?? robbot.lst
字號:
0248 DE19 RCALL _GetOutputComReg1B
0249 2EA0 MOV R10,R16
024A 2EB1 MOV R11,R17
024B 0CAC ADD R10,R12
024C 1CBD ADC R11,R13
024D 2D0A MOV R16,R10
024E 2D1B MOV R17,R11
024F DE07 RCALL _SetOutputComReg1B
0250 9040006D LDS R4,0x6D
0252 9050006E LDS R5,0x6E
0254 9020006B LDS R2,0x6B
0256 9030006C LDS R3,0x6C
0258 92300070 STS 0x70,R3
025A 9220006F STS 0x6F,R2
025C 92500072 STS 0x72,R5
025E 92400071 STS 0x71,R4
0260 90400083 LDS R4,_EkB+2
0262 90500084 LDS R5,_EkB+3
0264 90200081 LDS R2,_EkB
0266 90300082 LDS R3,_EkB+1
0268 9230006C STS 0x6C,R3
026A 9220006B STS 0x6B,R2
026C 9250006E STS 0x6E,R5
026E 9240006D STS 0x6D,R4
0270 2422 CLR R2
0271 BC24 OUT 0x24,R2
0272 9624 ADIW R28,4
0273 D2E8 RCALL pop_gset4
0274 9508 RET
_Talone:
0275 91800089 LDS R24,_forlight
0277 7089 ANDI R24,0x9
0278 F411 BNE 0x027B
0279 2700 CLR R16
027A C001 RJMP 0x027C
027B E001 LDI R16,1
027C 9508 RET
_FUalone:
027D 91800089 LDS R24,_forlight
027F 7085 ANDI R24,5
0280 F411 BNE 0x0283
0281 2700 CLR R16
0282 C001 RJMP 0x0284
0283 E002 LDI R16,2
0284 9508 RET
_FIalone:
0285 91800089 LDS R24,_forlight
0287 7282 ANDI R24,0x22
0288 F411 BNE 0x028B
0289 2700 CLR R16
028A C001 RJMP 0x028C
028B E001 LDI R16,1
028C 9508 RET
_Salone:
028D 91800089 LDS R24,_forlight
028F 7182 ANDI R24,0x12
0290 F411 BNE 0x0293
0291 2700 CLR R16
0292 C001 RJMP 0x0294
0293 E002 LDI R16,2
0294 9508 RET
_InLine1:
discrepancy --> R16
l2 --> R16
0295 EF8F LDI R24,0xFF
0296 E090 LDI R25,0
0297 B309 IN R16,0x19
0298 2711 CLR R17
0299 2708 EOR R16,R24
029A 2719 EOR R17,R25
029B 730C ANDI R16,0x3C
029C 9506 LSR R16
029D 9506 LSR R16
029E 2711 CLR R17
029F 3000 CPI R16,0
02A0 0701 CPC R16,R17
02A1 F109 BEQ 0x02C3
02A2 3001 CPI R16,1
02A3 E0E0 LDI R30,0
02A4 071E CPC R17,R30
02A5 F0F9 BEQ 0x02C5
02A6 3002 CPI R16,2
02A7 E0E0 LDI R30,0
02A8 071E CPC R17,R30
02A9 F0E9 BEQ 0x02C7
02AA 3004 CPI R16,4
02AB E0E0 LDI R30,0
02AC 071E CPC R17,R30
02AD F0D9 BEQ 0x02C9
02AE 3005 CPI R16,5
02AF E0E0 LDI R30,0
02B0 071E CPC R17,R30
02B1 F0C9 BEQ 0x02CB
02B2 3006 CPI R16,6
02B3 E0E0 LDI R30,0
02B4 071E CPC R17,R30
02B5 F0B9 BEQ 0x02CD
02B6 3008 CPI R16,0x8
02B7 E0E0 LDI R30,0
02B8 071E CPC R17,R30
02B9 F0A9 BEQ 0x02CF
02BA 3009 CPI R16,0x9
02BB E0E0 LDI R30,0
02BC 071E CPC R17,R30
02BD F099 BEQ 0x02D1
02BE 300A CPI R16,0xA
02BF E0E0 LDI R30,0
02C0 071E CPC R17,R30
02C1 F089 BEQ 0x02D3
02C2 C011 RJMP 0x02D4
02C3 2700 CLR R16
02C4 C00F RJMP 0x02D4
02C5 2700 CLR R16
02C6 C00D RJMP 0x02D4
02C7 2700 CLR R16
02C8 C00B RJMP 0x02D4
02C9 E002 LDI R16,2
