0,272,.LM86-motorShowPID
916 .LM86:
917 /* prologue: frame size=0 */
918 /* prologue end (size=0) */
273:motorctrl.c **** if(cmdlineGetArgInt(1))
919 .stabn 68,0,273,.LM87-motorShowPID
920 .LM87:
921 04c0 81E0 ldi r24,lo8(1)
922 04c2 0E94 0000 call cmdlineGetArgInt
923 04c6 DC01 movw r26,r24
924 04c8 CB01 movw r24,r22
925 04ca 0097 sbiw r24,0
926 04cc A105 cpc r26,__zero_reg__
927 04ce B105 cpc r27,__zero_reg__
928 04d0 31F0 breq .L19
274:motorctrl.c **** timerAttach(TIMER2OVERFLOW_INT, timerService);
929 .stabn 68,0,274,.LM88-motorShowPID
930 .LM88:
931 04d2 60E0 ldi r22,lo8(pm(timerService))
932 04d4 70E0 ldi r23,hi8(pm(timerService))
933 04d6 85E0 ldi r24,lo8(5)
934 04d8 0E94 0000 call timerAttach
275:motorctrl.c **** else
276:motorctrl.c **** timerDetach(TIMER2OVERFLOW_INT);
277:motorctrl.c **** }
935 .stabn 68,0,277,.LM89-motorShowPID
936 .LM89:
937 04dc 0895 ret
938 .L19:
939 .stabn 68,0,276,.LM90-motorShowPID
940 .LM90:
941 04de 85E0 ldi r24,lo8(5)
942 04e0 0E94 0000 call timerDetach
943 .stabn 68,0,277,.LM91-motorShowPID
944 .LM91:
945 04e4 0895 ret
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 23
946 /* epilogue: frame size=0 */
947 04e6 0895 ret
948 /* epilogue end (size=1) */
949 /* function motorShowPID size 20 (19) */
950 .size motorShowPID, .-motorShowPID
951 .Lscope6:
952 .stabs "",36,0,0,.Lscope6-motorShowPID
953 .section .progmem.data
954 .type __c.13, @object
955 .size __c.13, 26
956 __c.13:
957 0097 4176 6169 .string "Available commands are:\r\n"
957 6C61 626C
957 6520 636F
957 6D6D 616E
957 6473 2061
958 .type __c.14, @object
959 .size __c.14, 57
960 __c.14:
961 00b1 6865 6C70 .string "help - displays available commands\r\n"
961 2020 2020
961 2020 2020
961 2020 2020
961 2020 2020
962 .type __c.15, @object
963 .size __c.15, 50
964 __c.15:
965 00ea 676F 205B .string "go [x] - set controller input\r\n"
965 785D 2020
965 2020 2020
965 2020 2020
965 2020 2020
966 .type __c.16, @object
967 .size __c.16, 52
968 __c.16:
969 011c 6765 7463 .string "getcoeffs - show controller coeffs\r\n"
969 6F65 6666
969 7320 2020
969 2020 2020
969 2020 2020
970 .type __c.17, @object
971 .size __c.17, 51
972 __c.17:
973 0150 7365 7463 .string "setcoeffs [kp] [ki] [kd] - set controller coeffs\r\n"
973 6F65 6666
973 7320 5B6B
973 705D 205B
973 6B69 5D20
974 .type __c.18, @object
975 .size __c.18, 52
976 __c.18:
977 0183 6D6F 6465 .string "mode [m] - set motor control mode\r\n"
977 205B 6D5D
977 2020 2020
977 2020 2020
977 2020 2020
978 .type __c.19, @object
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 24
979 .size __c.19, 51
980 __c.19:
981 01b7 2020 2020 .string " m=0: position control\r\n"
981 2020 2020
981 2020 2020
981 2020 2020
981 2020 2020
982 .type __c.20, @object
983 .size __c.20, 51
984 __c.20:
985 01ea 2020 2020 .string " m=1: velocity control\r\n"
985 2020 2020
985 2020 2020
985 2020 2020
985 2020 2020
986 .type __c.21, @object
987 .size __c.21, 51
988 __c.21:
989 021d 656E 6374 .string "enctest - encoder hardware test\r\n"
989 6573 7420
989 2020 2020
