1084 lines
24 KiB
NASM
1084 lines
24 KiB
NASM
;--------------------------------------------------------
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; File Created by SDCC : free open source ANSI-C Compiler
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; Version 4.2.0 #13081 (Linux)
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;--------------------------------------------------------
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.module main
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.optsdcc -mmcs51 --model-small
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;--------------------------------------------------------
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; Public variables in this module
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;--------------------------------------------------------
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.globl _main
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.globl _ms_tick_isr
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.globl _model_get_mode
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.globl _model_init
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.globl _cmd_poll
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.globl _sbus_make_uart_frame
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.globl _sbus_unpack_channels
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.globl _nrf24_write_ack_payload
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.globl _nrf24_data_ready
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.globl _nrf24_set_rx_mode
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.globl _nrf24_check
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.globl _nrf24_init
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.globl _pwm_set_from_sbus
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.globl _pwm_set
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.globl _pwm_init
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.globl _battery_read_mv
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.globl _adc_init
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.globl _spi_init
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.globl _uart1_send_bytes
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.globl _uart1_init
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.globl _gpio_write
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.globl _gpio_set_mode
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.globl _delay_ms
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.globl _EADC
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.globl _ET1
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.globl _ET0
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.globl _ES
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.globl _EA
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.globl _REN
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.globl _RI
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.globl _TI
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.globl _TR1
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.globl _TF1
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.globl _IT0
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.globl _IE0
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.globl _TR0
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.globl _TF0
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.globl _CMPCR2
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.globl _CMPCR1
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.globl _TA
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.globl _IRCBAND_REG
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.globl _IAP_TPS
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.globl _IAP_CONTR
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.globl _IAP_TRIG
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.globl _IAP_CMD
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.globl _IAP_ADDRL
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.globl _IAP_ADDRH
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.globl _IAP_DATA
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.globl _WDT_CONTR
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.globl _PCA_PWM3
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.globl _PCA_PWM2
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.globl _PCA_PWM1
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.globl _PCA_PWM0
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.globl _CCAP3L
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.globl _CCAP2L
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.globl _CCAP1L
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.globl _CCAP0L
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.globl _CCAPM3
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.globl _CCAPM2
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.globl _CCAPM1
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.globl _CCAPM0
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.globl _CMOD
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.globl _CCON
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.globl _ADCTIM_X
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.globl _ADCCFG
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.globl _ADC_RESL
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.globl _ADC_RES
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.globl _ADC_CONTR
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.globl _SPDAT
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.globl _SPCTL
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.globl _SPSTAT
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.globl _IP2H
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.globl _IP2
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.globl _IP
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.globl _IE2
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.globl _IE
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.globl _BRT
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.globl _P_SW1