02CA C009 RJMP 0x02D4
02CB E002 LDI R16,2
02CC C007 RJMP 0x02D4
02CD E002 LDI R16,2
02CE C005 RJMP 0x02D4
02CF E001 LDI R16,1
02D0 C003 RJMP 0x02D4
02D1 E001 LDI R16,1
02D2 C001 RJMP 0x02D4
02D3 E001 LDI R16,1
02D4 9508 RET
_InLine2:
discrepancy --> R16
l2 --> R16
02D5 EF8F LDI R24,0xFF
02D6 E090 LDI R25,0
02D7 B309 IN R16,0x19
02D8 2711 CLR R17
02D9 2708 EOR R16,R24
02DA 2719 EOR R17,R25
02DB 730C ANDI R16,0x3C
02DC 9506 LSR R16
02DD 9506 LSR R16
02DE 2711 CLR R17
02DF 3000 CPI R16,0
02E0 0701 CPC R16,R17
02E1 F109 BEQ 0x0303
02E2 3001 CPI R16,1
02E3 E0E0 LDI R30,0
02E4 071E CPC R17,R30
02E5 F0F9 BEQ 0x0305
02E6 3002 CPI R16,2
02E7 E0E0 LDI R30,0
02E8 071E CPC R17,R30
02E9 F0E9 BEQ 0x0307
02EA 3004 CPI R16,4
02EB E0E0 LDI R30,0
02EC 071E CPC R17,R30
02ED F0D9 BEQ 0x0309
02EE 3005 CPI R16,5
02EF E0E0 LDI R30,0
02F0 071E CPC R17,R30
02F1 F0C9 BEQ 0x030B
02F2 3006 CPI R16,6
02F3 E0E0 LDI R30,0
02F4 071E CPC R17,R30
02F5 F0B9 BEQ 0x030D
02F6 3008 CPI R16,0x8
02F7 E0E0 LDI R30,0
02F8 071E CPC R17,R30
02F9 F0A9 BEQ 0x030F
02FA 3009 CPI R16,0x9
02FB E0E0 LDI R30,0
02FC 071E CPC R17,R30
02FD F099 BEQ 0x0311
02FE 300A CPI R16,0xA
02FF E0E0 LDI R30,0
0300 071E CPC R17,R30
0301 F089 BEQ 0x0313
0302 C011 RJMP 0x0314
0303 2700 CLR R16
0304 C00F RJMP 0x0314
0305 E001 LDI R16,1
0306 C00D RJMP 0x0314
0307 E002 LDI R16,2
0308 C00B RJMP 0x0314
0309 2700 CLR R16
030A C009 RJMP 0x0314
030B E001 LDI R16,1
030C C007 RJMP 0x0314
030D E002 LDI R16,2
030E C005 RJMP 0x0314
030F 2700 CLR R16
0310 C003 RJMP 0x0314
0311 E001 LDI R16,1
0312 C001 RJMP 0x0314
0313 E002 LDI R16,2
0314 9508 RET
_OutLine:
discrepancy --> R20
l2 --> R20
0315 D24A RCALL push_gset1
0316 EF8F LDI R24,0xFF
0317 E090 LDI R25,0
0318 B349 IN R20,0x19
0319 2755 CLR R21
031A 2748 EOR R20,R24
031B 2759 EOR R21,R25
031C 734C ANDI R20,0x3C
031D 9546 LSR R20
031E 9546 LSR R20
031F 2755 CLR R21
0320 3040 CPI R20,0
0321 0745 CPC R20,R21
0322 F129 BEQ 0x0348
0323 3041 CPI R20,1
0324 E0E0 LDI R30,0
0325 075E CPC R21,R30
0326 F121 BEQ 0x034B
0327 3042 CPI R20,2
0328 E0E0 LDI R30,0
0329 075E CPC R21,R30
032A F119 BEQ 0x034E
032B 3044 CPI R20,4
032C E0E0 LDI R30,0
032D 075E CPC R21,R30
032E F111 BEQ 0x0351
032F 3045 CPI R20,5
0330 E0E0 LDI R30,0
0331 075E CPC R21,R30
0332 F109 BEQ 0x0354
0333 3046 CPI R20,6
0334 E0E0 LDI R30,0
0335 075E CPC R21,R30
0336 F0F9 BEQ 0x0356
0337 3048 CPI R20,0x8
0338 E0E0 LDI R30,0
0339 075E CPC R21,R30
033A F0E9 BEQ 0x0358
033B 3049 CPI R20,0x9
033C E0E0 LDI R30,0
033D 075E CPC R21,R30
033E F0E1 BEQ 0x035B
033F 304A CPI R20,0xA
