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📄 ex_support.lis

📁 移动机器人(小车)的物理坐标和逻辑坐标的转换源码
💻 LIS
📖 第 1 页 / 共 3 页
字号:
 000E 10E0              ldi R17,>L5
 0010 00D0              rcall lpm32
 0012 3A93              st -y,R19
 0014 2A93              st -y,R18
 0016 1A93              st -y,R17
 0018 0A93              st -y,R16
 001A 8101              movw R16,R2
 001C 9201              movw R18,R4
 001E 00D0              rcall fpcmp2
 0020 0CF0              brlt X10
 0022 5AC0              rjmp L3
 0024           X10:
 0024           X0:
 0024                   .dbline 133
 0024           ;     {
 0024                   .dbline 134
 0024           ;         if (fNumberA < 0)
 0024 2880              ldd R2,y+0
 0026 3980              ldd R3,y+1
 0028 4A80              ldd R4,y+2
 002A 5B80              ldd R5,y+3
 002C 00E0              ldi R16,<L5
 002E 10E0              ldi R17,>L5
 0030 00D0              rcall lpm32
 0032 3A93              st -y,R19
 0034 2A93              st -y,R18
 0036 1A93              st -y,R17
 0038 0A93              st -y,R16
 003A 8101              movw R16,R2
 003C 9201              movw R18,R4
 003E 00D0              rcall fpcmp2
 0040 ECF4              brge L6
 0042           X1:
 0042                   .dbline 135
 0042           ;         {
 0042 0DC0              rjmp L9
 0044           L8:
 0044                   .dbline 137
 0044           ;             while(fNumberA < fNumberB)
 0044           ;             {
 0044                   .dbline 138
 0044           ;                 fNumberA -= fNumberB;
 0044 0881              ldd R16,y+0
 0046 1981              ldd R17,y+1
 0048 2A81              ldd R18,y+2
 004A 3B81              ldd R19,y+3
 004C CE01              movw R24,R28
 004E 0496              adiw R24,4
 0050 9A93              st -y,R25
 0052 8A93              st -y,R24
 0054 00D0              rcall fpsub1
 0056 0883              std y+0,R16
 0058 1983              std y+1,R17
 005A 2A83              std y+2,R18
 005C 3B83              std y+3,R19
 005E                   .dbline 139
 005E           ;             }
 005E           L9:
 005E                   .dbline 136
 005E 0881              ldd R16,y+0
 0060 1981              ldd R17,y+1
 0062 2A81              ldd R18,y+2
 0064 3B81              ldd R19,y+3
 0066 CE01              movw R24,R28
 0068 0496              adiw R24,4
 006A 9A93              st -y,R25
 006C 8A93              st -y,R24
 006E 00D0              rcall fpcmp1
 0070 4CF3              brlt L8
 0072           X2:
 0072                   .dbline 141
 0072           ;         
 0072           ;             return fNumberA;
 0072 0881              ldd R16,y+0
 0074 1981              ldd R17,y+1
 0076 2A81              ldd R18,y+2
 0078 3B81              ldd R19,y+3
 007A 94C0              rjmp L2
 007C           L6:
 007C                   .dbline 143
 007C           ;         }
 007C           ;         else if (fNumberA > 0)
 007C CE01              movw R24,R28
 007E 00E0              ldi R16,<L5
 0080 10E0              ldi R17,>L5
 0082 00D0              rcall lpm32
 0084 9A93              st -y,R25
 0086 8A93              st -y,R24
 0088 00D0              rcall fpcmp1
 008A 14F5              brge L11
 008C           X3:
 008C                   .dbline 144
 008C           ;         {
 008C 0DC0              rjmp L14
 008E           L13:
 008E                   .dbline 146
 008E           ;             while((fNumberA + fNumberB) > fNumberB)
 008E           ;             {
 008E                   .dbline 147
 008E           ;                 fNumberA += fNumberB;
