465 lines
18 KiB
Plaintext
465 lines
18 KiB
Plaintext
ARM GAS /tmp/ccoP9snB.s page 1
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1 .cpu cortex-m4
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2 .eabi_attribute 27, 1
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3 .eabi_attribute 28, 1
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4 .eabi_attribute 20, 1
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5 .eabi_attribute 21, 1
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6 .eabi_attribute 23, 3
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7 .eabi_attribute 24, 1
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8 .eabi_attribute 25, 1
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9 .eabi_attribute 26, 1
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10 .eabi_attribute 30, 2
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11 .eabi_attribute 34, 1
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12 .eabi_attribute 18, 4
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13 .file "ControllerFunctions.c"
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14 .text
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15 .section .text.arm_pid_init_f32,"ax",%progbits
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16 .align 1
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17 .p2align 2,,3
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18 .global arm_pid_init_f32
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19 .arch armv7e-m
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20 .syntax unified
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21 .thumb
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22 .thumb_func
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23 .fpu fpv4-sp-d16
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25 arm_pid_init_f32:
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26 @ args = 0, pretend = 0, frame = 0
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27 @ frame_needed = 0, uses_anonymous_args = 0
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28 @ link register save eliminated.
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29 0000 D0ED067A vldr.32 s15, [r0, #24]
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30 0004 90ED087A vldr.32 s14, [r0, #32]
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31 0008 90ED076A vldr.32 s12, [r0, #28]
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32 000c 80ED027A vstr.32 s14, [r0, #8]
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33 0010 F0EE676A vmov.f32 s13, s15
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34 0014 F0EE005A vmov.f32 s11, #2.0e+0
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35 0018 D7EE656A vfnma.f32 s13, s14, s11
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36 001c 77EE867A vadd.f32 s15, s15, s12
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37 0020 C0ED016A vstr.32 s13, [r0, #4]
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38 0024 77EE877A vadd.f32 s15, s15, s14
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39 0028 C0ED007A vstr.32 s15, [r0]
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40 002c 01B9 cbnz r1, .L7
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41 002e 7047 bx lr
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42 .L7:
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43 0030 0023 movs r3, #0
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44 0032 C360 str r3, [r0, #12] @ unaligned
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45 0034 0361 str r3, [r0, #16] @ unaligned
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46 0036 4361 str r3, [r0, #20] @ unaligned
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47 0038 7047 bx lr
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49 003a 00BF .section .text.arm_pid_init_q15,"ax",%progbits
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50 .align 1
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51 .p2align 2,,3
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52 .global arm_pid_init_q15
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53 .syntax unified
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54 .thumb
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55 .thumb_func
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56 .fpu fpv4-sp-d16
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58 arm_pid_init_q15:
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59 @ args = 0, pretend = 0, frame = 0
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60 @ frame_needed = 0, uses_anonymous_args = 0
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ARM GAS /tmp/ccoP9snB.s page 2
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61 0000 00B5 push {lr}
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62 0002 B0F91020 ldrsh r2, [r0, #16]
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63 0006 B0F90EE0 ldrsh lr, [r0, #14]
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64 .syntax unified
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65 @ 1731 "Drivers/CMSIS/Include/cmsis_gcc.h" 1
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66 000a 9EFA12F2 qadd16 r2, lr, r2
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67 @ 0 "" 2
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68 .thumb
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69 .syntax unified
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70 000e B0F912C0 ldrsh ip, [r0, #18]
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71 .syntax unified
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72 @ 1731 "Drivers/CMSIS/Include/cmsis_gcc.h" 1
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73 0012 92FA1CF2 qadd16 r2, r2, ip
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74 @ 0 "" 2
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75 .thumb
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76 .syntax unified
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77 0016 0280 strh r2, [r0] @ movhi
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78 .syntax unified
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79 @ 1731 "Drivers/CMSIS/Include/cmsis_gcc.h" 1
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80 0018 9CFA1CF3 qadd16 r3, ip, ip
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81 @ 0 "" 2
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82 @ 1731 "Drivers/CMSIS/Include/cmsis_gcc.h" 1
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83 001c 93FA1EF3 qadd16 r3, r3, lr
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84 @ 0 "" 2
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85 .thumb
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86 .syntax unified
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87 0020 5B42 rsbs r3, r3, #0
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88 0022 9BB2 uxth r3, r3
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89 0024 43EA0C43 orr r3, r3, ip, lsl #16
