0000008a <__bad_interrupt>: 8a: 0c 94 00 00 jmp 0x0 <__heap_end> 0000008e : //------------------| initialize ADC |---------------------- void adc_init() { // Activate ADC with Prescaler ADCSRA = 1 << ADEN | 8e: 84 e8 ldi r24, 0x84 ; 132 90: 86 b9 out 0x06, r24 ; 6 92: 08 95 ret 00000094 : 0 << ADSC | 0 << ADATE | 0 << ADIF | 0 << ADIE | 1 << ADPS2 | 0 << ADPS1 | 0 << ADPS0 ; } //------------------| initialize PWM |---------------------- void pwm_init() { // clear pwm levels OCR0 = 0; 94: 1c be out 0x3c, r1 ; 60 OCR2 = 0; 96: 13 bc out 0x23, r1 ; 35 // set up WGM, clock, and mode for timer 0 TCCR0 = 0 << FOC0 | 98: 8b e7 ldi r24, 0x7B ; 123 9a: 83 bf out 0x33, r24 ; 51 1 << WGM00 | /* fast pwm */ 1 << COM01 | /* inverted */ 1 << COM00 | /* this bit 1 for interted, 0 for normal */ 1 << WGM01 | /* fast pwm */ 0 << CS02 | /* prescale by 8*/ 1 << CS01 | 1 << CS00 ; // set up WGM, clock, and mode for timer 2 TCCR2 = 0 << FOC2 | 9c: 8a e7 ldi r24, 0x7A ; 122 9e: 85 bd out 0x25, r24 ; 37 a0: 08 95 ret 000000a2 : 1 << WGM20 | 1 << COM21 | 1 << COM20 | /* this bit 1 for interted, 0 for normal */ 1 << WGM21 | 0 << CS22 | 1 << CS21 | 0 << CS20 ; } //------------------| initialize serial |---------------------- void serial_init() { /* Set baud rate */ UBRRH = (unsigned char)(25>>8); a2: 10 bc out 0x20, r1 ; 32 UBRRL = (unsigned char)25; a4: 89 e1 ldi r24, 0x19 ; 25 a6: 89 b9 out 0x09, r24 ; 9 /* set 2X baud rate */ UCSRA = (1<: } //------------------| Get analog value |---------------------- int Analog ( uint8_t n ) { // Select pin ADC0 using MUX ADMUX = n & 7; b6: 87 70 andi r24, 0x07 ; 7 b8: 87 b9 out 0x07, r24 ; 7 //Start conversion ADCSRA |= _BV(ADSC); ba: 36 9a sbi 0x06, 6 ; 6 // wait until converstion completed while (ADCSRA & _BV(ADSC) ) {} bc: 36 99 sbic 0x06, 6 ; 6 be: fe cf rjmp .-4 ; 0xbc // get converted value return ADC; c0: 84 b1 in r24, 0x04 ; 4 c2: 95 b1 in r25, 0x05 ; 5 c4: 08 95 ret 000000c6 : } //----------------| Main Pogram Loup |----------------- void dostuff ( ) { while (1) { processByte(USART_Receive()); // Gather values // X = Analog(0) / 2; // Y = Analog(1) / 2; // Offset correction X = ((CX - 128) * 2); Y = ((CY - 128) * 2); // Threasholding if ( (X > -Threashold) & (X < Threashold) ) X = 0; if ( (Y > -Threashold) & (Y < Threashold) ) Y = 0; // Tractor mixing: SpeedL = X + Y; SpeedR = Y - X; // range correction erm, did it all come out ok? if (SpeedL > 255) SpeedL = 255; if (SpeedR > 255) SpeedR = 255; //output SetPWM( SpeedL, SpeedR ); } } //-----------------| Set Pwm rates |------------------ void SetPWM( uint8_t left, uint8_t right ) { if (left > 0) { c6: 88 23 and r24, r24 c8: 39 f0 breq .