📄 motorctrl.lst
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603 .stabn 68,0,233,.LM61-motorCommand
604 .LM61:
605 0304 0F90 pop __tmp_reg__
606 0306 0F90 pop __tmp_reg__
607 0308 0F90 pop __tmp_reg__
608 030a 80E0 ldi r24,lo8(__c.6)
609 030c 90E0 ldi r25,hi8(__c.6)
610 030e 9F93 push r25
611 0310 8F93 push r24
612 0312 DF92 push r13
613 0314 0E94 0000 call rprintf1RamRom
234:motorctrl.c **** rprintfNum(10, 7, TRUE, ' ', Controller.output);
614 .stabn 68,0,234,.LM62-motorCommand
615 .LM62:
616 0318 E090 0000 lds r14,Controller+36
617 031c F090 0000 lds r15,(Controller+36)+1
618 0320 0091 0000 lds r16,(Controller+36)+2
619 0324 1091 0000 lds r17,(Controller+36)+3
620 0328 20E2 ldi r18,lo8(32)
621 032a 4FEF ldi r20,lo8(-1)
622 032c 67E0 ldi r22,lo8(7)
623 032e 8AE0 ldi r24,lo8(10)
624 0330 0E94 0000 call rprintfNum
235:motorctrl.c **** rprintfCRLF();
625 .stabn 68,0,235,.LM63-motorCommand
626 .LM63:
627 0334 0E94 0000 call rprintfCRLF
236:motorctrl.c **** ServiceFlag=FALSE;
628 .stabn 68,0,236,.LM64-motorCommand
629 .LM64:
630 0338 C092 0000 sts ServiceFlag,r12
631 .L13:
632 033c 0F90 pop __tmp_reg__
633 033e 0F90 pop __tmp_reg__
634 0340 0F90 pop __tmp_reg__
635 0342 5ACF rjmp .L12
237:motorctrl.c **** }
238:motorctrl.c **** }
239:motorctrl.c ****
240:motorctrl.c **** }
636 .stabn 68,0,240,.LM65-motorCommand
637 .LM65:
638 .LBE2:
639 /* epilogue: frame size=1 */
640 /* epilogue: noreturn */
641 /* epilogue end (size=0) */
642 /* function motorCommand size 388 (372) */
643 .size motorCommand, .-motorCommand
644 .stabs "c:(9,1)",128,0,137,1
645 .stabn 192,0,0,.LBB2-motorCommand
646 .stabn 224,0,0,.LBE2-motorCommand
647 .Lscope1:
648 .stabs "",36,0,0,.Lscope1-motorCommand
649 .section .progmem.data
650 .type __c.7, @object
651 .size __c.7, 27
652 __c.7:
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 17
653 003d 5365 7420 .string "Set control input to: %d\r\n"
653 636F 6E74
653 726F 6C20
653 696E 7075
653 7420 746F
654 .text
655 .stabs "motorPosGo:F(0,20)",36,0,243,motorPosGo
656 .global motorPosGo
657 .type motorPosGo, @function
658 motorPosGo:
241:motorctrl.c ****
242:motorctrl.c **** void motorPosGo(void)
243:motorctrl.c **** {
659 .stabn 68,0,243,.LM66-motorPosGo
660 .LM66:
661 /* prologue: frame size=0 */
662 /* prologue end (size=0) */
244:motorctrl.c **** Controller.input = cmdlineGetArgInt(1);
663 .stabn 68,0,244,.LM67-motorPosGo
664 .LM67:
665 .LBB3:
666 0344 81E0 ldi r24,lo8(1)
667 0346 0E94 0000 call cmdlineGetArgInt
668 034a DC01 movw r26,r24
669 034c CB01 movw r24,r22
670 034e 8093 0000 sts Controller+40,r24
671 0352 9093 0000 sts (Controller+40)+1,r25
672 0356 A093 0000 sts (Controller+40)+2,r26
673 035a B093 0000 sts (Controller+40)+3,r27
245:motorctrl.c **** rprintf("Set control input to: %d\r\n", Controller.input);
674 .stabn 68,0,245,.LM68-motorPosGo
675 .LM68:
676 035e 8091 0000 lds r24,Controller+40
677 0362 9091 0000 lds r25,(Controller+40)+1
678 0366 A091 0000 lds r26,(Controller+40)+2
679 036a B091 0000 lds r27,(Controller+40)+3
680 036e BF93 push r27
681 0370 AF93 push r26
682 0372 9F93 push r25
683 0374 8F93 push r24
684 0376 80E0 ldi r24,lo8(__c.7)