0340 E0E0 LDI R30,0
0341 075E CPC R21,R30
0342 F0D1 BEQ 0x035D
0343 304F CPI R20,0xF
0344 E0E0 LDI R30,0
0345 075E CPC R21,R30
0346 F0C1 BEQ 0x035F
0347 C018 RJMP 0x0360
0348 91400062 LDS R20,0x62
034A C015 RJMP 0x0360
034B DF29 RCALL _Talone
034C 2F40 MOV R20,R16
034D C012 RJMP 0x0360
034E DF2E RCALL _FUalone
034F 2F40 MOV R20,R16
0350 C00F RJMP 0x0360
0351 DF33 RCALL _FIalone
0352 2F40 MOV R20,R16
0353 C00C RJMP 0x0360
0354 2744 CLR R20
0355 C00A RJMP 0x0360
0356 2744 CLR R20
0357 C008 RJMP 0x0360
0358 DF34 RCALL _Salone
0359 2F40 MOV R20,R16
035A C005 RJMP 0x0360
035B 2744 CLR R20
035C C003 RJMP 0x0360
035D 2744 CLR R20
035E C001 RJMP 0x0360
035F 2744 CLR R20
0360 2F04 MOV R16,R20
0361 D201 RCALL pop_gset1
0362 9508 RET
_Revise:
discrepancy --> R20
0363 D1FC RCALL push_gset1
0364 2F40 MOV R20,R16
0365 2344 TST R20
0366 F461 BNE 0x0373
0367 2422 CLR R2
0368 92200062 STS 0x62,R2
036A 9180007A LDS R24,0x7A
036C 3081 CPI R24,1
036D F411 BNE 0x0370
036E BA28 OUT 0x18,R2
036F C02C RJMP 0x039C
0370 E08C LDI R24,0xC
0371 BB88 OUT 0x18,R24
0372 C029 RJMP 0x039C
0373 3041 CPI R20,1
0374 F459 BNE 0x0380
0375 E088 LDI R24,0x8
0376 BB88 OUT 0x18,R24
0377 E000 LDI R16,0
0378 E011 LDI R17,1
0379 DD00 RCALL _delay
037A E08C LDI R24,0xC
037B BB88 OUT 0x18,R24
037C E081 LDI R24,1
037D 93800062 STS 0x62,R24
037F C01C RJMP 0x039C
0380 3042 CPI R20,2
0381 F459 BNE 0x038D
0382 E082 LDI R24,2
0383 93800062 STS 0x62,R24
0385 E084 LDI R24,4
0386 BB88 OUT 0x18,R24
0387 E000 LDI R16,0
0388 E011 LDI R17,1
0389 DCF0 RCALL _delay
038A E08C LDI R24,0xC
038B BB88 OUT 0x18,R24
038C C00F RJMP 0x039C
038D 3043 CPI R20,3
038E F431 BNE 0x0395
038F E088 LDI R24,0x8
0390 BB88 OUT 0x18,R24
0391 E081 LDI R24,1
0392 93800062 STS 0x62,R24
0394 C007 RJMP 0x039C
0395 3044 CPI R20,4
0396 F429 BNE 0x039C
0397 E082 LDI R24,2
0398 93800062 STS 0x62,R24
039A E084 LDI R24,4
039B BB88 OUT 0x18,R24
039C D1C6 RCALL pop_gset1
039D 9508 RET
_SearchLine:
y --> R10
online --> R20
l78 --> R22
039E D1DB RCALL push_gset3
039F 24AA CLR R10
03A0 EF8F LDI R24,0xFF
03A1 E090 LDI R25,0
03A2 B349 IN R20,0x19
03A3 2755 CLR R21
03A4 2748 EOR R20,R24
03A5 2759 EOR R21,R25
03A6 93400089 STS _forlight,R20
03A8 2F64 MOV R22,R20
03A9 7C60 ANDI R22,0xC0
03AA 9566 LSR R22
03AB 9566 LSR R22
03AC 9566 LSR R22
03AD 9566 LSR R22
03AE 9566 LSR R22
03AF 9566 LSR R22
03B0 3063 CPI R22,3
03B1 F411 BNE 0x03B4
03B2 2700 CLR R16
03B3 DFAF RCALL _Revise
03B4 2F84 MOV R24,R20
03B5 708D ANDI R24,0xD
03B6 308D CPI R24,0xD
03B7 F421 BNE 0x03BC
03B8 2700 CLR R16