+14 ; 0xd8 PWMLeft = left; ca: 83 bd out 0x23, r24 ; 35 LForward(); cc: 95 9a sbi 0x12, 5 ; 18 } else { PWMLeft = -(left); LReverse(); } if (right > 0) { ce: 66 23 and r22, r22 d0: 39 f0 breq .+14 ; 0xe0 PWMRight = right; d2: 6c bf out 0x3c, r22 ; 60 RForward(); d4: 96 9a sbi 0x12, 6 ; 18 d6: 08 95 ret d8: 13 bc out 0x23, r1 ; 35 da: 95 98 cbi 0x12, 5 ; 18 dc: 66 23 and r22, r22 de: c9 f7 brne .-14 ; 0xd2 } else { PWMRight = -(right); e0: 1c be out 0x3c, r1 ; 60 RReverse(); e2: 96 98 cbi 0x12, 6 ; 18 e4: 08 95 ret 000000e6 : } } //----------| Serial character recieve |------------- void processByte(char newChar) { //SIGNAL (SIG_UART_DATA) { // char newChar; // newChar = UDR; switch(state) { e6: 90 91 6e 00 lds r25, 0x006E ea: 9a 30 cpi r25, 0x0A ; 10 ec: 89 f0 breq .+34 ; 0x110 ee: 9b 30 cpi r25, 0x0B ; 11 f0: 38 f0 brcs .+14 ; 0x100 f2: 94 31 cpi r25, 0x14 ; 20 f4: 69 f0 breq .+26 ; 0x110 f6: 95 31 cpi r25, 0x15 ; 21 f8: 41 f1 breq .+80 ; 0x14a fa: 9b 30 cpi r25, 0x0B ; 11 fc: 99 f1 breq .+102 ; 0x164 fe: 08 95 ret 100: 99 23 and r25, r25 102: c9 f4 brne .+50 ; 0x136 case 0: switch(newChar) { 104: 80 35 cpi r24, 0x50 ; 80 106: d9 f7 brne .-10 ; 0xfe case 'P': state = 1; 108: 81 e0 ldi r24, 0x01 ; 1 10a: 80 93 6e 00 sts 0x006E, r24 10e: 08 95 ret break; // default: // USART_Transmit( '?' ); } break; case 1: switch(newChar){ case 'X': state = 10; break; case 'Y': state = 20; break; default: // USART_Transmit( '?' ); state = 0; } break; // scrap the error checking... case 10: case 20: if (newChar > '9') { newChar -= 7; } 110: 8a 33 cpi r24, 0x3A ; 58 112: 44 f4 brge .+16 ; 0x124 value = (newChar&(0x0F)) << 4; 114: 82 95 swap r24 116: 80 7f andi r24, 0xF0 ; 240 118: 80 93 75 00 sts 0x0075, r24 state++; 11c: 9f 5f subi r25, 0xFF ; 255 11e: 90 93 6e 00 sts 0x006E, r25 122: 08 95 ret 124: 87 50 subi r24, 0x07 ; 7 126: 82 95 swap r24 128: 80 7f andi r24, 0xF0 ; 240 12a: 80 93 75 00 sts 0x0075, r24 12e: 9f 5f subi r25, 0xFF ; 255 130: 90 93 6e 00 sts 0x006E, r25 134: 08 95 ret 136: 91 30 cpi r25, 0x01 ; 1 138: 11 f7 brne .-60 ; 0xfe 13a: 88 35 cpi r24, 0x58 ; 88 13c: 21 f1 breq .+72 ; 0x186 13e: 89 35 cpi r24, 0x59 ; 89 140: d9 f4 brne .+54 ; 0x178 142: 84 e1 ldi r24, 0x14 ; 20 144: 80 93 6e 00 sts 0x006E, r24 148: 08 95 ret break; case 11: if (newChar > '9') { newChar -= 7; } value |= (newChar&(0x0F)) ; CX = value; // USART_printstring("OK.