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90 0028 4360 str r3, [r0, #4]
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91 002a 09B9 cbnz r1, .L14
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92 002c 5DF804FB ldr pc, [sp], #4
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93 .L14:
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94 0030 0023 movs r3, #0
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95 0032 8360 str r3, [r0, #8] @ unaligned
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96 0034 8381 strh r3, [r0, #12] @ unaligned
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97 0036 5DF804FB ldr pc, [sp], #4
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99 003a 00BF .section .text.arm_pid_init_q31,"ax",%progbits
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100 .align 1
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101 .p2align 2,,3
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102 .global arm_pid_init_q31
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103 .syntax unified
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104 .thumb
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105 .thumb_func
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106 .fpu fpv4-sp-d16
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108 arm_pid_init_q31:
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109 @ args = 0, pretend = 0, frame = 0
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110 @ frame_needed = 0, uses_anonymous_args = 0
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111 @ link register save eliminated.
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112 0000 30B4 push {r4, r5}
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113 0002 D0E90652 ldrd r5, r2, [r0, #24]
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114 .syntax unified
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115 @ 2117 "Drivers/CMSIS/Include/cmsis_gcc.h" 1
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116 0006 82FA85F2 qadd r2, r5, r2
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117 @ 0 "" 2
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118 .thumb
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119 .syntax unified
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ARM GAS /tmp/ccoP9snB.s page 3
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120 000a 046A ldr r4, [r0, #32]
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121 .syntax unified
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122 @ 2117 "Drivers/CMSIS/Include/cmsis_gcc.h" 1
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123 000c 84FA82F2 qadd r2, r2, r4
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124 @ 0 "" 2
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125 .thumb
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126 .syntax unified
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127 0010 0260 str r2, [r0]
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128 .syntax unified
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129 @ 2117 "Drivers/CMSIS/Include/cmsis_gcc.h" 1
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130 0012 84FA84F3 qadd r3, r4, r4
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131 @ 0 "" 2
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132 @ 2117 "Drivers/CMSIS/Include/cmsis_gcc.h" 1
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133 0016 85FA83F3 qadd r3, r3, r5
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134 @ 0 "" 2
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135 .thumb
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136 .syntax unified
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137 001a 5B42 rsbs r3, r3, #0
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138 001c C0E90134 strd r3, r4, [r0, #4]
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139 0020 09B9 cbnz r1, .L21
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140 0022 30BC pop {r4, r5}
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141 0024 7047 bx lr
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142 .L21:
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143 0026 0023 movs r3, #0
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144 0028 30BC pop {r4, r5}
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145 002a C360 str r3, [r0, #12] @ unaligned
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146 002c 0361 str r3, [r0, #16] @ unaligned
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147 002e 4361 str r3, [r0, #20] @ unaligned
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148 0030 7047 bx lr
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150 0032 00BF .section .text.arm_pid_reset_f32,"ax",%progbits
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151 .align 1
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152 .p2align 2,,3
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153 .global arm_pid_reset_f32
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154 .syntax unified
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155 .thumb
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156 .thumb_func
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157 .fpu fpv4-sp-d16
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159 arm_pid_reset_f32:
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160 @ args = 0, pretend = 0, frame = 0
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161 @ frame_needed = 0, uses_anonymous_args = 0
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162 @ link register save eliminated.
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163 0000 0023 movs r3, #0
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164 0002 C360 str r3, [r0, #12] @ unaligned
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165 0004 0361 str r3, [r0, #16] @ unaligned
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166 0006 4361 str r3, [r0, #20] @ unaligned
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167 0008 7047 bx lr
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169 000a 00BF .section .text.arm_pid_reset_q15,"ax",%progbits
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170 .align 1
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171 .p2align 2,,3
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172 .global arm_pid_reset_q15
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173 .syntax unified
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174 .thumb
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175 .thumb_func
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176 .fpu fpv4-sp-d16
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178 arm_pid_reset_q15:
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179 @ args = 0, pretend = 0, frame = 0
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180 @ frame_needed = 0, uses_anonymous_args = 0
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ARM GAS /tmp/ccoP9snB.s page 4
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181 @ link register save eliminated.