685 0378 90E0 ldi r25,hi8(__c.7)
686 037a 9F93 push r25
687 037c 8F93 push r24
688 037e 81E0 ldi r24,lo8(1)
689 0380 8F93 push r24
690 0382 0E94 0000 call rprintf1RamRom
691 0386 8DB7 in r24,__SP_L__
692 0388 9EB7 in r25,__SP_H__
693 .LBE3:
694 038a 0796 adiw r24,7
695 038c 0FB6 in __tmp_reg__,__SREG__
696 038e F894 cli
697 0390 9EBF out __SP_H__,r25
698 0392 0FBE out __SREG__,__tmp_reg__
699 0394 8DBF out __SP_L__,r24
246:motorctrl.c **** }
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 18
700 .stabn 68,0,246,.LM69-motorPosGo
701 .LM69:
702 /* epilogue: frame size=0 */
703 0396 0895 ret
704 /* epilogue end (size=1) */
705 /* function motorPosGo size 42 (41) */
706 .size motorPosGo, .-motorPosGo
707 .Lscope2:
708 .stabs "",36,0,0,.Lscope2-motorPosGo
709 .section .progmem.data
710 .type __c.8, @object
711 .size __c.8, 25
712 __c.8:
713 0058 436F 6E74 .string "Control coeffs set to:\r\n"
713 726F 6C20
713 636F 6566
713 6673 2073
713 6574 2074
714 .type __c.9, @object
715 .size __c.9, 4
716 __c.9:
717 0071 4B70 3D00 .string "Kp="
718 .type __c.10, @object
719 .size __c.10, 4
720 __c.10:
721 0075 4B69 3D00 .string "Ki="
722 .type __c.11, @object
723 .size __c.11, 4
724 __c.11:
725 0079 4B64 3D00 .string "Kd="
726 .text
727 .stabs "motorGetCoeffs:F(0,20)",36,0,249,motorGetCoeffs
728 .global motorGetCoeffs
729 .type motorGetCoeffs, @function
730 motorGetCoeffs:
247:motorctrl.c ****
248:motorctrl.c **** void motorGetCoeffs(void)
249:motorctrl.c **** {
731 .stabn 68,0,249,.LM70-motorGetCoeffs
732 .LM70:
733 /* prologue: frame size=0 */
734 0398 EF92 push r14
735 039a FF92 push r15
736 039c 0F93 push r16
737 039e 1F93 push r17
738 /* prologue end (size=4) */
250:motorctrl.c **** rprintf("Control coeffs set to:\r\n");
739 .stabn 68,0,250,.LM71-motorGetCoeffs
740 .LM71:
741 .LBB4:
742 03a0 80E0 ldi r24,lo8(__c.8)
743 03a2 90E0 ldi r25,hi8(__c.8)
744 03a4 9F93 push r25
745 03a6 8F93 push r24
746 03a8 81E0 ldi r24,lo8(1)
747 03aa 8F93 push r24
748 03ac 0E94 0000 call rprintf1RamRom
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 19
251:motorctrl.c **** rprintfProgStrM("Kp="); rprintfNum(10, 6, TRUE, ' ', Controller.Kp); rprintfCRLF();
749 .stabn 68,0,251,.LM72-motorGetCoeffs
750 .LM72:
751 03b0 0F90 pop __tmp_reg__
752 03b2 0F90 pop __tmp_reg__
753 03b4 0F90 pop __tmp_reg__
754 03b6 80E0 ldi r24,lo8(__c.9)
755 03b8 90E0 ldi r25,hi8(__c.9)
756 03ba 0E94 0000 call rprintfProgStr
757 03be E090 0000 lds r14,Controller
758 03c2 F090 0000 lds r15,(Controller)+1
759 03c6 0091 0000 lds r16,(Controller)+2
760 03ca 1091 0000 lds r17,(Controller)+3
761 03ce 20E2 ldi r18,lo8(32)
762 03d0 4FEF ldi r20,lo8(-1)
763 03d2 66E0 ldi r22,lo8(6)
764 03d4 8AE0 ldi r24,lo8(10)
765 03d6 0E94 0000 call rprintfNum
766 03da 0E94 0000 call rprintfCRLF
252:motorctrl.c **** rprintfProgStrM("Ki="); rprintfNum(10, 6, TRUE, ' ', Controller.Ki); rprintfCRLF();
767 .stabn 68,0,252,.LM73-motorGetCoeffs
768 .LM73:
769 03de 80E0 ldi r24,lo8(__c.10)
770 03e0 90E0 ldi r25,hi8(__c.10)
771 03e2 0E94 0000 call rprintfProgStr
772 03e6 E090 0000 lds r14,Controller+4
773 03ea F090 0000 lds r15,(Controller+4)+1
774 03ee 0091 0000 lds r16,(Controller+4)+2
