spokepov.lss

旋转16个LED灯控制程序

spokepov.elf:     file format elf32-avr

Sections:
Idx Name          Size      VMA       LMA       File off  Algn
  0 .text         0000074a  00000000  00000000  00000094  2**0
                  CONTENTS, ALLOC, LOAD, READONLY, CODE
  1 .data         0000000c  00800060  0000074a  000007de  2**0
                  CONTENTS, ALLOC, LOAD, DATA
  2 .bss          00000044  0080006c  0080006c  000007ea  2**0
                  ALLOC
  3 .noinit       00000000  008000b0  008000b0  000007ea  2**0
                  CONTENTS
  4 .eeprom       00000000  00810000  00810000  000007ea  2**0
                  CONTENTS
  5 .stab         00000354  00000000  00000000  000007ec  2**2
                  CONTENTS, READONLY, DEBUGGING
  6 .stabstr      00000084  00000000  00000000  00000b40  2**0
                  CONTENTS, READONLY, DEBUGGING
  7 .debug_aranges 00000028  00000000  00000000  00000bc4  2**0
                  CONTENTS, READONLY, DEBUGGING
  8 .debug_pubnames 000001f3  00000000  00000000  00000bec  2**0
                  CONTENTS, READONLY, DEBUGGING
  9 .debug_info   00000748  00000000  00000000  00000ddf  2**0
                  CONTENTS, READONLY, DEBUGGING
 10 .debug_abbrev 000001f6  00000000  00000000  00001527  2**0
                  CONTENTS, READONLY, DEBUGGING
 11 .debug_line   000005cf  00000000  00000000  0000171d  2**0
                  CONTENTS, READONLY, DEBUGGING
 12 .debug_str    0000028b  00000000  00000000  00001cec  2**0
                  CONTENTS, READONLY, DEBUGGING
Disassembly of section .text:

00000000 <__vectors>:
   0:	49 c0       	rjmp	.+146    	; 0x94 <__init>
   2:	63 c1       	rjmp	.+710    	; 0x2ca <__vector_1>
   4:	7c c1       	rjmp	.+760    	; 0x2fe <__vector_2>
   6:	5f c0       	rjmp	.+190    	; 0xc6 <__bad_interrupt>
   8:	b6 c0       	rjmp	.+364    	; 0x176 <__vector_4>
   a:	5d c0       	rjmp	.+186    	; 0xc6 <__bad_interrupt>
   c:	84 c0       	rjmp	.+264    	; 0x116 <__vector_6>
   e:	5b c0       	rjmp	.+182    	; 0xc6 <__bad_interrupt>
  10:	5a c0       	rjmp	.+180    	; 0xc6 <__bad_interrupt>
  12:	59 c0       	rjmp	.+178    	; 0xc6 <__bad_interrupt>
  14:	58 c0       	rjmp	.+176    	; 0xc6 <__bad_interrupt>
  16:	57 c0       	rjmp	.+174    	; 0xc6 <__bad_interrupt>
  18:	56 c0       	rjmp	.+172    	; 0xc6 <__bad_interrupt>
  1a:	55 c0       	rjmp	.+170    	; 0xc6 <__bad_interrupt>
  1c:	54 c0       	rjmp	.+168    	; 0xc6 <__bad_interrupt>
  1e:	53 c0       	rjmp	.+166    	; 0xc6 <__bad_interrupt>
  20:	52 c0       	rjmp	.+164    	; 0xc6 <__bad_interrupt>
  22:	51 c0       	rjmp	.+162    	; 0xc6 <__bad_interrupt>
  24:	50 c0       	rjmp	.+160    	; 0xc6 <__bad_interrupt>

00000026 <__ctors_end>:
  26:	00 00       	nop
  28:	01 00       	.word	0x0001	; ????
  2a:	00 03       	mulsu	r16, r16
  2c:	00 00       	nop
  2e:	05 00       	.word	0x0005	; ????
  30:	01 01       	movw	r0, r2
  32:	00 02       	muls	r16, r16
  34:	02 00       	.word	0x0002	; ????
  36:	04 03       	mulsu	r16, r20
  38:	00 08       	sbc	r0, r0
  3a:	06 01       	movw	r0, r12
  3c:	07 03       	mulsu	r16, r23
  3e:	03 04       	cpc	r0, r3
  40:	05 00       	.word	0x0005	; ????