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182 0000 0023 movs r3, #0
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183 0002 8360 str r3, [r0, #8] @ unaligned
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184 0004 8381 strh r3, [r0, #12] @ unaligned
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185 0006 7047 bx lr
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187 .section .text.arm_pid_reset_q31,"ax",%progbits
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188 .align 1
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189 .p2align 2,,3
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190 .global arm_pid_reset_q31
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191 .syntax unified
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192 .thumb
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193 .thumb_func
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194 .fpu fpv4-sp-d16
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196 arm_pid_reset_q31:
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197 @ args = 0, pretend = 0, frame = 0
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198 @ frame_needed = 0, uses_anonymous_args = 0
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199 @ link register save eliminated.
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200 0000 0023 movs r3, #0
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201 0002 C360 str r3, [r0, #12] @ unaligned
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202 0004 0361 str r3, [r0, #16] @ unaligned
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203 0006 4361 str r3, [r0, #20] @ unaligned
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204 0008 7047 bx lr
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206 000a 00BF .section .text.arm_sin_cos_f32,"ax",%progbits
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207 .align 1
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208 .p2align 2,,3
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209 .global arm_sin_cos_f32
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210 .syntax unified
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211 .thumb
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212 .thumb_func
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213 .fpu fpv4-sp-d16
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215 arm_sin_cos_f32:
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216 @ args = 0, pretend = 0, frame = 0
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217 @ frame_needed = 0, uses_anonymous_args = 0
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218 0000 9FED3B7A vldr.32 s14, .L33
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219 0004 DFED3B6A vldr.32 s13, .L33+4
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220 0008 3B4A ldr r2, .L33+8
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221 000a 20EE077A vmul.f32 s14, s0, s14
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222 000e 00B5 push {lr}
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223 0010 B5EEC07A vcmpe.f32 s14, #0
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224 0014 F1EE10FA vmrs APSR_nzcv, FPSCR
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225 0018 48BF it mi
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226 001a B1EE477A vnegmi.f32 s14, s14
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227 001e FDEEC77A vcvt.s32.f32 s15, s14
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228 0022 F0EE002A vmov.f32 s5, #2.0e+0
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229 0026 F8EEE77A vcvt.f32.s32 s15, s15
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230 002a F0EE081A vmov.f32 s3, #3.0e+0
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231 002e 77EE677A vsub.f32 s15, s14, s15
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232 0032 9FED327A vldr.32 s14, .L33+12
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233 0036 67EEA67A vmul.f32 s15, s15, s13
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234 003a B5EEC00A vcmpe.f32 s0, #0
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235 003e FCEEE76A vcvt.u32.f32 s13, s15
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236 0042 F1EE10FA vmrs APSR_nzcv, FPSCR
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237 0046 16EE903A vmov r3, s13 @ int
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238 004a C3F30803 ubfx r3, r3, #0, #9
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239 004e 06EE903A vmov s13, r3 @ int
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240 0052 02EB830E add lr, r2, r3, lsl #2
