BOSCH_SCU.elf:     file format elf32-avr

Sections:
Idx Name          Size      VMA       LMA       File off  Algn
  0 .text         000000ca  00000000  00000000  00000054  2**1
                  CONTENTS, ALLOC, LOAD, READONLY, CODE
  1 .debug_aranges 00000020  00000000  00000000  0000011e  2**0
                  CONTENTS, READONLY, DEBUGGING
  2 .debug_pubnames 00000040  00000000  00000000  0000013e  2**0
                  CONTENTS, READONLY, DEBUGGING
  3 .debug_info   00000110  00000000  00000000  0000017e  2**0
                  CONTENTS, READONLY, DEBUGGING
  4 .debug_abbrev 000000e0  00000000  00000000  0000028e  2**0
                  CONTENTS, READONLY, DEBUGGING
  5 .debug_line   0000016a  00000000  00000000  0000036e  2**0
                  CONTENTS, READONLY, DEBUGGING
  6 .debug_frame  00000050  00000000  00000000  000004d8  2**2
                  CONTENTS, READONLY, DEBUGGING
  7 .debug_str    00000088  00000000  00000000  00000528  2**0
                  CONTENTS, READONLY, DEBUGGING
  8 .debug_loc    0000001e  00000000  00000000  000005b0  2**0
                  CONTENTS, READONLY, DEBUGGING
Disassembly of section .text:

00000000 <__vectors>:
   0:	0e c0       	rjmp	.+28     	; 0x1e <__ctors_end>
   2:	26 c0       	rjmp	.+76     	; 0x50 <__bad_interrupt>
   4:	25 c0       	rjmp	.+74     	; 0x50 <__bad_interrupt>
   6:	24 c0       	rjmp	.+72     	; 0x50 <__bad_interrupt>
   8:	23 c0       	rjmp	.+70     	; 0x50 <__bad_interrupt>
   a:	22 c0       	rjmp	.+68     	; 0x50 <__bad_interrupt>
   c:	21 c0       	rjmp	.+66     	; 0x50 <__bad_interrupt>
   e:	20 c0       	rjmp	.+64     	; 0x50 <__bad_interrupt>
  10:	1f c0       	rjmp	.+62     	; 0x50 <__bad_interrupt>
  12:	1e c0       	rjmp	.+60     	; 0x50 <__bad_interrupt>
  14:	1d c0       	rjmp	.+58     	; 0x50 <__bad_interrupt>
  16:	1c c0       	rjmp	.+56     	; 0x50 <__bad_interrupt>
  18:	1b c0       	rjmp	.+54     	; 0x50 <__bad_interrupt>
  1a:	1a c0       	rjmp	.+52     	; 0x50 <__bad_interrupt>
  1c:	19 c0       	rjmp	.+50     	; 0x50 <__bad_interrupt>

0000001e <__ctors_end>:
  1e:	11 24       	eor	r1, r1
  20:	1f be       	out	0x3f, r1	; 63
  22:	cf ed       	ldi	r28, 0xDF	; 223
  24:	cd bf       	out	0x3d, r28	; 61

00000026 <__do_copy_data>:
  26:	10 e0       	ldi	r17, 0x00	; 0
  28:	a0 e6       	ldi	r26, 0x60	; 96
  2a:	b0 e0       	ldi	r27, 0x00	; 0
  2c:	ea ec       	ldi	r30, 0xCA	; 202
  2e:	f0 e0       	ldi	r31, 0x00	; 0
  30:	02 c0       	rjmp	.+4      	; 0x36 <.do_copy_data_start>

00000032 <.do_copy_data_loop>:
  32:	05 90       	lpm	r0, Z+
  34:	0d 92       	st	X+, r0

00000036 <.do_copy_data_start>:
  36:	a0 36       	cpi	r26, 0x60	; 96
  38:	b1 07       	cpc	r27, r17
  3a:	d9 f7       	brne	.-10     	; 0x32 <.do_copy_data_loop>

0000003c <__do_clear_bss>:
  3c:	10 e0       	ldi	r17, 0x00	; 0
  3e:	a0 e6       	ldi	r26, 0x60	; 96
  40:	b0 e0       	ldi	r27, 0x00	; 0
  42:	01 c0       	rjmp	.+2      	; 0x46 <.do_clear_bss_start>

00000044 <.do_clear_bss_loop>:
  44:	1d 92       	st	X+, r1

00000046 <.do_clear_bss_start>:
  46:	a0 36       	cpi	r26, 0x60	; 96
  48:	b1 07       	cpc	r27, r17
  4a:	e1 f7       	brne	.-8      	; 0x44 <.do_clear_bss_loop>
  4c:	29 d0       	rcall	.+82     	; 0xa0 <main>
  4e:	3b c0       	rjmp	.+118    	; 0xc6 <_exit>

00000050 <__bad_interrupt>:
  50:	d7 cf       	rjmp	.-82     	; 0x0 <__vectors>

00000052 <initIO>:
 
 Description: Initialise I/O
 Input: -
 Output: -
------------------------------------------------------------------------------------------------*/
void initIO (void){
  52:	82 e0       	ldi	r24, 0x02	; 2
  54:	87 bd       	out	0x27, r24	; 39

	/* Start PLL */
	PLLCSR = (1<<PLLE);
	loop_until_bit_is_set(PLLCSR, PLOCK);
  56:	07 b4       	in	r0, 0x27	; 39
  58:	00 fe       	sbrs	r0, 0
  5a:	fd cf       	rjmp	.-6      	; 0x56 <initIO+0x4>
	PLLCSR |= (1<<PCKE);
  5c:	87 b5       	in	r24, 0x27	; 39
  5e:	84 60       	ori	r24, 0x04	; 4
  60:	87 bd       	out	0x27, r24	; 39
	