\n\r"); state = 0; break; case 21: if (newChar > '9') { newChar -= 7; } 14a: 8a 33 cpi r24, 0x3A ; 58 14c: c4 f4 brge .+48 ; 0x17e value |= (newChar&(0x0F)) ; 14e: 8f 70 andi r24, 0x0F ; 15 150: 90 91 75 00 lds r25, 0x0075 154: 89 2b or r24, r25 156: 80 93 75 00 sts 0x0075, r24 CY = value; 15a: 80 93 6f 00 sts 0x006F, r24 // USART_printstring("OK.\n\r"); state = 0; 15e: 10 92 6e 00 sts 0x006E, r1 162: 08 95 ret 164: 8a 33 cpi r24, 0x3A ; 58 166: 6c f4 brge .+26 ; 0x182 168: 8f 70 andi r24, 0x0F ; 15 16a: 90 91 75 00 lds r25, 0x0075 16e: 89 2b or r24, r25 170: 80 93 75 00 sts 0x0075, r24 174: 80 93 72 00 sts 0x0072, r24 178: 10 92 6e 00 sts 0x006E, r1 17c: 08 95 ret 17e: 87 50 subi r24, 0x07 ; 7 180: e6 cf rjmp .-52 ; 0x14e 182: 87 50 subi r24, 0x07 ; 7 184: f1 cf rjmp .-30 ; 0x168 186: 8a e0 ldi r24, 0x0A ; 10 188: 80 93 6e 00 sts 0x006E, r24 18c: 08 95 ret 0000018e : 18e: cf 93 push r28 190: df 93 push r29 192: cf ef ldi r28, 0xFF ; 255 194: d0 e0 ldi r29, 0x00 ; 0 196: 0e 94 49 01 call 0x292 19a: 0e 94 73 00 call 0xe6 19e: 80 91 72 00 lds r24, 0x0072 1a2: 99 27 eor r25, r25 1a4: 88 0f add r24, r24 1a6: 99 1f adc r25, r25 1a8: 80 50 subi r24, 0x00 ; 0 1aa: 91 40 sbci r25, 0x01 ; 1 1ac: 90 93 74 00 sts 0x0074, r25 1b0: 80 93 73 00 sts 0x0073, r24 1b4: 20 91 6f 00 lds r18, 0x006F 1b8: 33 27 eor r19, r19 1ba: 22 0f add r18, r18 1bc: 33 1f adc r19, r19 1be: 20 50 subi r18, 0x00 ; 0 1c0: 31 40 sbci r19, 0x01 ; 1 1c2: 30 93 6b 00 sts 0x006B, r19 1c6: 20 93 6a 00 sts 0x006A, r18 1ca: 43 96 adiw r24, 0x13 ; 19 1cc: 87 97 sbiw r24, 0x27 ; 39 1ce: 20 f4 brcc .+8 ; 0x1d8 1d0: 10 92 74 00 sts 0x0074, r1 1d4: 10 92 73 00 sts 0x0073, r1 1d8: 2d 5e subi r18, 0xED ; 237 1da: 3f 4f sbci r19, 0xFF ; 255 1dc: 27 32 cpi r18, 0x27 ; 39 1de: 31 05 cpc r19, r1 1e0: 20 f4 brcc .+8 ; 0x1ea 1e2: 10 92 6b 00 sts 0x006B, r1 1e6: 10 92 6a 00 sts 0x006A, r1 1ea: 80 91 73 00 lds r24, 0x0073 1ee: 90 91 74 00 lds r25, 0x0074 1f2: 20 91 6a 00 lds r18, 0x006A 1f6: 30 91 6b 00 lds r19, 0x006B 1fa: ac 01 movw r20, r24 1fc: 42 0f add r20, r18 1fe: 53 1f adc r21, r19 200: 50 93 71 00 sts 0x0071, r21 204: 40 93 70 00 sts 0x0070, r20 208: 28 1b sub r18, r24 20a: 39 0b sbc r19, r25 20c: 30 93 6d 00 sts 0x006D, r19 210: 20 93 6c 00 sts 0x006C, r18 214: 4f 3f cpi r20, 0xFF ; 255 216: 51 05 cpc r21, r1 218: 29 f0 breq .+10 ; 0x224 21a: 24 f0 brlt .+8 ; 0x224 21c: d0 93 71 00 sts 0x0071, r29 220: c0 93 70 00 sts 0x0070, r28 224: 2f 3f cpi r18, 0xFF ; 255 226: 31 05 cpc r19, r1 228: 29 f0 breq .+10 ; 0x234 22a: 24 f0 brlt .+8 ; 0x234 22c: d0 93 6d 00 sts 0x006D, r29 230: c0 93 6c 00 sts 0x006C, r28 234: 60 91 6c 00 lds r22, 0x006C 238: 80 91 70 00 lds r24, 0x0070 23c: 0e 94 63 00 call 0xc6 240: aa cf rjmp .-172 ; 0x196 00000242