 008E 0881              ldd R16,y+0
 0090 1981              ldd R17,y+1
 0092 2A81              ldd R18,y+2
 0094 3B81              ldd R19,y+3
 0096 CE01              movw R24,R28
 0098 0496              adiw R24,4
 009A 9A93              st -y,R25
 009C 8A93              st -y,R24
 009E 00D0              rcall fpadd1
 00A0 0883              std y+0,R16
 00A2 1983              std y+1,R17
 00A4 2A83              std y+2,R18
 00A6 3B83              std y+3,R19
 00A8                   .dbline 148
 00A8           ;             }
 00A8           L14:
 00A8                   .dbline 145
 00A8 0881              ldd R16,y+0
 00AA 1981              ldd R17,y+1
 00AC 2A81              ldd R18,y+2
 00AE 3B81              ldd R19,y+3
 00B0 CE01              movw R24,R28
 00B2 0496              adiw R24,4
 00B4 9A93              st -y,R25
 00B6 8A93              st -y,R24
 00B8 00D0              rcall fpadd1x
 00BA            ; stack offset 4
 00BA 0885              ldd R16,y+8
 00BC 1985              ldd R17,y+9
 00BE 2A85              ldd R18,y+10
 00C0 3B85              ldd R19,y+11
 00C2 00D0              rcall fpcmp2
 00C4 24F3              brlt L13
 00C6           X4:
 00C6                   .dbline 150
 00C6           ;             
 00C6           ;             return fNumberA;
 00C6 0881              ldd R16,y+0
 00C8 1981              ldd R17,y+1
 00CA 2A81              ldd R18,y+2
 00CC 3B81              ldd R19,y+3
 00CE 6AC0              rjmp L2
 00D0           L11:
 00D0                   .dbline 153
 00D0           ;         }
 00D0           ;         else
 00D0           ;         {
 00D0                   .dbline 154
 00D0           ;             return 0.0;
 00D0 00E0              ldi R16,<L5
 00D2 10E0              ldi R17,>L5
 00D4 00D0              rcall lpm32
 00D6 66C0              rjmp L2
 00D8           L3:
 00D8                   .dbline 157
 00D8           ;         }
 00D8           ;     }
 00D8           ;     else if (fNumberB > 0)
 00D8 CE01              movw R24,R28
 00DA 0496              adiw R24,4
 00DC 00E0              ldi R16,<L5
 00DE 10E0              ldi R17,>L5
 00E0 00D0              rcall lpm32
 00E2 9A93              st -y,R25
 00E4 8A93              st -y,R24
 00E6 00D0              rcall fpcmp1
 00E8 0CF0              brlt X11
 00EA 59C0              rjmp L16
 00EC           X11:
 00EC           X5:
 00EC                   .dbline 158
 00EC           ;     {
 00EC                   .dbline 159
 00EC           ;         if (fNumberA < 0)
 00EC 2880              ldd R2,y+0
 00EE 3980              ldd R3,y+1
 00F0 4A80              ldd R4,y+2
 00F2 5B80              ldd R5,y+3
 00F4 00E0              ldi R16,<L5
 00F6 10E0              ldi R17,>L5
 00F8 00D0              rcall lpm32
 00FA 3A93              st -y,R19
 00FC 2A93              st -y,R18
 00FE 1A93              st -y,R17
 0100 0A93              st -y,R16
 0102 8101              movw R16,R2
 0104 9201              movw R18,R4
 0106 00D0              rcall fpcmp2
 0108 14F5              brge L18
 010A           X6:
 010A                   .dbline 160
 010A           ;         {
 010A 0DC0              rjmp L21
 010C           L20:
 010C                   .dbline 162
 010C           ;             while((fNumberA + fNumberB) < fNumberB)
 010C           ;             {
 010C                   .dbline 163
 010C           ;                 fNumberA += fNumberB;
 010C 0881              ldd R16,y+0
 010E 1981              ldd R17,y+1
 0110 2A81              ldd R18,y+2
 0112 3B81              ldd R19,y+3
 0114 CE01              movw R24,R28