	/* Direction settings for port B */
	DDRB = (1<<PB1);
  62:	82 e0       	ldi	r24, 0x02	; 2
  64:	87 bb       	out	0x17, r24	; 23
	
	/* Timer/PWM settings */
	OCR1A = 0;		// PWM value = 0
  66:	1e bc       	out	0x2e, r1	; 46
	OCR1C = 255;	// ~62kHz
  68:	8f ef       	ldi	r24, 0xFF	; 255
  6a:	8d bd       	out	0x2d, r24	; 45
	TCCR1 = (1<<PWM1A)|(1<<COM1A0)|(1<<COM1A1)|(1<<CS11)|(1<<CS10);
  6c:	83 e7       	ldi	r24, 0x73	; 115
  6e:	80 bf       	out	0x30, r24	; 48
		
	/* ADC settings */
	DIDR0 = (1<<ADC1D);
  70:	84 e0       	ldi	r24, 0x04	; 4
  72:	84 bb       	out	0x14, r24	; 20
	ADMUX = (1<<ADLAR)|(1<<MUX0);
  74:	81 e2       	ldi	r24, 0x21	; 33
  76:	87 b9       	out	0x07, r24	; 7
	ADCSRA = (1<<ADEN);
  78:	80 e8       	ldi	r24, 0x80	; 128
  7a:	86 b9       	out	0x06, r24	; 6
	
}
  7c:	08 95       	ret

0000007e <readSensor>:
 
 Description: Reading value from distance-sensor
 Input: -
 Output: -
------------------------------------------------------------------------------------------------*/
unsigned char readSensor (void){
  7e:	36 9a       	sbi	0x06, 6	; 6
	
	ADCSRA |= (1<<ADSC);
	loop_until_bit_is_clear(ADCSRA,ADSC);
  80:	36 99       	sbic	0x06, 6	; 6
  82:	fe cf       	rjmp	.-4      	; 0x80 <readSensor+0x2>
	return ADCH;
  84:	85 b1       	in	r24, 0x05	; 5
	
}
  86:	08 95       	ret

00000088 <setPWM>:
 
 Description: Set PMW output
 Input: -
 Output: -
------------------------------------------------------------------------------------------------*/
void setPWM (unsigned char pwmValue){
  88:	98 2f       	mov	r25, r24

	if(pwmValue < 255 && pwmValue > 70) 
  8a:	87 54       	subi	r24, 0x47	; 71
  8c:	88 3b       	cpi	r24, 0xB8	; 184
  8e:	10 f4       	brcc	.+4      	; 0x94 <setPWM+0xc>
	{
		pwmValue = pwmValue - 70;
  90:	96 54       	subi	r25, 0x46	; 70
  92:	04 c0       	rjmp	.+8      	; 0x9c <setPWM+0x14>
		OCR1A = pwmValue;
	}
	else if(pwmValue <= 70)
  94:	97 34       	cpi	r25, 0x47	; 71
  96:	10 f4       	brcc	.+4      	; 0x9c <setPWM+0x14>
	{
		OCR1A = 0;
  98:	1e bc       	out	0x2e, r1	; 46
  9a:	08 95       	ret
	}
	else
	{
		OCR1A = pwmValue;
  9c:	9e bd       	out	0x2e, r25	; 46
  9e:	08 95       	ret

000000a0 <main>:
}

/*================================================================================================
 Main
================================================================================================*/
int main (void){
  a0:	f8 94       	cli
	
	unsigned char tmp = 0;

	cli();					// Disable global interrupt  
	
	initIO();
  a2:	d7 df       	rcall	.-82     	; 0x52 <initIO>
	
	sei();					// Enable global interrupt
  a4:	78 94       	sei
 Input: -
 Output: -
------------------------------------------------------------------------------------------------*/
unsigned char readSensor (void){
	
	ADCSRA |= (1<<ADSC);
  a6:	36 9a       	sbi	0x06, 6	; 6
	loop_until_bit_is_clear(ADCSRA,ADSC);
  a8:	36 99       	sbic	0x06, 6	; 6
  aa:	fe cf       	rjmp	.-4      	; 0xa8 <main+0x8>
	return ADCH;
  ac:	95 b1       	in	r25, 0x05	; 5
 Input: -
 Output: -
------------------------------------------------------------------------------------------------*/
void setPWM (unsigned char pwmValue){

	if(pwmValue < 255 && pwmValue > 70) 
  ae:	89 2f       	mov	r24, r25
  b0:	87 54       	subi	r24, 0x47	; 71
  b2:	88 3b       	cpi	r24, 0xB8	; 184
  b4:	10 f4       	brcc	.+4      	; 0xba <main+0x1a>
	{
		pwmValue = pwmValue - 70;
  b6:	96 54       	subi	r25, 0x46	; 70
  b8:	04 c0       	rjmp	.+8      	; 0xc2 <main+0x22>
		OCR1A = pwmValue;
	}
	else if(pwmValue <= 70)
  ba:	97 34       	cpi	r25, 0x47	; 71
  bc:	10 f4       	brcc	.+4      	; 0xc2 <main+0x22>
	{
		OCR1A = 0;
  be:	1e bc       	out	0x2e, r1	; 46
  c0:	f2 cf       	rjmp	.-28     	; 0xa6 <main+0x6>
	}
	else
	{
		OCR1A = pwmValue;
  c2:	9e bd       	out	0x2e, r25	; 46
  c4:	f0 cf       	rjmp	.-32     	; 0xa6 <main+0x6>

000000c6 <_exit>:
  c6:	f8 94       	cli

000000c8 <__stop_program>:
  c8:	ff cf       	rjmp	.-2      	; 0xc8 <__stop_program>