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.globl _SADEN
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.globl _SADDR
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.globl _S2BUF
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.globl _S2CON
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.globl _SBUF
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.globl _SCON
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.globl _TM4PS_X
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.globl _TM3PS_X
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.globl _TM2PS_X
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.globl _T4T3M
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.globl _T4L
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.globl _T4H
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.globl _T3L
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.globl _T3H
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.globl _T2L
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.globl _T2H
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.globl _INTCLKO
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.globl _AUXR
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.globl _TH1
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.globl _TH0
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.globl _TL1
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.globl _TL0
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.globl _TMOD
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.globl _TCON
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.globl _P_SW2
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.globl _P5M0
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.globl _P5M1
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.globl _P4M0
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.globl _P4M1
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.globl _P3M0
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.globl _P3M1
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.globl _P2M0
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.globl _P2M1
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.globl _P1M0
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.globl _P1M1
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.globl _P0M0
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.globl _P0M1
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.globl _PSW
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.globl _B
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.globl _ACC
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.globl _PCON
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.globl _DPH
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.globl _DPL
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.globl _SP
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.globl _P5
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.globl _P4
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.globl _P3
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.globl _P2
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.globl _P1
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.globl _P0
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;--------------------------------------------------------
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; special function registers
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;--------------------------------------------------------
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.area RSEG (ABS,DATA)
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.org 0x0000
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_P0 = 0x0080
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_P1 = 0x0090
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_P2 = 0x00a0
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_P3 = 0x00b0
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_P4 = 0x00c0
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_P5 = 0x00c8
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_SP = 0x0081
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_DPL = 0x0082
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_DPH = 0x0083
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_PCON = 0x0087
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_ACC = 0x00e0
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_B = 0x00f0
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_PSW = 0x00d0
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_P0M1 = 0x0093
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_P0M0 = 0x0094
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_P1M1 = 0x0091
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_P1M0 = 0x0092
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_P2M1 = 0x0095
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_P2M0 = 0x0096
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_P3M1 = 0x00b1
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_P3M0 = 0x00b2
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_P4M1 = 0x00b3
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_P4M0 = 0x00b4
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_P5M1 = 0x00c9
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_P5M0 = 0x00ca
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_P_SW2 = 0x00ba
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_TCON = 0x0088
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_TMOD = 0x0089
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_TL0 = 0x008a
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_TL1 = 0x008b
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_TH0 = 0x008c
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_TH1 = 0x008d
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_AUXR = 0x008e
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_INTCLKO = 0x008f
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_T2H = 0x00d6
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_T2L = 0x00d7
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_T3H = 0x00d4
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_T3L = 0x00d5
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_T4H = 0x00d2