00000042 <dInfo>:
  42:	00 00 2a 00 00 1b 00 00                             ..*.....

0000004a <lines>:
  4a:	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20                     
  5a:	20 20 20 20 53 70 6f 6b 65 50 4f 56 20 20 20 20         SpokePOV    
  6a:	20 20 20 20 52 50 4d 3a 30 30 30 30 20 20 20 20         RPM:0000    
  7a:	20 20 20 20 52 45 56 3a 30 30 30 30 20 20 20 20         REV:0000    
	...

0000008b <lineOffsets>:
  8b:	00 10 20 00 00 30 00 10 00                          .. ..0...

00000094 <__init>:
  94:	11 24       	eor	r1, r1
  96:	1f be       	out	0x3f, r1	; 63
  98:	cf ed       	ldi	r28, 0xDF	; 223
  9a:	cd bf       	out	0x3d, r28	; 61

0000009c <__do_copy_data>:
  9c:	10 e0       	ldi	r17, 0x00	; 0
  9e:	a0 e6       	ldi	r26, 0x60	; 96
  a0:	b0 e0       	ldi	r27, 0x00	; 0
  a2:	ea e4       	ldi	r30, 0x4A	; 74
  a4:	f7 e0       	ldi	r31, 0x07	; 7
  a6:	03 c0       	rjmp	.+6      	; 0xae <.do_copy_data_start>

000000a8 <.do_copy_data_loop>:
  a8:	c8 95       	lpm
  aa:	31 96       	adiw	r30, 0x01	; 1
  ac:	0d 92       	st	X+, r0

000000ae <.do_copy_data_start>:
  ae:	ac 36       	cpi	r26, 0x6C	; 108
  b0:	b1 07       	cpc	r27, r17
  b2:	d1 f7       	brne	.-12     	; 0xa8 <.do_copy_data_loop>

000000b4 <__do_clear_bss>:
  b4:	10 e0       	ldi	r17, 0x00	; 0
  b6:	ac e6       	ldi	r26, 0x6C	; 108
  b8:	b0 e0       	ldi	r27, 0x00	; 0
  ba:	01 c0       	rjmp	.+2      	; 0xbe <.do_clear_bss_start>

000000bc <.do_clear_bss_loop>:
  bc:	1d 92       	st	X+, r1

000000be <.do_clear_bss_start>:
  be:	a0 3b       	cpi	r26, 0xB0	; 176
  c0:	b1 07       	cpc	r27, r17
  c2:	e1 f7       	brne	.-8      	; 0xbc <.do_clear_bss_loop>
  c4:	56 c2       	rjmp	.+1196   	; 0x572 <main>

000000c6 <__bad_interrupt>:
  c6:	9c cf       	rjmp	.-200    	; 0x0 <__vectors>

000000c8 <clock_scroll>:
// Sends 4 bytes + sCount extra bits over the serial link
// to implement smooth scrolling.  Can be used with a 0
// parameter to just send out the regular 4 bytes.

void clock_scroll(uint8_t sCount) {
  c8:	cf 93       	push	r28
  ca:	c8 2f       	mov	r28, r24

  // First, send the basic 4 bytes, they go no matter what
  
  spi_transfer(fleds[0]);
  cc:	80 91 8a 00 	lds	r24, 0x008A
  d0:	00 d3       	rcall	.+1536   	; 0x6d2 <spi_transfer>
  spi_transfer(fleds[1]);
  d2:	80 91 8b 00 	lds	r24, 0x008B
  d6:	fd d2       	rcall	.+1530   	; 0x6d2 <spi_transfer>
  spi_transfer(fleds[2]);
  d8:	80 91 8c 00 	lds	r24, 0x008C
  dc:	fa d2       	rcall	.+1524   	; 0x6d2 <spi_transfer>
  spi_transfer(fleds[3]);
  de:	80 91 8d 00 	lds	r24, 0x008D
  e2:	f7 d2       	rcall	.+1518   	; 0x6d2 <spi_transfer>
 