 0116 0496              adiw R24,4
 0118 9A93              st -y,R25
 011A 8A93              st -y,R24
 011C 00D0              rcall fpadd1
 011E 0883              std y+0,R16
 0120 1983              std y+1,R17
 0122 2A83              std y+2,R18
 0124 3B83              std y+3,R19
 0126                   .dbline 164
 0126           ;             }
 0126           L21:
 0126                   .dbline 161
 0126 0881              ldd R16,y+0
 0128 1981              ldd R17,y+1
 012A 2A81              ldd R18,y+2
 012C 3B81              ldd R19,y+3
 012E CE01              movw R24,R28
 0130 0496              adiw R24,4
 0132 9A93              st -y,R25
 0134 8A93              st -y,R24
 0136 00D0              rcall fpadd1
 0138 CE01              movw R24,R28
 013A 0496              adiw R24,4
 013C 9A93              st -y,R25
 013E 8A93              st -y,R24
 0140 00D0              rcall fpcmp1
 0142 24F3              brlt L20
 0144           X7:
 0144                   .dbline 166
 0144           ;             
 0144           ;             return fNumberA;
 0144 0881              ldd R16,y+0
 0146 1981              ldd R17,y+1
 0148 2A81              ldd R18,y+2
 014A 3B81              ldd R19,y+3
 014C 2BC0              rjmp L2
 014E           L18:
 014E                   .dbline 168
 014E           ;         }
 014E           ;         else if (fNumberA > 0)
 014E CE01              movw R24,R28
 0150 00E0              ldi R16,<L5
 0152 10E0              ldi R17,>L5
 0154 00D0              rcall lpm32
 0156 9A93              st -y,R25
 0158 8A93              st -y,R24
 015A 00D0              rcall fpcmp1
 015C E4F4              brge L23
 015E           X8:
 015E                   .dbline 169
 015E           ;         {
 015E 0DC0              rjmp L26
 0160           L25:
 0160                   .dbline 171
 0160           ;             while(fNumberA > fNumberB)
 0160           ;             {
 0160                   .dbline 172
 0160           ;                 fNumberA -= fNumberB;
 0160 0881              ldd R16,y+0
 0162 1981              ldd R17,y+1
 0164 2A81              ldd R18,y+2
 0166 3B81              ldd R19,y+3
 0168 CE01              movw R24,R28
 016A 0496              adiw R24,4
 016C 9A93              st -y,R25
 016E 8A93              st -y,R24
 0170 00D0              rcall fpsub1
 0172 0883              std y+0,R16
 0174 1983              std y+1,R17
 0176 2A83              std y+2,R18
 0178 3B83              std y+3,R19
 017A                   .dbline 173
 017A           ;             }
 017A           L26:
 017A                   .dbline 170
 017A CE01              movw R24,R28
 017C 0C81              ldd R16,y+4
 017E 1D81              ldd R17,y+5
 0180 2E81              ldd R18,y+6
 0182 3F81              ldd R19,y+7
 0184 9A93              st -y,R25
 0186 8A93              st -y,R24
 0188 00D0              rcall fpcmp1
 018A 54F3              brlt L25
 018C           X9:
 018C                   .dbline 175
 018C           ;             
 018C           ;             return fNumberA;
 018C 0881              ldd R16,y+0
 018E 1981              ldd R17,y+1
 0190 2A81              ldd R18,y+2
 0192 3B81              ldd R19,y+3
 0194 07C0              rjmp L2
 0196           L23:
 0196                   .dbline 178
 0196           ;         }
 0196           ;         else
 0196           ;         {
 0196                   .dbline 179
 0196           ;             return 0.0;
 0196 00E0              ldi R16,<L5
 0198 10E0              ldi R17,>L5

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