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_T4L = 0x00d3
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_T4T3M = 0x00d1
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_TM2PS_X = 0xfea1
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_TM3PS_X = 0xfea2
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_TM4PS_X = 0xfea3
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_SCON = 0x0098
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_SBUF = 0x0099
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_S2CON = 0x009a
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_S2BUF = 0x009b
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_SADDR = 0x00a9
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_SADEN = 0x00b9
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_P_SW1 = 0x00a2
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_BRT = 0x009c
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_IE = 0x00a8
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_IE2 = 0x00af
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_IP = 0x00b8
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_IP2 = 0x00b6
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_IP2H = 0x00b7
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_SPSTAT = 0x00cd
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_SPCTL = 0x00ce
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_SPDAT = 0x00cf
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_ADC_CONTR = 0x00bc
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_ADC_RES = 0x00bd
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_ADC_RESL = 0x00be
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_ADCCFG = 0x00de
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_ADCTIM_X = 0xfea8
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_CCON = 0x00d8
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_CMOD = 0x00d9
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_CCAPM0 = 0x00da
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_CCAPM1 = 0x00db
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_CCAPM2 = 0x00dc
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_CCAPM3 = 0x00dd
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_CCAP0L = 0x00ea
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_CCAP1L = 0x00eb
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_CCAP2L = 0x00ec
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_CCAP3L = 0x00ed
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_PCA_PWM0 = 0x00f2
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_PCA_PWM1 = 0x00f3
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_PCA_PWM2 = 0x00f4
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_PCA_PWM3 = 0x00f5
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_WDT_CONTR = 0x00c1
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_IAP_DATA = 0x00c2
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_IAP_ADDRH = 0x00c3
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_IAP_ADDRL = 0x00c4
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_IAP_CMD = 0x00c5
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_IAP_TRIG = 0x00c6
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_IAP_CONTR = 0x00c7
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_IAP_TPS = 0x00f7
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_IRCBAND_REG = 0x009d
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_TA = 0x00ae
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_CMPCR1 = 0x00e6
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_CMPCR2 = 0x00e7
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;--------------------------------------------------------
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; special function bits
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;--------------------------------------------------------
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.area RSEG (ABS,DATA)
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.org 0x0000
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_TF0 = 0x008d
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_TR0 = 0x008c
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_IE0 = 0x0089
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_IT0 = 0x0088
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_TF1 = 0x008f
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_TR1 = 0x008e
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_TI = 0x0099
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_RI = 0x0098
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_REN = 0x009c
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_EA = 0x00af
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_ES = 0x00ac
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_ET0 = 0x00a9
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_ET1 = 0x00ab
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_EADC = 0x00ad
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;--------------------------------------------------------
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; overlayable register banks
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;--------------------------------------------------------
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.area REG_BANK_0 (REL,OVR,DATA)
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.ds 8
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;--------------------------------------------------------
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; overlayable bit register bank
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;--------------------------------------------------------
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.area BIT_BANK (REL,OVR,DATA)
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bits:
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.ds 1
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b0 = bits[0]
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b1 = bits[1]
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b2 = bits[2]
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b3 = bits[3]
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b4 = bits[4]