  // If there is anything to do..
  
  if (sCount != 0) {
  e4:	cc 23       	and	r28, r28
  e6:	79 f0       	breq	.+30     	; 0x106 <__stack+0x27>
  
    // If we have < 8 bits to transfer
    
    if (sCount < 8) {
  e8:	c8 30       	cpi	r28, 0x08	; 8
  ea:	20 f4       	brcc	.+8      	; 0xf4 <__stack+0x15>
    
       // Then that is all that we need to do
       
       spi_transfer_n(fleds[4],sCount);
  ec:	6c 2f       	mov	r22, r28
  ee:	80 91 8e 00 	lds	r24, 0x008E
  f2:	08 c0       	rjmp	.+16     	; 0x104 <__stack+0x25>
       
    } else {
    
      // First latch out the full first 8 bits
       
  	  spi_transfer(fleds[4]);
  f4:	80 91 8e 00 	lds	r24, 0x008E
  f8:	ec d2       	rcall	.+1496   	; 0x6d2 <spi_transfer>
  	   
  	  // How many bits left to do?
  	   
  	  sCount = sCount - 8;
  fa:	c8 50       	subi	r28, 0x08	; 8
  	   
  	  if (sCount != 0) {
  fc:	21 f0       	breq	.+8      	; 0x106 <__stack+0x27>
  	   
        spi_transfer_n(fleds[5],sCount);
  fe:	6c 2f       	mov	r22, r28
 100:	80 91 8f 00 	lds	r24, 0x008F
 104:	d8 d2       	rcall	.+1456   	; 0x6b6 <spi_transfer_n>
         
  	  }
  	   
  	}
  	
  }
   
  // finally, latch the bits into the LEDS
  
  LATCH_SELECT_PORT |= _BV(FRONT);
 106:	94 9a       	sbi	0x12, 4	; 18
	...
  NOP; NOP; NOP; NOP;
  LATCH_SELECT_PORT &= ~_BV(FRONT);
 110:	94 98       	cbi	0x12, 4	; 18
 112:	cf 91       	pop	r28
 114:	08 95       	ret

00000116 <__vector_6>:

}

// TIMER0 interrupt handler.  This runs about every 8ms
// AFAICT.  It increments the hall_debounce and sensor_timer
// values until they pin.

// QUESTION: what's with the setting and clearing of PORTB0?
// According to the wiring diagram, it isn't connected to
// anything.  Is this vestigial code from when you were using
// Pin Change Interrupts?  Or is it debugger code so you
// can monitor the pins and tell when something happens.

SIGNAL (SIG_TIMER0_OVF) {
 116:	1f 92       	push	r1
 118:	0f 92       	push	r0
 11a:	0f b6       	in	r0, 0x3f	; 63
 11c:	0f 92       	push	r0
 11e:	11 24       	eor	r1, r1
 120:	8f 93       	push	r24
 122:	9f 93       	push	r25

  // *** PORTB |= 0x1;

  // Let hall_debounce just wrap around.  At worst it'll just
  // mess things up for one of the initial speedup rotations
  // of the blade...
  
  // if (hall_debounce != 0xFF)
  
  hall_debounce++;
 124:	80 91 87 00 	lds	r24, 0x0087
 128:	8f 5f       	subi	r24, 0xFF	; 255
 12a:	80 93 87 00 	sts	0x0087, r24
  
  if (sensor_timer.bytes.high_byte != 0xFF)
 12e:	80 91 89 00 	lds	r24, 0x0089
 132:	8f 3f       	cpi	r24, 0xFF	; 255
 134:	49 f0       	breq	.+18     	; 0x148 <__vector_6+0x32>
    sensor_timer.word++;
 136:	80 91 88 00 	lds	r24, 0x0088
 13a:	90 91 89 00 	lds	r25, 0x0089
 13e:	01 96       	adiw	r24, 0x01	; 1
 140:	90 93 89 00 	sts	0x0089, r25
 144:	80 93 88 00 	sts	0x0088, r24