989 2020 2020
989 2020 2020
990 .type __c.22, @object
991 .size __c.22, 60
992 __c.22:
993 0250 6D6F 746F .string "motortest - motor hardware and driver test\r\n"
993 7274 6573
993 7420 2020
993 2020 2020
993 2020 2020
994 .text
995 .stabs "motorHelp:F(0,20)",36,0,280,motorHelp
996 .global motorHelp
997 .type motorHelp, @function
998 motorHelp:
278:motorctrl.c ****
279:motorctrl.c **** void motorHelp(void)
280:motorctrl.c **** {
999 .stabn 68,0,280,.LM92-motorHelp
1000 .LM92:
1001 /* prologue: frame size=0 */
1002 04e8 1F93 push r17
1003 /* prologue end (size=1) */
281:motorctrl.c **** rprintfCRLF();
1004 .stabn 68,0,281,.LM93-motorHelp
1005 .LM93:
1006 .LBB6:
1007 04ea 0E94 0000 call rprintfCRLF
282:motorctrl.c ****
283:motorctrl.c **** rprintf("Available commands are:\r\n");
1008 .stabn 68,0,283,.LM94-motorHelp
1009 .LM94:
1010 04ee 80E0 ldi r24,lo8(__c.13)
1011 04f0 90E0 ldi r25,hi8(__c.13)
1012 04f2 9F93 push r25
1013 04f4 8F93 push r24
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 25
1014 04f6 11E0 ldi r17,lo8(1)
1015 04f8 1F93 push r17
1016 04fa 0E94 0000 call rprintf1RamRom
284:motorctrl.c **** rprintf("help - displays available commands\r\n");
1017 .stabn 68,0,284,.LM95-motorHelp
1018 .LM95:
1019 04fe 0F90 pop __tmp_reg__
1020 0500 0F90 pop __tmp_reg__
1021 0502 0F90 pop __tmp_reg__
1022 0504 80E0 ldi r24,lo8(__c.14)
1023 0506 90E0 ldi r25,hi8(__c.14)
1024 0508 9F93 push r25
1025 050a 8F93 push r24
1026 050c 1F93 push r17
1027 050e 0E94 0000 call rprintf1RamRom
285:motorctrl.c **** rprintf("go [x] - set controller input\r\n");
1028 .stabn 68,0,285,.LM96-motorHelp
1029 .LM96:
1030 0512 0F90 pop __tmp_reg__
1031 0514 0F90 pop __tmp_reg__
1032 0516 0F90 pop __tmp_reg__
1033 0518 80E0 ldi r24,lo8(__c.15)
1034 051a 90E0 ldi r25,hi8(__c.15)
1035 051c 9F93 push r25
1036 051e 8F93 push r24
1037 0520 1F93 push r17
1038 0522 0E94 0000 call rprintf1RamRom
286:motorctrl.c **** rprintf("getcoeffs - show controller coeffs\r\n");
1039 .stabn 68,0,286,.LM97-motorHelp
1040 .LM97:
1041 0526 0F90 pop __tmp_reg__
1042 0528 0F90 pop __tmp_reg__
1043 052a 0F90 pop __tmp_reg__
1044 052c 80E0 ldi r24,lo8(__c.16)
1045 052e 90E0 ldi r25,hi8(__c.16)
1046 0530 9F93 push r25
1047 0532 8F93 push r24
1048 0534 1F93 push r17
1049 0536 0E94 0000 call rprintf1RamRom
287:motorctrl.c **** rprintf("setcoeffs [kp] [ki] [kd] - set controller coeffs\r\n");
1050 .stabn 68,0,287,.LM98-motorHelp
1051 .LM98:
1052 053a 0F90 pop __tmp_reg__
1053 053c 0F90 pop __tmp_reg__
1054 053e 0F90 pop __tmp_reg__
1055 0540 80E0 ldi r24,lo8(__c.17)
1056 0542 90E0 ldi r25,hi8(__c.17)
1057 0544 9F93 push r25
1058 0546 8F93 push r24
1059 0548 1F93 push r17
1060 054a 0E94 0000 call rprintf1RamRom
288:motorctrl.c **** rprintf("mode [m] - set motor control mode\r\n");
1061 .stabn 68,0,288,.LM99-motorHelp
1062 .LM99:
1063 054e 0F90 pop __tmp_reg__
1064 0550 0F90 pop __tmp_reg__
1065 0552 0F90 pop __tmp_reg__
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 26
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