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b5 = bits[5]
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b6 = bits[6]
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b7 = bits[7]
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;--------------------------------------------------------
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; internal ram data
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;--------------------------------------------------------
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.area DSEG (DATA)
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_output_channels_frame_131072_54:
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.ds 25
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_make_ack_payload_mv_65536_57:
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.ds 2
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_s_ms_tick:
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.ds 1
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_s_ms_count:
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.ds 2
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_ms_tick_isr_last_rx_count_65537_63:
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.ds 1
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;--------------------------------------------------------
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; overlayable items in internal ram
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;--------------------------------------------------------
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;--------------------------------------------------------
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; Stack segment in internal ram
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;--------------------------------------------------------
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.area SSEG
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__start__stack:
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.ds 1
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;--------------------------------------------------------
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; indirectly addressable internal ram data
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;--------------------------------------------------------
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.area ISEG (DATA)
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;--------------------------------------------------------
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; absolute internal ram data
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;--------------------------------------------------------
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.area IABS (ABS,DATA)
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.area IABS (ABS,DATA)
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;--------------------------------------------------------
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; bit data
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;--------------------------------------------------------
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.area BSEG (BIT)
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;--------------------------------------------------------
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; paged external ram data
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;--------------------------------------------------------
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.area PSEG (PAG,XDATA)
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;--------------------------------------------------------
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; external ram data
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;--------------------------------------------------------
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.area XSEG (XDATA)
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_s_channels:
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.ds 32
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;--------------------------------------------------------
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; absolute external ram data
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;--------------------------------------------------------
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.area XABS (ABS,XDATA)
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;--------------------------------------------------------
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; external initialized ram data
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;--------------------------------------------------------
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.area XISEG (XDATA)
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_s_frame_seq:
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.ds 1
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_s_frame_lost:
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.ds 1
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_s_led_tick_ms:
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.ds 2
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_s_led_state:
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.ds 1
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.area HOME (CODE)
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.area GSINIT0 (CODE)
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.area GSINIT1 (CODE)
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.area GSINIT2 (CODE)
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.area GSINIT3 (CODE)
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.area GSINIT4 (CODE)
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.area GSINIT5 (CODE)
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.area GSINIT (CODE)
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.area GSFINAL (CODE)
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.area CSEG (CODE)
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;--------------------------------------------------------
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; interrupt vector
