main.elf: file format elf32-avr Sections: Idx Name Size VMA LMA File off Algn 0 .text 0000026c 00000000 00000000 00000094 2**0 CONTENTS, ALLOC, LOAD, READONLY, CODE 1 .data 00000010 00800060 0000026c 00000300 2**0 CONTENTS, ALLOC, LOAD, DATA 2 .bss 00000003 00800070 00800070 00000310 2**0 ALLOC 3 .noinit 00000000 00800073 00800073 00000310 2**0 CONTENTS 4 .eeprom 00000000 00810000 00810000 00000310 2**0 CONTENTS 5 .stab 0000099c 00000000 00000000 00000310 2**2 CONTENTS, READONLY, DEBUGGING 6 .stabstr 00000957 00000000 00000000 00000cac 2**0 CONTENTS, READONLY, DEBUGGING Disassembly of section .text: 00000000 <__vectors>: 0: 0c 94 2a 00 jmp 0x54 4: 0c 94 ee 00 jmp 0x1dc 8: 0c 94 12 01 jmp 0x224 c: 0c 94 45 00 jmp 0x8a 10: 0c 94 45 00 jmp 0x8a 14: 0c 94 45 00 jmp 0x8a 18: 0c 94 45 00 jmp 0x8a 1c: 0c 94 45 00 jmp 0x8a 20: 0c 94 45 00 jmp 0x8a 24: 0c 94 45 00 jmp 0x8a 28: 0c 94 45 00 jmp 0x8a 2c: 0c 94 45 00 jmp 0x8a 30: 0c 94 45 00 jmp 0x8a 34: 0c 94 45 00 jmp 0x8a 38: 0c 94 45 00 jmp 0x8a 3c: 0c 94 45 00 jmp 0x8a 40: 0c 94 45 00 jmp 0x8a 44: 0c 94 45 00 jmp 0x8a 48: 0c 94 45 00 jmp 0x8a 4c: 0c 94 45 00 jmp 0x8a 50: 0c 94 45 00 jmp 0x8a 00000054 <__ctors_end>: 54: 11 24 eor r1, r1 56: 1f be out 0x3f, r1 ; 63 58: cf e5 ldi r28, 0x5F ; 95 5a: d8 e0 ldi r29, 0x08 ; 8 5c: de bf out 0x3e, r29 ; 62 5e: cd bf out 0x3d, r28 ; 61 00000060 <__do_copy_data>: 60: 10 e0 ldi r17, 0x00 ; 0 62: a0 e6 ldi r26, 0x60 ; 96 64: b0 e0 ldi r27, 0x00 ; 0 66: ec e6 ldi r30, 0x6C ; 108 68: f2 e0 ldi r31, 0x02 ; 2 6a: 02 c0 rjmp .+4 ; 0x70 0000006c <.do_copy_data_loop>: 6c: 05 90 lpm r0, Z+ 6e: 0d 92 st X+, r0 00000070 <.do_copy_data_start>: 70: a0 37 cpi r26, 0x70 ; 112 72: b1 07 cpc r27, r17 74: d9 f7 brne .-10 ; 0x6c 00000076 <__do_clear_bss>: 76: 10 e0 ldi r17, 0x00 ; 0 78: a0 e7 ldi r26, 0x70 ; 112 7a: b0 e0 ldi r27, 0x00 ; 0 7c: 01 c0 rjmp .+2 ; 0x80 0000007e <.do_clear_bss_loop>: 7e: 1d 92 st X+, r1 00000080 <.do_clear_bss_start>: 80: a3 37 cpi r26, 0x73 ; 115 82: b1 07 cpc r27, r17 84: e1 f7 brne .-8 ; 0x7e 86: 0c 94 82 00 jmp 0x104 0000008a <__bad_interrupt>: 8a: 0c 94 00 00 jmp 0x0 0000008e : } void pwm_init() { // clear pwm levels OCR0 = 0; 8e: 1c be out 0x3c, r1 ; 60 OCR2 = 0; 90: 13 bc out 0x23, r1 ; 35 // set up WGM, clock, and mode for timer 0 TCCR0 = 0 << FOC0 | 92: 8d e6 ldi r24, 0x6D ; 109 94: 83 bf out 0x33, r24 ; 51 1 << WGM00 | /* fast pwm */ 1 << COM01 | /* inverted */ 0 << COM00 | /* this bit 1 for inverted, 0 for normal */ 1 << WGM01 | /* fast pwm */ 1 << CS02 | /* prescale by 1024 */ 0 << CS01 | 1 << CS00 ; // set up WGM, clock, and mode for timer 2 TCCR2 = 0 << FOC2 | 96: 85 bd out 0x25, r24 ; 37 98: 08 95 ret 0000009a : 1 << WGM20 | 1 << COM21 | 0 << COM20 | /* this bit 1 for inverted, 0 for normal */ 1 << WGM21 | 1 << CS22 | 0 << CS21 | 1 << CS20 ; } void setupEncoder() { // clear position position = 0; 9a: 10 92 72 00 sts 0x0072, r1 9e: 10 92 71 00 sts 0x0071, r1 // we need to set up int0 and int1 to // trigger interrupts on both edges MCUCR = (1<: ac: 88 23 and r24, r24 ae: 21 f4 brne .