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241 0056 03F1800C add ip, r3, #128
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ARM GAS /tmp/ccoP9snB.s page 5
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242 005a 9EED004A vldr.32 s8, [lr]
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243 005e DEED014A vldr.32 s9, [lr, #4]
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244 0062 F8EE666A vcvt.f32.u32 s13, s13
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245 0066 CCF3080C ubfx ip, ip, #0, #9
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246 006a 02EB8C03 add r3, r2, ip, lsl #2
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247 006e 77EEE67A vsub.f32 s15, s15, s13
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248 0072 D3ED013A vldr.32 s7, [r3, #4]
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249 0076 F1EE446A vneg.f32 s13, s8
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250 007a B0EE645A vmov.f32 s10, s9
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251 007e 96EEA25A vfnms.f32 s10, s13, s5
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252 0082 36EEE41A vsub.f32 s2, s13, s9
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253 0086 66EE875A vmul.f32 s11, s13, s14
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254 008a D3ED006A vldr.32 s13, [r3]
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255 008e B0EE636A vmov.f32 s12, s7
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256 0092 A6EEA26A vfma.f32 s12, s13, s5
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257 0096 74EEC44A vsub.f32 s9, s9, s8
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258 009a 33EEE62A vsub.f32 s4, s7, s13
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259 009e 27EE466A vnmul.f32 s12, s14, s12
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260 00a2 76EEA33A vadd.f32 s7, s13, s7
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261 00a6 34EEA43A vadd.f32 s6, s9, s9
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262 00aa 27EE455A vnmul.f32 s10, s14, s10
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263 00ae 72EE022A vadd.f32 s5, s4, s4
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264 00b2 93EE873A vfnms.f32 s6, s7, s14
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265 00b6 A4EEA16A vfma.f32 s12, s9, s3
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266 00ba D1EE072A vfnms.f32 s5, s2, s14
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267 00be A2EE215A vfma.f32 s10, s4, s3
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268 00c2 A7EE836A vfma.f32 s12, s15, s6
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269 00c6 A7EEA25A vfma.f32 s10, s15, s5
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270 00ca 26EE877A vmul.f32 s14, s13, s14
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271 00ce E7EE855A vfma.f32 s11, s15, s10
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272 00d2 A7EE867A vfma.f32 s14, s15, s12
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273 00d6 E7EEA56A vfma.f32 s13, s15, s11
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274 00da A7EE874A vfma.f32 s8, s15, s14
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275 00de C1ED006A vstr.32 s13, [r1]
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276 00e2 48BF it mi
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277 00e4 B1EE444A vnegmi.f32 s8, s8
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278 00e8 80ED004A vstr.32 s8, [r0]
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279 00ec 5DF804FB ldr pc, [sp], #4
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280 .L34:
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281 .align 2
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282 .L33:
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283 00f0 610B363B .word 993397601
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284 00f4 00000044 .word 1140850688
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285 00f8 00000000 .word sinTable_f32
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286 00fc DB0F493C .word 1011421147
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288 .section .text.arm_sin_cos_q31,"ax",%progbits
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289 .align 1
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290 .p2align 2,,3
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291 .global arm_sin_cos_q31
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292 .syntax unified
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293 .thumb
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294 .thumb_func
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295 .fpu fpv4-sp-d16