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;--------------------------------------------------------
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.area HOME (CODE)
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__interrupt_vect:
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ljmp __sdcc_gsinit_startup
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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reti
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.ds 7
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ljmp _ms_tick_isr
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;--------------------------------------------------------
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; global & static initialisations
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;--------------------------------------------------------
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.area HOME (CODE)
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.area GSINIT (CODE)
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.area GSFINAL (CODE)
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.area GSINIT (CODE)
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.globl __sdcc_gsinit_startup
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.globl __sdcc_program_startup
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.globl __start__stack
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.globl __mcs51_genXINIT
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.globl __mcs51_genXRAMCLEAR
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.globl __mcs51_genRAMCLEAR
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;------------------------------------------------------------
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;Allocation info for local variables in function 'ms_tick_isr'
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;------------------------------------------------------------
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;last_rx_count Allocated with name '_ms_tick_isr_last_rx_count_65537_63'
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;------------------------------------------------------------
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; src/main.c:137: static uint8_t last_rx_count = 0;
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mov _ms_tick_isr_last_rx_count_65537_63,#0x00
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; src/main.c:128: static volatile uint8_t s_ms_tick = 0;
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mov _s_ms_tick,#0x00
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; src/main.c:129: static volatile uint16_t s_ms_count = 0;
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clr a
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mov _s_ms_count,a
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mov (_s_ms_count + 1),a
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.area GSFINAL (CODE)
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ljmp __sdcc_program_startup
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;--------------------------------------------------------
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; Home
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;--------------------------------------------------------
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.area HOME (CODE)
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.area HOME (CODE)
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__sdcc_program_startup:
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ljmp _main
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; return from main will return to caller
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;--------------------------------------------------------
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; code
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;--------------------------------------------------------
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.area CSEG (CODE)
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;------------------------------------------------------------
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;Allocation info for local variables in function 'sys_clock_init'
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;------------------------------------------------------------
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; src/main.c:48: static void sys_clock_init(void)
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; -----------------------------------------
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; function sys_clock_init
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; -----------------------------------------
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_sys_clock_init:
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ar7 = 0x07
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ar6 = 0x06
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ar5 = 0x05
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ar4 = 0x04
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ar3 = 0x03
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ar2 = 0x02
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ar1 = 0x01
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ar0 = 0x00
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; src/main.c:53: P_SW2 |= 0x80;
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orl _P_SW2,#0x80
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; src/main.c:54: *((volatile uint8_t __xdata *)CLKSEL_X) = 0x00; /* 24MHz IRC */
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mov dptr,#0xfe00
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clr a
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movx @dptr,a
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; src/main.c:55: *((volatile uint8_t __xdata *)CLKDIV_X) = 0x00; /* 不分频 */
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mov dptr,#0xfe01
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movx @dptr,a
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; src/main.c:56: P_SW2 &= ~0x80;
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anl _P_SW2,#0x7f