03B9 DFA9 RCALL _Revise
03BA 24AA CLR R10
03BB 94A3 INC R10
03BC 20AA TST R10
03BD F4B9 BNE 0x03D5
03BE 3061 CPI R22,1
03BF F411 BNE 0x03C2
03C0 E003 LDI R16,3
03C1 DFA1 RCALL _Revise
03C2 3062 CPI R22,2
03C3 F411 BNE 0x03C6
03C4 E004 LDI R16,4
03C5 DF9D RCALL _Revise
03C6 2366 TST R22
03C7 F469 BNE 0x03D5
03C8 7043 ANDI R20,3
03C9 3041 CPI R20,1
03CA F411 BNE 0x03CD
03CB DEC9 RCALL _InLine1
03CC DF96 RCALL _Revise
03CD 3042 CPI R20,2
03CE F411 BNE 0x03D1
03CF DF05 RCALL _InLine2
03D0 DF92 RCALL _Revise
03D1 2344 TST R20
03D2 F411 BNE 0x03D5
03D3 DF41 RCALL _OutLine
03D4 DF8E RCALL _Revise
03D5 D184 RCALL pop_gset3
03D6 9508 RET
_stop:
03D7 B382 IN R24,0x12
03D8 6C8F ORI R24,0xCF
03D9 BB82 OUT 0x12,R24
03DA 9508 RET
_action:
i --> R20
light --> R20
direction --> R22
03DB D19B RCALL push_gset2
03DC 2F60 MOV R22,R16
03DD 2744 CLR R20
03DE 3062 CPI R22,2
03DF F469 BNE 0x03ED
03E0 2422 CLR R2
03E1 2433 CLR R3
03E2 92300077 STS 0x77,R3
03E4 92200076 STS 0x76,R2
03E6 EF0F LDI R16,0xFF
03E7 E013 LDI R17,3
03E8 DC66 RCALL _SetOutputComReg1A
03E9 EF0F LDI R16,0xFF
03EA E013 LDI R17,3
03EB DC6B RCALL _SetOutputComReg1B
03EC C026 RJMP 0x0413
03ED 3061 CPI R22,1
03EE F469 BNE 0x03FC
03EF E088 LDI R24,0x8
03F0 BB88 OUT 0x18,R24
03F1 EF8F LDI R24,0xFF
03F2 E090 LDI R25,0
03F3 B349 IN R20,0x19
03F4 2755 CLR R21
03F5 2748 EOR R20,R24
03F6 2759 EOR R21,R25
03F7 2F84 MOV R24,R20
03F8 7484 ANDI R24,0x44
03F9 F009 BEQ 0x03FB
03FA C001 RJMP 0x03FC
03FB CFF5 RJMP 0x03F1
03FC 2366 TST R22
03FD F481 BNE 0x040E
03FE E084 LDI R24,4
03FF BB88 OUT 0x18,R24
0400 E006 LDI R16,6
0401 E010 LDI R17,0
0402 DC62 RCALL _DELAY
0403 EF8F LDI R24,0xFF
0404 E090 LDI R25,0
0405 B349 IN R20,0x19
0406 2755 CLR R21
0407 2748 EOR R20,R24
0408 2759 EOR R21,R25
0409 2F84 MOV R24,R20
040A 7888 ANDI R24,0x88
040B F009 BEQ 0x040D
040C C001 RJMP 0x040E
040D CFF5 RJMP 0x0403
040E E002 LDI R16,2
040F E010 LDI R17,0
0410 DC54 RCALL _DELAY
0411 E001 LDI R16,1
0412 C001 RJMP 0x0414
0413 2700 CLR R16
0414 D143 RCALL pop_gset2
0415 9508 RET
_Forward:
flagj --> R14
postionflag --> R20
middle2 --> R22
flagi --> R10
middle1 --> R12
fob --> Y+14
direction --> Y+12
step --> Y+10
0416 D13C RCALL push_arg4
0417 D168 RCALL push_gset5
0418 24AA CLR R10
0419 24CC CLR R12
041A 2766 CLR R22
041B 2744 CLR R20
041C E480 LDI R24,0x40
041D E090 LDI R25,0
041E 93900077 STS 0x77,R25
0420 93800076 STS 0x76,R24
0422 858E LDD R24,Y+14
0423 3081 CPI R24,1
0424 F411 BNE 0x0427
0425 2422 CLR R2
0426 BA28 OUT 0x18,R2
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