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297 arm_sin_cos_q31:
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298 @ args = 0, pretend = 0, frame = 8
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299 @ frame_needed = 0, uses_anonymous_args = 0
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300 0000 2DE9F04F push {r4, r5, r6, r7, r8, r9, r10, fp, lr}
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ARM GAS /tmp/ccoP9snB.s page 6
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301 0004 C30D lsrs r3, r0, #23
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302 0006 83B0 sub sp, sp, #12
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303 0008 CDE90012 strd r1, r2, [sp]
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304 000c 654A ldr r2, .L39
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305 000e 664F ldr r7, .L39+4
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306 0010 52F82350 ldr r5, [r2, r3, lsl #2]
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307 0014 DFF894B1 ldr fp, .L39+8
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308 0018 591C adds r1, r3, #1
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309 001a 03F18004 add r4, r3, #128
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310 001e C4F30804 ubfx r4, r4, #0, #9
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311 0022 52F82130 ldr r3, [r2, r1, lsl #2]
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312 0026 52F82410 ldr r1, [r2, r4, lsl #2]
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313 002a 661C adds r6, r4, #1
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314 002c C5F1000E rsb lr, r5, #0
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315 0030 C3F10009 rsb r9, r3, #0
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316 0034 52F82680 ldr r8, [r2, r6, lsl #2]
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317 0038 4FEAE97A asr r10, r9, #31
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318 003c 1EEB0902 adds r2, lr, r9
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319 0040 4AEBEE76 adc r6, r10, lr, asr #31
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320 0044 A2FB0724 umull r2, r4, r2, r7
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321 0048 0BEA0020 and r0, fp, r0, lsl #8
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322 004c 07FB0644 mla r4, r7, r6, r4
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323 0050 4FEAEE7B asr fp, lr, #31
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324 0054 1EEB0E06 adds r6, lr, lr
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325 0058 4BEB0B0B adc fp, fp, fp
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326 005c 16EB0906 adds r6, r6, r9
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327 0060 A8EB010C sub ip, r8, r1
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328 0064 4AEB0B0B adc fp, r10, fp
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329 0068 4FF0030A mov r10, #3
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330 006c A4EB0C04 sub r4, r4, ip
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331 0070 8CFB0ACA smull ip, r10, ip, r10
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332 0074 4FEACA7A lsl r10, r10, #31
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333 0078 A6FB0769 umull r6, r9, r6, r7
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334 007c 4AEA5C0A orr r10, r10, ip, lsr #1
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335 0080 D20F lsrs r2, r2, #31
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336 0082 4FEACC7C lsl ip, ip, #31
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337 0086 07FB0B9B mla fp, r7, fp, r9
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338 008a 42EA4402 orr r2, r2, r4, lsl #1
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339 008e BCEB060C subs ip, ip, r6
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340 0092 6AEB0B0A sbc r10, r10, fp
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341 0096 E417 asrs r4, r4, #31
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342 0098 A0FB026B umull r6, fp, r0, r2
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343 009c 1CEB060C adds ip, ip, r6
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344 00a0 00FB04B4 mla r4, r0, r4, fp
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345 00a4 44EB0A0A adc r10, r4, r10
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346 00a8 4FEADC76 lsr r6, ip, #31
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347 00ac 46EA4A06 orr r6, r6, r10, lsl #1
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348 00b0 A0FB0626 umull r2, r6, r0, r6