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; src/main.c:58: IRCBAND_REG = 0x02;
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mov _IRCBAND_REG,#0x02
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; src/main.c:59: }
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ret
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;------------------------------------------------------------
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;Allocation info for local variables in function 'led_init'
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;------------------------------------------------------------
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; src/main.c:61: static void led_init(void)
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; -----------------------------------------
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; function led_init
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; -----------------------------------------
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_led_init:
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; src/main.c:63: gpio_set_mode(LED_PORT, LED_BIT, GPIO_MODE_PUSHPULL);
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mov _gpio_set_mode_PARM_2,#0x02
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mov _gpio_set_mode_PARM_3,#0x01
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mov dpl,#0x03
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lcall _gpio_set_mode
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; src/main.c:64: gpio_write(LED_PORT, LED_BIT, 0);
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mov _gpio_write_PARM_2,#0x02
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mov _gpio_write_PARM_3,#0x00
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mov dpl,#0x03
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; src/main.c:65: }
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ljmp _gpio_write
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;------------------------------------------------------------
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;Allocation info for local variables in function 'led_blink_tick'
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;------------------------------------------------------------
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; src/main.c:67: static void led_blink_tick(void)
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; -----------------------------------------
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; function led_blink_tick
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; -----------------------------------------
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_led_blink_tick:
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; src/main.c:70: if (++s_led_tick_ms >= 100) { /* 100ms 闪烁 */
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mov dptr,#_s_led_tick_ms
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movx a,@dptr
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add a,#0x01
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movx @dptr,a
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inc dptr
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movx a,@dptr
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addc a,#0x00
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movx @dptr,a
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mov dptr,#_s_led_tick_ms
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movx a,@dptr
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mov r6,a
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inc dptr
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movx a,@dptr
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mov r7,a
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clr c
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mov a,r6
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subb a,#0x64
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mov a,r7
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subb a,#0x00
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jc 00103$
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; src/main.c:71: s_led_tick_ms = 0;
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mov dptr,#_s_led_tick_ms
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clr a
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movx @dptr,a
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inc dptr
|
|
movx @dptr,a
|
|
; src/main.c:72: s_led_state ^= 1;
|
|
mov dptr,#_s_led_state
|
|
movx a,@dptr
|
|
xrl acc,#0x01
|
|
movx @dptr,a
|
|
; src/main.c:73: gpio_write(LED_PORT, LED_BIT, s_led_state);
|
|
mov dptr,#_s_led_state
|
|
movx a,@dptr
|
|
mov _gpio_write_PARM_3,a
|
|
mov _gpio_write_PARM_2,#0x02
|
|
mov dpl,#0x03
|
|
; src/main.c:75: }
|
|
ljmp _gpio_write
|
|
00103$:
|
|
ret
|
|
;------------------------------------------------------------
|
|
;Allocation info for local variables in function 'output_channels'
|
|
;------------------------------------------------------------
|
|
;ch Allocated to registers r5 r6 r7
|
|
;mode Allocated to registers r4
|
|
;frame Allocated with name '_output_channels_frame_131072_54'
|
|
;------------------------------------------------------------
|
|
; src/main.c:78: static void output_channels(const uint16_t ch[SBUS_CH_COUNT])
|
|
; -----------------------------------------
|
|
; function output_channels
|
|
; -----------------------------------------
|
|
_output_channels:
|
|
mov r5,dpl
|
|
mov r6,dph
|
|
mov r7,b
|
|
; src/main.c:80: uint8_t mode = model_get_mode();
|
|
push ar7
|
|
push ar6
|
|
push ar5
|
|
lcall _model_get_mode
|
|
mov r4,dpl
|
|
pop ar5
|
|
pop ar6
|
|
pop ar7
|
|
; src/main.c:81: if (mode == MODE_PWM) {
|
|
cjne r4,#0x01,00117$
|
|
sjmp 00118$
|
|
00117$:
|
|
ljmp 00105$
|
|
00118$:
|
|
; src/main.c:83: pwm_set_from_sbus(0, ch[0]);
|
|
mov dpl,r5
|
|
mov dph,r6
|
|
mov b,r7
|
|
lcall __gptrget
|
|
mov _pwm_set_from_sbus_PARM_2,a
|
|
inc dptr
|
|
lcall __gptrget
|
|
mov (_pwm_set_from_sbus_PARM_2 + 1),a
|
|
mov dpl,#0x00
|
|
push ar7
|
|
push ar6
|
|
push ar5
|
|
lcall _pwm_set_from_sbus
|
|
pop ar5
|
|
pop ar6
|
|
pop ar7
|
|
; src/main.c:84: pwm_set_from_sbus(1, ch[1]);
