📄 motor_control.lst
字号:
279 ldi r22,lo8(500)
280 ldi r23,hi8(500)
281 008a 0197 ldi r24,lo8(58)
282 call motor
284 008c 01F4 .LM21:
285 mov r16,r17
286 ldi r17,lo8(0)
287 .L11:
129:motor_control.c ****
130:motor_control.c **** _delay_ms(1000);
131:motor_control.c **** hand_open();
289 LM23-.LFBB2
290 .LM23:
291 008e 40E2 lds r24,status
292 0090 53E0 sbrs r24,6
293 0092 64EF rjmp .L10
294 0094 71E0 call getTime
295 0096 8AE3 ldi r25,lo8(0)
296 0098 0E94 0000 sub r24,r16
132:motor_control.c ****
133:motor_control.c **** while(1)
134:motor_control.c **** {
135:motor_control.c **** get_sensor();
136:motor_control.c **** if(Hold_pole == 0 || (getTime() - temp_time) > 3)
297 ,r17
298 sbiw r24,4
299 009c 012F brlt .L11
300 009e 10E0 .L10:
302 .LM24:
303 ldi r20,lo8(0)
304 00a0 0E94 0000 ldi r21,hi8(0)
305 ldi r22,lo8(0)
306 ldi r23,hi8(0)
307 00a4 8091 0000 ldi r24,lo8(26)
308 00a8 86FF call motor
310 00ac 0E94 0000 .LM25:
311 00b0 90E0 ldi r20,lo8(1600)
312 00b2 801B ldi r21,hi8(1600)
313 00b4 910B ldi r22,lo8(500)
314 00b6 0497 ldi r23,hi8(500)
315 00b8 04F0 ldi r24,lo8(58)
316 call motor
137:motor_control.c **** break;
138:motor_control.c **** }
139:motor_control.c **** motor(0x1a, 0, 0);
317 abn 68,0,114,.LM26-.LFBB2
318 .LM26:
319 00ba 40E0 std Y+1,__zero_reg__
320 00bc 50E0 .LBB67:
321 00be 60E0 .LBB68:
322 00c0 70E0 .LBB69:
323 00c2 8AE1 .LBB70:
140:motor_control.c ****
141:motor_control.c **** hand_close();
325 :
327 00c8 40E4 .LM27:
328 00ca 56E0 ldi r18,lo8(400)
329 00cc 64EF ldi r19,hi8(400)
330 00ce 71E0 rjmp .L12
331 00d0 8AE3 .L14:
332 00d2 0E94 0000 .LBE70:
333 .LBE69:
334 .LBE68:
335 .LBE67:
337 00d6 1982 .Ltext13:
339 .LM28:
340 ldi r24,lo8(10000)
341 ldi r25,hi8(10000)
342 .L13:
343 .LBB74:
344 .LBB73:
345 .LBB72:
346 00d8 20E9 .LBB71:
348 00dc 00C0 .Ltext14:
350 .LM29:
351 movw r30,r18
352 /* #APP */
353 ; 105 "c:/winavr-20080512/lib/gcc/../../avr/include/util/delay_basic.h" 1
354 1: sbiw r30,1
355 brne 1b
356 ; 0 "" 2
357 /* #NOAPP */
358 00de 80E1 .LBE71:
359 00e0 97E2 .LBE72:
361 .Ltext15:
363 .LM30:
364 sbiw r24,1
366 .LM31:
367 brne .L13
368 .LBE73:
369 00e2 F901 .LBE74:
371 .Ltext16:
373 00e6 01F4 .LM32:
374 ldd r24,Y+1
375 subi r24,lo8(-(1))
376 std Y+1,r24
377 .L12:
378 ldd r24,Y+1
379 cpi r24,lo8(6)
380 brlo .L14
381 .LBE66:
382 00e8 0197 .LBE65:
384 .LM33:
385 00ea 01F4 ldi r20,lo8(-1000)
386 ldi r21,hi8(-1000)
387 ldi r22,lo8(8900)
388 ldi r23,hi8(8900)
389 ldi r24,lo8(42)
390 call motor
392 00ec 8981 .LM34:
393 00ee 8F5F ldi r20,lo8(-100)
394 00f0 8983 ldi r21,hi8(-100)
395 ldi r22,lo8(-100)
396 00f2 8981 ldi r23,hi8(-100)
397 00f4 8630 ldi r24,lo8(26)
398 00f6 00F0 call motor
399 ldi r24,lo8(10000)
400 ldi r25,hi8(10000)
142:motor_control.c **** n_second(6);
143:motor_control.c ****
144:motor_control.c **** motor(0x2a, 8900, -1000);
401 r/include/util/delay_basic.h",132,0,0,.Ltext17
402 .Ltext17:
404 00fa 5CEF .LM35:
405 00fc 64EC ldi r18,lo8(400)
406 00fe 72E2 ldi r19,hi8(400)
407 0100 8AE2 .L15:
408 0102 0E94 0000 movw r30,r18
145:motor_control.c ****
146:motor_control.c **** motor(0x1a, -100, -100);
409 */