775 03f2 1091 0000 lds r17,(Controller+4)+3
776 03f6 20E2 ldi r18,lo8(32)
777 03f8 4FEF ldi r20,lo8(-1)
778 03fa 66E0 ldi r22,lo8(6)
779 03fc 8AE0 ldi r24,lo8(10)
780 03fe 0E94 0000 call rprintfNum
781 0402 0E94 0000 call rprintfCRLF
253:motorctrl.c **** rprintfProgStrM("Kd="); rprintfNum(10, 6, TRUE, ' ', Controller.Kd); rprintfCRLF();
782 .stabn 68,0,253,.LM74-motorGetCoeffs
783 .LM74:
784 0406 80E0 ldi r24,lo8(__c.11)
785 0408 90E0 ldi r25,hi8(__c.11)
786 040a 0E94 0000 call rprintfProgStr
787 040e E090 0000 lds r14,Controller+8
788 0412 F090 0000 lds r15,(Controller+8)+1
789 0416 0091 0000 lds r16,(Controller+8)+2
790 041a 1091 0000 lds r17,(Controller+8)+3
791 041e 20E2 ldi r18,lo8(32)
792 0420 4FEF ldi r20,lo8(-1)
793 0422 66E0 ldi r22,lo8(6)
794 0424 8AE0 ldi r24,lo8(10)
795 0426 0E94 0000 call rprintfNum
796 042a 0E94 0000 call rprintfCRLF
254:motorctrl.c **** }
797 .stabn 68,0,254,.LM75-motorGetCoeffs
798 .LM75:
799 .LBE4:
800 /* epilogue: frame size=0 */
801 042e 1F91 pop r17
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 20
802 0430 0F91 pop r16
803 0432 FF90 pop r15
804 0434 EF90 pop r14
805 0436 0895 ret
806 /* epilogue end (size=5) */
807 /* function motorGetCoeffs size 80 (71) */
808 .size motorGetCoeffs, .-motorGetCoeffs
809 .Lscope3:
810 .stabs "",36,0,0,.Lscope3-motorGetCoeffs
811 .stabs "motorSetCoeffs:F(0,20)",36,0,257,motorSetCoeffs
812 .global motorSetCoeffs
813 .type motorSetCoeffs, @function
814 motorSetCoeffs:
255:motorctrl.c ****
256:motorctrl.c **** void motorSetCoeffs(void)
257:motorctrl.c **** {
815 .stabn 68,0,257,.LM76-motorSetCoeffs
816 .LM76:
817 /* prologue: frame size=0 */
818 /* prologue end (size=0) */
258:motorctrl.c **** Controller.Kp = cmdlineGetArgInt(1);
819 .stabn 68,0,258,.LM77-motorSetCoeffs
820 .LM77:
821 0438 81E0 ldi r24,lo8(1)
822 043a 0E94 0000 call cmdlineGetArgInt
823 043e DC01 movw r26,r24
824 0440 CB01 movw r24,r22
825 0442 8093 0000 sts Controller,r24
826 0446 9093 0000 sts (Controller)+1,r25
827 044a A093 0000 sts (Controller)+2,r26
828 044e B093 0000 sts (Controller)+3,r27
259:motorctrl.c **** Controller.Ki = cmdlineGetArgInt(2);
829 .stabn 68,0,259,.LM78-motorSetCoeffs
830 .LM78:
831 0452 82E0 ldi r24,lo8(2)
832 0454 0E94 0000 call cmdlineGetArgInt
833 0458 DC01 movw r26,r24
834 045a CB01 movw r24,r22
835 045c 8093 0000 sts Controller+4,r24
836 0460 9093 0000 sts (Controller+4)+1,r25
837 0464 A093 0000 sts (Controller+4)+2,r26
838 0468 B093 0000 sts (Controller+4)+3,r27
260:motorctrl.c **** Controller.Kd = cmdlineGetArgInt(3);
839 .stabn 68,0,260,.LM79-motorSetCoeffs
840 .LM79:
841 046c 83E0 ldi r24,lo8(3)
842 046e 0E94 0000 call cmdlineGetArgInt
843 0472 DC01 movw r26,r24
844 0474 CB01 movw r24,r22
845 0476 8093 0000 sts Controller+8,r24
846 047a 9093 0000 sts (Controller+8)+1,r25
847 047e A093 0000 sts (Controller+8)+2,r26
848 0482 B093 0000 sts (Controller+8)+3,r27
261:motorctrl.c ****
262:motorctrl.c **** motorGetCoeffs();
849 .stabn 68,0,262,.LM80-motorSetCoeffs
850 .LM80:
GAS LISTING C:\DOCUME~1\pstang\LOCALS~1\Temp/cciGaaaa.s page 21
851 0486 0E94 0000 call motorGetCoeffs
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