|
|
mov a,#0x02
|
|
add a,r5
|
|
mov r1,a
|
|
clr a
|
|
addc a,r6
|
|
mov r2,a
|
|
mov ar3,r7
|
|
mov dpl,r1
|
|
mov dph,r2
|
|
mov b,r3
|
|
lcall __gptrget
|
|
mov _pwm_set_from_sbus_PARM_2,a
|
|
inc dptr
|
|
lcall __gptrget
|
|
mov (_pwm_set_from_sbus_PARM_2 + 1),a
|
|
mov dpl,#0x01
|
|
push ar7
|
|
push ar6
|
|
push ar5
|
|
lcall _pwm_set_from_sbus
|
|
pop ar5
|
|
pop ar6
|
|
pop ar7
|
|
; src/main.c:85: pwm_set_from_sbus(2, ch[2]);
|
|
mov a,#0x04
|
|
add a,r5
|
|
mov r1,a
|
|
clr a
|
|
addc a,r6
|
|
mov r2,a
|
|
mov ar3,r7
|
|
mov dpl,r1
|
|
mov dph,r2
|
|
mov b,r3
|
|
lcall __gptrget
|
|
mov _pwm_set_from_sbus_PARM_2,a
|
|
inc dptr
|
|
lcall __gptrget
|
|
mov (_pwm_set_from_sbus_PARM_2 + 1),a
|
|
mov dpl,#0x02
|
|
push ar7
|
|
push ar6
|
|
push ar5
|
|
lcall _pwm_set_from_sbus
|
|
pop ar5
|
|
pop ar6
|
|
pop ar7
|
|
; src/main.c:86: pwm_set_from_sbus(3, ch[3]);
|
|
mov a,#0x06
|
|
add a,r5
|
|
mov r1,a
|
|
clr a
|
|
addc a,r6
|
|
mov r2,a
|
|
mov ar3,r7
|
|
mov dpl,r1
|
|
mov dph,r2
|
|
mov b,r3
|
|
lcall __gptrget
|
|
mov _pwm_set_from_sbus_PARM_2,a
|
|
inc dptr
|
|
lcall __gptrget
|
|
mov (_pwm_set_from_sbus_PARM_2 + 1),a
|
|
mov dpl,#0x03
|
|
ljmp _pwm_set_from_sbus
|
|
00105$:
|
|
; src/main.c:87: } else if (mode == MODE_SBUS) {
|
|
mov a,r4
|
|
; src/main.c:90: sbus_make_uart_frame(ch, frame);
|
|
jnz 00107$
|
|
mov _sbus_make_uart_frame_PARM_2,#_output_channels_frame_131072_54
|
|
mov (_sbus_make_uart_frame_PARM_2 + 1),a
|
|
mov (_sbus_make_uart_frame_PARM_2 + 2),#0x40
|
|
mov dpl,r5
|
|
mov dph,r6
|
|
mov b,r7
|
|
lcall _sbus_make_uart_frame
|
|
; src/main.c:91: uart1_send_bytes(frame, 25);
|
|
mov _uart1_send_bytes_PARM_2,#0x19
|
|
mov dptr,#_output_channels_frame_131072_54
|
|
mov b,#0x40
|
|
; src/main.c:92: } else if (mode == MODE_UART) {
|
|
; src/main.c:95: }
|
|
ljmp _uart1_send_bytes
|
|
00107$:
|
|
ret
|
|
;------------------------------------------------------------
|
|
;Allocation info for local variables in function 'make_ack_payload'
|
|
;------------------------------------------------------------
|
|
;buf Allocated to registers r5 r6 r7
|
|
;mv Allocated with name '_make_ack_payload_mv_65536_57'
|
|
;i Allocated to registers r4
|
|
;------------------------------------------------------------
|
|
; src/main.c:98: static void make_ack_payload(uint8_t *buf)
|
|
; -----------------------------------------
|
|
; function make_ack_payload
|
|
; -----------------------------------------
|
|
_make_ack_payload:
|
|
mov r5,dpl
|
|
mov r6,dph
|
|
mov r7,b
|
|
; src/main.c:100: uint16_t mv = battery_read_mv(); /* mV */
|
|
push ar7
|
|
push ar6
|
|
push ar5
|
|
lcall _battery_read_mv
|
|
mov _make_ack_payload_mv_65536_57,dpl
|
|
mov (_make_ack_payload_mv_65536_57 + 1),dph
|
|
pop ar5
|
|
pop ar6
|
|
pop ar7
|
|
; src/main.c:101: buf[0] = FRAME_ID_TELEMETRY;
|
|
mov dpl,r5
|
|
mov dph,r6
|
|
mov b,r7
|
|
mov a,#0xb0
|
|
lcall __gptrput
|
|
; src/main.c:102: buf[1] = s_frame_seq;
|
|
mov a,#0x01
|
|
add a,r5
|
|
mov r0,a
|
|
clr a
|
|
addc a,r6
|
|
mov r1,a
|
|
mov ar2,r7
|
|
mov dptr,#_s_frame_seq
|
|
movx a,@dptr
|
|
mov dpl,r0
|
|
mov dph,r1
|
|
mov b,r2
|
|
lcall __gptrput
|
|
; src/main.c:103: buf[2] = (uint8_t)(mv >> 8); /* voltage mV high */
|
|
mov a,#0x02
|
|
add a,r5
|
|
mov r2,a
|
|
clr a
|
|
addc a,r6
|
|
mov r3,a
|
|
mov ar4,r7
|
|
mov r1,(_make_ack_payload_mv_65536_57 + 1)
|
|
mov dpl,r2
|
|
mov dph,r3
|
|
mov b,r4
|
|
mov a,r1
|
|
lcall __gptrput
|
|
; src/main.c:104: buf[3] = (uint8_t)(mv & 0xFF); /* voltage mV low */
|
|
mov a,#0x03
|
|
add a,r5
|
|
mov r2,a
|
|
clr a
|
|
addc a,r6
|
|
mov r3,a
|
|
mov ar4,r7
|
|
mov r1,_make_ack_payload_mv_65536_57
|
|
mov dpl,r2
|
|
mov dph,r3
|
|
mov b,r4
|
|
mov a,r1
|
|
lcall __gptrput
|
|
; src/main.c:105: buf[4] = 0; /* current (预留) */
|
|
mov a,#0x04
|
|
add a,r5
|
|
mov r2,a
|
|
clr a
|
|
addc a,r6
|
|
mov r3,a
|
|
mov ar4,r7
|
|
mov dpl,r2
|
|
mov dph,r3
|
|
mov b,r4
|
|
clr a
|
|
lcall __gptrput
|
|
; src/main.c:107: for (uint8_t i = 5; i < NRF_PAYLOAD_LEN; i++) buf[i] = 0;
|
|
mov r4,#0x05
|
|
00103$:
|
|
cjne r4,#0x20,00116$
|
|
00116$:
|
|
jnc 00105$
|
|
mov a,r4
|
|
add a,r5
|
|
mov r1,a
|
|
clr a
|
|
addc a,r6
|
|
mov r2,a
|
|
mov ar3,r7
|
|
mov dpl,r1
|
|
mov dph,r2
|
|
mov b,r3
|
|
clr a
|
|
lcall __gptrput
|
|
inc r4
|
|
sjmp 00103$
|
|
00105$:
|
|
; src/main.c:108: }
|
|
ret
|
|
;------------------------------------------------------------
|
|
;Allocation info for local variables in function 'handle_rx_frame'
|
|
;------------------------------------------------------------
|
|
;p Allocated to registers
|
|
;------------------------------------------------------------
|
|
; src/main.c:110: static void handle_rx_frame(void)
|
|
; -----------------------------------------
|
|
; function handle_rx_frame
|
|
; -----------------------------------------
|
|
_handle_rx_frame:
|
|
; src/main.c:112: uint8_t *p = g_nrf_status.ack_payload; /* 复用 */
|
|
; src/main.c:113: if (p[0] != FRAME_ID_CHANNELS) return;
|
|
mov dptr,#(_g_nrf_status + 0x0004)
|
|
movx a,@dptr
|
|
mov r7,a
|
|
cjne r7,#0xa0,00103$
|
|
; src/main.c:114: s_frame_seq = p[1];
|
|
mov dptr,#(_g_nrf_status + 0x0005)
|
|
mov b,#0x00
|
|
lcall __gptrget
|
|
mov dptr,#_s_frame_seq
|
|
movx @dptr,a
|
|
; src/main.c:117: sbus_unpack_channels(&p[4], (uint16_t *)s_channels);
|
|
mov _sbus_unpack_channels_PARM_2,#_s_channels
|
|
mov (_sbus_unpack_channels_PARM_2 + 1),#(_s_channels >> 8)
|
|
mov (_sbus_unpack_channels_PARM_2 + 2),#0x00
|
|
mov dptr,#(_g_nrf_status + 0x0008)
|
|
mov b,#0x00
|
|
lcall _sbus_unpack_channels
|
|
; src/main.c:119: s_frame_lost = 0;
|
|
mov dptr,#_s_frame_lost
|
|
clr a
|
|
movx @dptr,a
|
|
; src/main.c:120: output_channels(s_channels);
|
|
mov dptr,#_s_channels
|
|
mov b,#0x00
|
|
lcall _output_channels
|
|
; src/main.c:123: make_ack_payload(p);
|
|
mov dptr,#(_g_nrf_status + 0x0004)
|
|
mov b,#0x00
|
|
lcall _make_ack_payload
|
|
; src/main.c:124: nrf24_write_ack_payload(p);
|
|
mov dptr,#(_g_nrf_status + 0x0004)
|
|
mov b,#0x00
|
|
; src/main.c:125: }
|
|
ljmp _nrf24_write_ack_payload
|
|
00103$:
|
|
ret
|
|
;------------------------------------------------------------
|
|
;Allocation info for local variables in function 'ms_tick_isr'
|
|
;------------------------------------------------------------
|
|