+8 ; 0xb8 b0: c0 9a sbi 0x18, 0 ; 24 b2: 8d e6 ldi r24, 0x6D ; 109 b4: 83 bf out 0x33, r24 ; 51 b6: 08 95 ret b8: c0 98 cbi 0x18, 0 ; 24 ba: 8d e7 ldi r24, 0x7D ; 125 bc: 83 bf out 0x33, r24 ; 51 be: 08 95 ret c0: 08 95 ret 000000c2 : c2: 88 23 and r24, r24 c4: 11 f4 brne .+4 ; 0xca c6: 6c bf out 0x3c, r22 ; 60 c8: 08 95 ret ca: 81 30 cpi r24, 0x01 ; 1 cc: 09 f0 breq .+2 ; 0xd0 ce: 08 95 ret d0: 63 bd out 0x23, r22 ; 35 d2: 08 95 ret d4: 08 95 ret 000000d6 : d6: cf 93 push r28 d8: df 93 push r29 da: ec 01 movw r28, r24 dc: 18 16 cp r1, r24 de: 19 06 cpc r1, r25 e0: 2c f4 brge .+10 ; 0xec e2: 81 e0 ldi r24, 0x01 ; 1 e4: 0e 94 56 00 call 0xac e8: 6c 2f mov r22, r28 ea: 06 c0 rjmp .+12 ; 0xf8 ec: 80 e0 ldi r24, 0x00 ; 0 ee: 0e 94 56 00 call 0xac f2: 8c 2f mov r24, r28 f4: 81 95 neg r24 f6: 68 2f mov r22, r24 f8: 80 e0 ldi r24, 0x00 ; 0 fa: 0e 94 61 00 call 0xc2 fe: df 91 pop r29 100: cf 91 pop r28 102: 08 95 ret 00000104
: 104: cf e5 ldi r28, 0x5F ; 95 106: d8 e0 ldi r29, 0x08 ; 8 108: de bf out 0x3e, r29 ; 62 10a: cd bf out 0x3d, r28 ; 61 10c: 1a ba out 0x1a, r1 ; 26 10e: 89 e0 ldi r24, 0x09 ; 9 110: 87 bb out 0x17, r24 ; 23 112: 14 ba out 0x14, r1 ; 20 114: 80 e8 ldi r24, 0x80 ; 128 116: 81 bb out 0x11, r24 ; 17 118: 0e 94 47 00 call 0x8e 11c: 0e 94 4d 00 call 0x9a 120: 78 94 sei 122: 80 91 71 00 lds r24, 0x0071 126: 90 91 72 00 lds r25, 0x0072 12a: aa 27 eor r26, r26 12c: 97 fd sbrc r25, 7 12e: a0 95 com r26 130: ba 2f mov r27, r26 132: 8f 3f cpi r24, 0xFF ; 255 134: 91 05 cpc r25, r1 136: a1 05 cpc r26, r1 138: b1 05 cpc r27, r1 13a: 29 f0 breq .+10 ; 0x146 13c: 24 f0 brlt .+8 ; 0x146 13e: 8f ef ldi r24, 0xFF ; 255 140: 90 e0 ldi r25, 0x00 ; 0 142: a0 e0 ldi r26, 0x00 ; 0 144: b0 e0 ldi r27, 0x00 ; 0 146: 81 30 cpi r24, 0x01 ; 1 148: 2f ef ldi r18, 0xFF ; 255 14a: 92 07 cpc r25, r18 14c: 2f ef ldi r18, 0xFF ; 255 14e: a2 07 cpc r26, r18 150: 2f ef ldi r18, 0xFF ; 255 152: b2 07 cpc r27, r18 154: 24 f4 brge .+8 ; 0x15e 156: 81 e0 ldi r24, 0x01 ; 1 158: 9f ef ldi r25, 0xFF ; 255 15a: af ef ldi r26, 0xFF ; 255 15c: bf ef ldi r27, 0xFF ; 255 15e: 0e 94 6b 00 call 0xd6 162: df cf rjmp .-66 ; 0x122 00000164 <_SetSpeed>: 164: cf 93 push r28 166: df 93 push r29 168: ec 01 movw r28, r24 16a: 18 16 cp r1, r24 16c: 19 06 cpc r1, r25 16e: 54 f4 brge .+20 ; 0x184 170: 60 e0 ldi r22, 0x00 ; 0 172: 86 2f mov r24, r22 174: 0e 94 61 00 call 0xc2 178: 81 e0 ldi r24, 0x01 ; 1 17a: 0e 94 56 00 call 0xac 17e: 6c 2f mov r22, r28 180: 81 e0 ldi r24, 0x01 ; 1 182: 0b c0 rjmp .