410 ; 105 "c:/winavr-20080512/lib/gcc/../../avr/include/util/delay_basic.h" 1
411 0106 4CE9 1: sbiw r30,1
412 0108 5FEF brne 1b
413 010a 6CE9 ; 0 "" 2
414 010c 7FEF /* #NOAPP */
415 010e 8AE1 .LBE78:
416 0110 0E94 0000 .LBE77:
418 0116 97E2 .Ltext18:
420 .LM36:
421 sbiw r24,1
423 .LM37:
424 brne .L15
425 .LBE76:
426 .LBE75:
428 011a 31E0 .Ltext19:
430 011c F901 .LM38:
431 call uartOpen
433 011e 3197 .LM39:
434 0120 01F4 call get_position
436 .LM40:
437 ldi r22,lo8(0)
438 ldi r23,hi8(0)
439 ldi r24,lo8(0)
440 ldi r25,hi8(0)
441 call rotate
443 0122 0197 .LM41:
444 ldi r20,lo8(-100)
445 ldi r21,hi8(-100)
446 0124 01F4 ldi r22,lo8(-100)
447 ldi r23,hi8(-100)
448 ldi r24,lo8(26)
449 call motor
450 ldi r24,lo8(10000)
147:motor_control.c **** _delay_ms(1000);
148:motor_control.c ****
149:motor_control.c **** uartOpen();
451 :
452 .LBB82:
150:motor_control.c **** get_position();
454 ext20:
456 012a 0E94 0000 .LM42:
151:motor_control.c **** rotate(0, 0);
457 i r18,lo8(400)
458 ldi r19,hi8(400)
459 012e 60E0 .L16:
460 0130 70E0 movw r30,r18
461 0132 80E0 /* #APP */
462 0134 90E0 ; 105 "c:/winavr-20080512/lib/gcc/../../avr/include/util/delay_basic.h" 1
463 0136 0E94 0000 1: sbiw r30,1
152:motor_control.c ****
153:motor_control.c **** motor(0x1a, -100, -100);
464 b
465 ; 0 "" 2
466 013a 4CE9 /* #NOAPP */
467 013c 5FEF .LBE82:
468 013e 6CE9 .LBE81:
470 0142 8AE1 .Ltext21:
472 0148 80E1 .LM43:
473 014a 97E2 sbiw r24,1
475 .LM44:
476 brne .L16
477 .LBE80:
478 .LBE79:
480 .Ltext22:
482 014c 20E9 .LM45:
483 014e 31E0 ldi r20,lo8(0)
484 ldi r21,hi8(0)
485 0150 F901 ldi r22,lo8(0)
486 ldi r23,hi8(0)
487 ldi r24,lo8(26)
488 0152 3197 call motor
489 0154 01F4 /* epilogue start */
491 .LM46:
492 pop __tmp_reg__
493 pop r28
494 pop r29
495 pop r17
496 pop r16
497 ret
154:motor_control.c **** _delay_ms(1000);
155:motor_control.c **** motor(0x1a, 0, 0);
506 icks:r(4,4)",64,0,0,24
156:motor_control.c **** }
515 92,0,0,.LBB68-.LFBB2
540 .Lscope2:
542 .global main
544 main:
546 .LM47:
547 .LFBB3:
548 push r17
549 push r28
550 push r29
551 /* prologue: function */
552 /* frame size = 0 */
554 .LM48:
555 in r24,55-32
556 ori r24,lo8(-32)
557 out 55-32,r24
559 .LM49:
560 call uartInit
562 .LM50:
563 call sensorInit
565 .LM51:
566 call timeInit
568 .LM52:
569 /* #APP */
570 ; 21 "motor_control.c" 1
571 sei
572 ; 0 "" 2
574 0174 1F93 .LM53:
575 0176 CF93 /* #NOAPP */
576 0178 DF93 call get_position
578 .LM54:
579 call get_cheese
581 017a 87B3 .LM55:
582 017c 806E ldi r22,lo8(0)
583 017e 87BB ldi r23,hi8(0)
584 ldi r24,lo8(90)
585 ldi r25,hi8(90)
586 0180 0E94 0000 call rotate
588 .LM56:
589 0184 0E94 0000 call getTime
590 mov r17,r24
592 0188 0E94 0000 .LM57:
593 ldi r20,lo8(150)
594 ldi r21,hi8(150)
595 ldi r22,lo8(150)
596 ldi r23,hi8(150)
597 018c 7894 ldi r24,lo8(26)
598 call motor
600 .LM58:
601 call get_position
603 .LM59:
604 mov r28,r17
605 0192 0E94 0000 ldi r29,lo8(0)
606 rjmp .L25
607 .L27:
609 0198 70E0 .LM60:
610 019a 8AE5 call get_position
611 019c 90E0 .L25:
613 .LM61:
614 call getTime
615 01a2 0E94 0000 ldi r25,lo8(0)
616 01a6 182F sub r24,r28
617 sbc r25,r29
618 sbiw r24,6
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