;last_rx_count Allocated with name '_ms_tick_isr_last_rx_count_65537_63'
|
|
;------------------------------------------------------------
|
|
; src/main.c:131: void ms_tick_isr(void) __interrupt (INT_ADDR_T1)
|
|
; -----------------------------------------
|
|
; function ms_tick_isr
|
|
; -----------------------------------------
|
|
_ms_tick_isr:
|
|
push bits
|
|
push acc
|
|
push b
|
|
push dpl
|
|
push dph
|
|
push (0+7)
|
|
push (0+6)
|
|
push (0+5)
|
|
push (0+4)
|
|
push (0+3)
|
|
push (0+2)
|
|
push (0+1)
|
|
push (0+0)
|
|
push psw
|
|
mov psw,#0x00
|
|
; src/main.c:134: s_ms_count++;
|
|
mov r6,_s_ms_count
|
|
mov r7,(_s_ms_count + 1)
|
|
mov a,#0x01
|
|
add a,r6
|
|
mov _s_ms_count,a
|
|
clr a
|
|
addc a,r7
|
|
mov (_s_ms_count + 1),a
|
|
; src/main.c:138: if (g_nrf_status.rx_count != last_rx_count) {
|
|
mov dptr,#(_g_nrf_status + 0x0001)
|
|
movx a,@dptr
|
|
mov r7,a
|
|
cjne a,_ms_tick_isr_last_rx_count_65537_63,00116$
|
|
sjmp 00102$
|
|
00116$:
|
|
; src/main.c:139: s_frame_lost = 0;
|
|
mov dptr,#_s_frame_lost
|
|
clr a
|
|
movx @dptr,a
|
|
; src/main.c:140: last_rx_count = g_nrf_status.rx_count;
|
|
mov dptr,#(_g_nrf_status + 0x0001)
|
|
movx a,@dptr
|
|
mov _ms_tick_isr_last_rx_count_65537_63,a
|
|
sjmp 00103$
|
|
00102$:
|
|
; src/main.c:142: s_frame_lost = 1;
|
|
mov dptr,#_s_frame_lost
|
|
mov a,#0x01
|
|
movx @dptr,a
|
|
00103$:
|
|
; src/main.c:145: led_blink_tick();
|
|
lcall _led_blink_tick
|
|
; src/main.c:148: if (s_frame_lost) {
|
|
mov dptr,#_s_frame_lost
|
|
movx a,@dptr
|
|
jz 00106$
|
|
; src/main.c:149: pwm_set(0, 1500); /* 失联时输出中位 */
|
|
mov _pwm_set_PARM_2,#0xdc
|
|
mov (_pwm_set_PARM_2 + 1),#0x05
|
|
mov dpl,#0x00
|
|
lcall _pwm_set
|
|
; src/main.c:150: pwm_set(1, 1500);
|
|
mov _pwm_set_PARM_2,#0xdc
|
|
mov (_pwm_set_PARM_2 + 1),#0x05
|
|
mov dpl,#0x01
|
|
lcall _pwm_set
|
|
; src/main.c:151: pwm_set(2, 1500);
|
|
mov _pwm_set_PARM_2,#0xdc
|
|
mov (_pwm_set_PARM_2 + 1),#0x05
|
|
mov dpl,#0x02
|
|
lcall _pwm_set
|
|
; src/main.c:152: pwm_set(3, 1500);
|
|
mov _pwm_set_PARM_2,#0xdc
|
|
mov (_pwm_set_PARM_2 + 1),#0x05
|
|
mov dpl,#0x03
|
|
lcall _pwm_set
|
|
00106$:
|
|
; src/main.c:154: }
|
|
pop psw
|
|
pop (0+0)
|
|
pop (0+1)
|
|
pop (0+2)
|
|
pop (0+3)
|
|
pop (0+4)
|
|
pop (0+5)
|
|
pop (0+6)
|
|
pop (0+7)
|
|
pop dph
|
|
pop dpl
|
|
pop b
|
|
pop acc
|
|
pop bits
|
|
reti
|
|
;------------------------------------------------------------
|
|
;Allocation info for local variables in function 'tick_init'
|
|
;------------------------------------------------------------
|
|
; src/main.c:156: static void tick_init(void)
|
|
; -----------------------------------------
|
|
; function tick_init
|
|
; -----------------------------------------
|
|
_tick_init:
|
|
; src/main.c:159: TMOD &= 0x0F;
|
|
anl _TMOD,#0x0f
|
|
; src/main.c:160: TMOD |= 0x00; /* T1 模式 0 (16 位自动重载) */
|
|
mov _TMOD,_TMOD
|
|
; src/main.c:161: AUXR &= ~0x40; /* T1x12 = 0: 12T 模式 */
|
|
anl _AUXR,#0xbf
|
|
; src/main.c:163: TL1 = 0xC0;
|
|
mov _TL1,#0xc0
|
|
; src/main.c:164: TH1 = 0x63;
|
|
mov _TH1,#0x63
|
|
; src/main.c:165: ET1 = 1;
|
|
; assignBit
|
|
setb _ET1
|
|
; src/main.c:166: TR1 = 1;
|
|
; assignBit
|
|
setb _TR1
|
|
; src/main.c:167: }
|
|
ret
|
|
;------------------------------------------------------------
|
|
;Allocation info for local variables in function 'main'
|
|
;------------------------------------------------------------
|
|
; src/main.c:169: int main(void)
|
|
; -----------------------------------------
|
|
; function main
|
|
; -----------------------------------------
|
|
_main:
|
|
; src/main.c:171: sys_clock_init();
|
|
lcall _sys_clock_init
|
|
; src/main.c:172: delay_ms(50); /* 等电源稳定 */
|
|
mov dptr,#0x0032
|
|
lcall _delay_ms
|
|
; src/main.c:174: led_init();
|
|
lcall _led_init
|
|
; src/main.c:177: uart1_init(UART_BAUD_CMD);
|
|
mov dptr,#0xc200
|
|
mov b,#0x01
|
|
clr a
|
|
lcall _uart1_init
|
|
; src/main.c:179: uart1_send_bytes("LoliRX boot\r\n", 14);
|
|
mov _uart1_send_bytes_PARM_2,#0x0e
|
|
mov dptr,#___str_0
|
|
mov b,#0x80
|
|
lcall _uart1_send_bytes
|
|
; src/main.c:181: spi_init();
|
|
lcall _spi_init
|
|
; src/main.c:182: adc_init();
|
|
lcall _adc_init
|
|
; src/main.c:185: if (nrf24_check() == NRF_OK) {
|
|
lcall _nrf24_check
|
|
mov a,dpl
|
|
jnz 00102$
|
|
; src/main.c:186: uart1_send_bytes("NRF OK\r\n", 8);
|
|
mov _uart1_send_bytes_PARM_2,#0x08
|
|
mov dptr,#___str_1
|
|
mov b,#0x80
|
|
lcall _uart1_send_bytes
|
|
sjmp 00103$
|
|
00102$:
|
|
; src/main.c:188: uart1_send_bytes("NRF FAIL\r\n", 10);
|
|
mov _uart1_send_bytes_PARM_2,#0x0a
|
|
mov dptr,#___str_2
|
|
mov b,#0x80
|
|
lcall _uart1_send_bytes
|
|
00103$:
|
|
; src/main.c:192: model_init();
|
|
lcall _model_init
|
|
; src/main.c:195: nrf24_init();
|
|
lcall _nrf24_init
|
|
; src/main.c:196: nrf24_set_rx_mode();
|
|
lcall _nrf24_set_rx_mode
|
|
; src/main.c:199: pwm_init();
|
|
lcall _pwm_init
|
|
; src/main.c:202: tick_init();
|
|
lcall _tick_init
|
|
; src/main.c:204: EA = 1;
|
|
; assignBit
|
|
setb _EA
|
|
; src/main.c:206: uart1_send_bytes("Ready\r\n", 7);
|
|
mov _uart1_send_bytes_PARM_2,#0x07
|
|
mov dptr,#___str_3
|
|
mov b,#0x80
|
|
lcall _uart1_send_bytes
|
|
00107$:
|
|
; src/main.c:210: cmd_poll();
|
|
lcall _cmd_poll
|
|
; src/main.c:213: if (nrf24_data_ready()) {
|
|
lcall _nrf24_data_ready
|
|
mov a,dpl
|
|
jz 00107$
|
|
; src/main.c:214: handle_rx_frame();
|
|
lcall _handle_rx_frame
|
|
; src/main.c:217: }
|
|
sjmp 00107$
|
|
.area CSEG (CODE)
|
|
.area CONST (CODE)
|
|
_DEFAULT_ADDR:
|
|
.db #0xe7 ; 231
|
|
.db #0xe7 ; 231
|
|
.db #0xe7 ; 231
|
|
.db #0xe7 ; 231
|
|
.db #0xc2 ; 194
|
|
.area CONST (CODE)
|
|
___str_0:
|
|
.ascii "LoliRX boot"
|
|
.db 0x0d
|
|
.db 0x0a
|
|
.db 0x00
|
|
.area CSEG (CODE)
|
|
.area CONST (CODE)
|
|
___str_1:
|
|
.ascii "NRF OK"
|
|
.db 0x0d
|
|
.db 0x0a
|
|
.db 0x00
|
|
.area CSEG (CODE)
|
|
.area CONST (CODE)
|
|
___str_2:
|
|
.ascii "NRF FAIL"
|
|
.db 0x0d
|
|
.db 0x0a
|
|
.db 0x00
|
|
.area CSEG (CODE)
|
|
.area CONST (CODE)
|
|
___str_3:
|
|
.ascii "Ready"
|
|
.db 0x0d
|
|
.db 0x0a
|
|
.db 0x00
|
|
.area CSEG (CODE)
|
|
.area XINIT (CODE)
|
|
__xinit__s_frame_seq:
|
|
.db #0x00 ; 0
|
|
__xinit__s_frame_lost:
|
|
.db #0x01 ; 1
|
|
__xinit__s_led_tick_ms:
|
|
.byte #0x00, #0x00 ; 0
|
|
__xinit__s_led_state:
|
|
.db #0x00 ; 0
|
|
.area CABS (ABS,CODE)
|