+22 ; 0x19a 184: 60 e0 ldi r22, 0x00 ; 0 186: 81 e0 ldi r24, 0x01 ; 1 188: 0e 94 61 00 call 0xc2 18c: 80 e0 ldi r24, 0x00 ; 0 18e: 0e 94 56 00 call 0xac 192: 8c 2f mov r24, r28 194: 81 95 neg r24 196: 68 2f mov r22, r24 198: 80 e0 ldi r24, 0x00 ; 0 19a: 0e 94 61 00 call 0xc2 19e: df 91 pop r29 1a0: cf 91 pop r28 1a2: 08 95 ret 000001a4 : } SIGNAL (SIG_INTERRUPT0) { // fix this signal name!!! INT0 updatePos(); } SIGNAL (SIG_INTERRUPT1) { // fix this signal name!!! INT1 updatePos(); } void updatePos() { /* get the bits PIND = XXXXiiXX clear space & 0x0C = 0000ii00 or in old status | oldstate = XX00iijj clean up & 0x0F = 0000iijj */ oldstate = oldstate | (PIND & 0x0C); // Update Oldstate 1a4: 40 b3 in r20, 0x10 ; 16 1a6: 4c 70 andi r20, 0x0C ; 12 1a8: 80 91 70 00 lds r24, 0x0070 1ac: 48 2b or r20, r24 position += offsets[oldstate]; // Update Position 1ae: e0 e6 ldi r30, 0x60 ; 96 1b0: f0 e0 ldi r31, 0x00 ; 0 1b2: e4 0f add r30, r20 1b4: f1 1d adc r31, r1 1b6: 80 81 ld r24, Z 1b8: 99 27 eor r25, r25 1ba: 87 fd sbrc r24, 7 1bc: 90 95 com r25 1be: 20 91 71 00 lds r18, 0x0071 1c2: 30 91 72 00 lds r19, 0x0072 1c6: 82 0f add r24, r18 1c8: 93 1f adc r25, r19 1ca: 90 93 72 00 sts 0x0072, r25 1ce: 80 93 71 00 sts 0x0071, r24 oldstate = oldstate >> 2; 1d2: 46 95 lsr r20 1d4: 46 95 lsr r20 1d6: 40 93 70 00 sts 0x0070, r20 1da: 08 95 ret 000001dc <__vector_1>: 1dc: 1f 92 push r1 1de: 0f 92 push r0 1e0: 0f b6 in r0, 0x3f ; 63 1e2: 0f 92 push r0 1e4: 11 24 eor r1, r1 1e6: 2f 93 push r18 1e8: 3f 93 push r19 1ea: 4f 93 push r20 1ec: 5f 93 push r21 1ee: 6f 93 push r22 1f0: 7f 93 push r23 1f2: 8f 93 push r24 1f4: 9f 93 push r25 1f6: af 93 push r26 1f8: bf 93 push r27 1fa: ef 93 push r30 1fc: ff 93 push r31 1fe: 0e 94 d2 00 call 0x1a4 202: ff 91 pop r31 204: ef 91 pop r30 206: bf 91 pop r27 208: af 91 pop r26 20a: 9f 91 pop r25 20c: 8f 91 pop r24 20e: 7f 91 pop r23 210: 6f 91 pop r22 212: 5f 91 pop r21 214: 4f 91 pop r20 216: 3f 91 pop r19 218: 2f 91 pop r18 21a: 0f 90 pop r0 21c: 0f be out 0x3f, r0 ; 63 21e: 0f 90 pop r0 220: 1f 90 pop r1 222: 18 95 reti 00000224 <__vector_2>: 224: 1f 92 push r1 226: 0f 92 push r0 228: 0f b6 in r0, 0x3f ; 63 22a: 0f 92 push r0 22c: 11 24 eor r1, r1 22e: 2f 93 push r18 230: 3f 93 push r19 232: 4f 93 push r20 234: 5f 93 push r21 236: 6f 93 push r22 238: 7f 93 push r23 23a: 8f 93 push r24 23c: 9f 93 push r25 23e: af 93 push r26 240: bf 93 push r27 242: ef 93 push r30 244: ff 93 push r31 246: 0e 94 d2 00 call 0x1a4 24a: ff 91 pop r31 24c: ef 91 pop r30 24e: bf 91 pop r27 250: af 91 pop r26 252: 9f 91 pop r25 254: 8f 91 pop r24 256: 7f 91 pop r23 258: 6f 91 pop r22 25a: 5f 91 pop r21 25c: 4f 91 pop r20 25e: 3f 91 pop r19 260: 2f 91 pop r18 262: 0f 90 pop r0 264: 0f be out 0x3f, r0 ; 63 266: 0f 90 pop r0 268: 1f 90 pop r1 26a: 18 95 reti