  #if NUM_LINES > 0

    // Increment the line timer - we only need to do this
    // if we are scrolling
  
    line_timer++;				// increment the low byte
 148:	80 91 62 00 	lds	r24, 0x0062
 14c:	8f 5f       	subi	r24, 0xFF	; 255
 14e:	80 93 62 00 	sts	0x0062, r24
 152:	9f 91       	pop	r25
 154:	8f 91       	pop	r24
 156:	0f 90       	pop	r0
 158:	0f be       	out	0x3f, r0	; 63
 15a:	0f 90       	pop	r0
 15c:	1f 90       	pop	r1
 15e:	18 95       	reti

00000160 <set_all>:
  
  #endif

// *** PORTB &= ~0x1;

}

// Hack - I used to copy the topChar, etc. variables into local
// variables in the TIMER1 routine, but I am running out of stack space.  So instead
// I'm going to keep interrupts off during this routine and
// use the regular versions.  To make it easy to do this I'm
// remapping the local variables with defines.
  
// #define USE_LOCAL_TIMER1	1

// If USE_LOCAL_TIMER1 is not defined, then the TIMER1 routine will not
// enable interrupts.
  
// As we sweep around the circle, we display 256 radial pixel
// lines, once per TIMER1 interrupt.  This is broken down into
// 16 16-pixel wide characters, and we have two characters
// stacked vertically.  To save time, we keep track of the
// character number, pixel number (in the character), and
// pointers into the eeprom for each of the two chars being
// displayed.

// This code has to be fast enough to complete execution before
// it gets interrupted again - and it must not make any subroutine
// calls, since that'll mess up the stack and cause the entire
// system to reset.

volatile uint16_t topChar = 0;		// top character being displayed (address in EEPROM of data)
volatile uint16_t botChar = 0;		// bottom character being displayed
volatile uint8_t charNum = 0;		// character number
volatile uint8_t pixelNum = 0;		// pixel number

#ifdef USE_LOCAL_TIMER1
  volatile uint8_t clean = 0;	    // have these values been changed outside TIMER1?
#endif

#ifdef SMOOTHSCROLL

  volatile uint16_t scrollChar = 0;	// extra scroll character

#endif

// This routine gets called every time the pixel timer runs down;
// in other words, once per "scan line", 256 times per revolution
// of the SpokePOV.  Its purpose is to update the LEDs.

SIGNAL (SIG_TIMER1_COMPA) {

  #ifdef USE_LOCALUSE_LOCAL_TIMER1
  
    uint16_t tChar;					// local copies of the values
    uint16_t bChar;
    uint8_t cNum;						
    uint8_t pNum;
  
    #ifdef SMOOTHSCROLL

      uint16_t sChar;					// extra scroll character

    #endif

    // When an interrupt routine is called, interrupts are disabled.
    // but it's important to let other interrupts interrupt us, so
    // they need to be re-enabled.
	
    sei();

    // Copy the volatile variables into their local equivalents
  
    tChar = topChar;
    bChar = botChar;
    cNum = charNum;
    pNum = pixelNum;

    #ifdef SMOOTHSCROLL
 
      sChar = scrollChar;

    #endif
    
  #else
  
    #define	tChar	topChar
    #define	bChar	botChar
    #define	cNum	charNum
    #define	pNum	pixelNum
    #define	sChar	scrollChar
    
  #endif

  // If it has been less than STANDBY_TIMEOUT seconds since the last time we
  // got a Hall Effect sensor update, then proceed as normal and
  // update the LEDs.
  
  // QUESTION: what is F_CPU?  ANSWER: FREQUENCY OF CPU (clocks/second)
  
  if (sensor_timer.bytes.high_byte < ( (F_CPU/NUM_PIXELS)/256 * STANDBY_TIMEOUT) / 256) {    
    
    // *** PORTA |= 0x1;
    
    // The first thing we do is increment our character position; this
    // is done here to avoid code duplication.  This means that the
    // Hall Effect interrupt routine must set them up so they "wrap"
    // into the first valid values.
    
    // Move to the next pixel in the character
    
    pNum++;
    
    // If we have moved off the edge of the character, then
    // we need to move to the next character
    
    if (pNum == 16) {
    
      // If we will wrap around to the first character, turn off the pixel
      // timer, clear the display, and exit.  Might speed things up a bit
      
      if (cNum == 15) {