: 242: cf e5 ldi r28, 0x5F ; 95 244: d8 e0 ldi r29, 0x08 ; 8 246: de bf out 0x3e, r29 ; 62 248: cd bf out 0x3d, r28 ; 61 24a: 83 e0 ldi r24, 0x03 ; 3 24c: 8a bb out 0x1a, r24 ; 26 24e: 8b e0 ldi r24, 0x0B ; 11 250: 87 bb out 0x17, r24 ; 23 252: 14 ba out 0x14, r1 ; 20 254: 10 e8 ldi r17, 0x80 ; 128 256: 11 bb out 0x11, r17 ; 17 258: 0e 94 47 00 call 0x8e 25c: 0e 94 4a 00 call 0x94 260: 8f ec ldi r24, 0xCF ; 207 262: 90 e0 ldi r25, 0x00 ; 0 264: 0e 94 40 01 call 0x280 268: 80 e6 ldi r24, 0x60 ; 96 26a: 90 e0 ldi r25, 0x00 ; 0 26c: 0e 94 6a 01 call 0x2d4 270: 10 93 72 00 sts 0x0072, r17 274: 10 93 6f 00 sts 0x006F, r17 278: 0e 94 c7 00 call 0x18e 27c: 0c 94 79 01 jmp 0x2f2 <_exit> 00000280 : 280: 29 2f mov r18, r25 282: 33 27 eor r19, r19 284: 20 bd out 0x20, r18 ; 32 286: 89 b9 out 0x09, r24 ; 9 288: 88 e1 ldi r24, 0x18 ; 24 28a: 8a b9 out 0x0a, r24 ; 10 28c: 8e e8 ldi r24, 0x8E ; 142 28e: 80 bd out 0x20, r24 ; 32 290: 08 95 ret 00000292 : 292: 5f 9b sbis 0x0b, 7 ; 11 294: fe cf rjmp .-4 ; 0x292 296: 8c b1 in r24, 0x0c ; 12 298: 99 27 eor r25, r25 29a: 08 95 ret 0000029c : 29c: 5d 9b sbis 0x0b, 5 ; 11 29e: fe cf rjmp .-4 ; 0x29c 2a0: 8c b9 out 0x0c, r24 ; 12 2a2: 08 95 ret 000002a4 : 2a4: 1f 93 push r17 2a6: 28 2f mov r18, r24 2a8: 98 2f mov r25, r24 2aa: 92 95 swap r25 2ac: 9f 70 andi r25, 0x0F ; 15 2ae: 89 2f mov r24, r25 2b0: 80 5d subi r24, 0xD0 ; 208 2b2: 8a 33 cpi r24, 0x3A ; 58 2b4: 08 f0 brcs .+2 ; 0x2b8 2b6: 89 5f subi r24, 0xF9 ; 249 2b8: 92 2f mov r25, r18 2ba: 9f 70 andi r25, 0x0F ; 15 2bc: 19 2f mov r17, r25 2be: 10 5d subi r17, 0xD0 ; 208 2c0: 1a 33 cpi r17, 0x3A ; 58 2c2: 08 f0 brcs .+2 ; 0x2c6 2c4: 19 5f subi r17, 0xF9 ; 249 2c6: 0e 94 4e 01 call 0x29c 2ca: 81 2f mov r24, r17 2cc: 0e 94 4e 01 call 0x29c 2d0: 1f 91 pop r17 2d2: 08 95 ret 000002d4 : 2d4: cf 93 push r28 2d6: df 93 push r29 2d8: ec 01 movw r28, r24 2da: 88 81 ld r24, Y 2dc: 88 23 and r24, r24 2de: 31 f0 breq .+12 ; 0x2ec 2e0: 0e 94 4e 01 call 0x29c 2e4: 21 96 adiw r28, 0x01 ; 1 2e6: 88 81 ld r24, Y 2e8: 88 23 and r24, r24 2ea: d1 f7 brne .-12 ; 0x2e0 2ec: df 91 pop r29 2ee: cf 91 pop r28 2f0: 08 95 ret 000002f2 <_exit>: 2f2: ff cf rjmp .-2 ; 0x2f2 <_exit>