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349 00b4 4FEAEA7A asr r10, r10, #31
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350 00b8 00FB0A66 mla r6, r0, r10, r6
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351 00bc CEFB0726 smlal r2, r6, lr, r7
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352 00c0 D20F lsrs r2, r2, #31
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353 00c2 42EA4602 orr r2, r2, r6, lsl #1
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354 00c6 A0FB0224 umull r2, r4, r0, r2
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355 00ca F617 asrs r6, r6, #31
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356 00cc 00FB0644 mla r4, r0, r6, r4
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357 00d0 D20F lsrs r2, r2, #31
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ARM GAS /tmp/ccoP9snB.s page 7
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358 00d2 42EA4402 orr r2, r2, r4, lsl #1
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359 00d6 5218 adds r2, r2, r1
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360 00d8 4FEAE474 asr r4, r4, #31
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361 00dc 44EBE174 adc r4, r4, r1, asr #31
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362 00e0 B4EBE27F cmp r4, r2, asr #31
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363 00e4 1CBF itt ne
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364 00e6 6FF00042 mvnne r2, #-2147483648
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365 00ea 82EAE472 eorne r2, r2, r4, asr #31
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366 00ee 019C ldr r4, [sp, #4]
|
||
367 00f0 2260 str r2, [r4]
|
||
368 00f2 2D4A ldr r2, .L39+4
|
||
369 00f4 11EB0807 adds r7, r1, r8
|
||
370 00f8 4FEAE176 asr r6, r1, #31
|
||
371 00fc 46EBE87C adc ip, r6, r8, asr #31
|
||
372 0100 A7FB0247 umull r4, r7, r7, r2
|
||
373 0104 02FB0C77 mla r7, r2, ip, r7
|
||
374 0108 11EB010C adds ip, r1, r1
|
||
375 010c 7641 adcs r6, r6, r6
|
||
376 010e 1CEB080C adds ip, ip, r8
|
||
377 0112 A3EB0503 sub r3, r3, r5
|
||
378 0116 46EBE878 adc r8, r6, r8, asr #31
|
||
379 011a 0326 movs r6, #3
|
||
380 011c FF1A subs r7, r7, r3
|
||
381 011e 83FB0636 smull r3, r6, r3, r6
|
||
382 0122 E40F lsrs r4, r4, #31
|
||
383 0124 F607 lsls r6, r6, #31
|
||
384 0126 ACFB02CE umull ip, lr, ip, r2
|
||
385 012a 44EA4704 orr r4, r4, r7, lsl #1
|
||
386 012e 46EA5306 orr r6, r6, r3, lsr #1
|
||
387 0132 DB07 lsls r3, r3, #31
|
||
388 0134 B3EB0C03 subs r3, r3, ip
|
||
389 0138 02FB08E8 mla r8, r2, r8, lr
|
||
390 013c A0FB04C4 umull ip, r4, r0, r4
|
||
391 0140 4FEAE777 asr r7, r7, #31
|
||
392 0144 00FB0747 mla r7, r0, r7, r4
|
||
393 0148 66EB0806 sbc r6, r6, r8
|
||
394 014c 13EB0C03 adds r3, r3, ip
|
||
395 0150 47EB0606 adc r6, r7, r6
|
||
396 0154 DB0F lsrs r3, r3, #31
|
||
397 0156 43EA4603 orr r3, r3, r6, lsl #1
|
||
398 015a F717 asrs r7, r6, #31
|
||
399 015c A0FB0336 umull r3, r6, r0, r3
|
||
400 0160 00FB0766 mla r6, r0, r7, r6
|
||
401 0164 C1FB0236 smlal r3, r6, r1, r2
|
||
402 0168 DB0F lsrs r3, r3, #31
|
||
403 016a 43EA4603 orr r3, r3, r6, lsl #1
|
||
404 016e A0FB0332 umull r3, r2, r0, r3
|
||
405 0172 F617 asrs r6, r6, #31
|
||
406 0174 00FB0620 mla r0, r0, r6, r2
|
||
407 0178 DB0F lsrs r3, r3, #31
|
||
408 017a 43EA4003 orr r3, r3, r0, lsl #1
|
||
409 017e 5B19 adds r3, r3, r5
|
||
410 0180 4FEAE575 asr r5, r5, #31
|
||
411 0184 45EBE070 adc r0, r5, r0, asr #31
|
||
412 0188 B0EBE37F cmp r0, r3, asr #31
|
||
413 018c 18BF it ne
|
||
414 018e 6FF00043 mvnne r3, #-2147483648
|
||
ARM GAS /tmp/ccoP9snB.s page 8
|
||
|
||
|
||
415 0192 009A ldr r2, [sp]
|
||
416 0194 18BF it ne
|
||
417 0196 83EAE073 eorne r3, r3, r0, asr #31
|
||
418 019a 1360 str r3, [r2]
|
||
419 019c 03B0 add sp, sp, #12
|
||
420 @ sp needed
|
||
421 019e BDE8F08F pop {r4, r5, r6, r7, r8, r9, r10, fp, pc}
|
||
422 .L40:
|
||
423 01a2 00BF .align 2
|
||
424 .L39:
|
||
425 01a4 00000000 .word sinTable_q31
|
||
426 01a8 B51F9201 .word 26353589
|
||
427 01ac 00FFFF7F .word 2147483392
|
||
429 .ident "GCC: (15:10.3-2021.07-4) 10.3.1 20210621 (release)"
|
||
ARM GAS /tmp/ccoP9snB.s page 9
|
||
|
||
|
||
DEFINED SYMBOLS
|
||
*ABS*:0000000000000000 ControllerFunctions.c
|
||
/tmp/ccoP9snB.s:16 .text.arm_pid_init_f32:0000000000000000 $t
|
||
/tmp/ccoP9snB.s:25 .text.arm_pid_init_f32:0000000000000000 arm_pid_init_f32
|
||
/tmp/ccoP9snB.s:50 .text.arm_pid_init_q15:0000000000000000 $t
|
||
/tmp/ccoP9snB.s:58 .text.arm_pid_init_q15:0000000000000000 arm_pid_init_q15
|
||
/tmp/ccoP9snB.s:100 .text.arm_pid_init_q31:0000000000000000 $t
|
||
/tmp/ccoP9snB.s:108 .text.arm_pid_init_q31:0000000000000000 arm_pid_init_q31
|
||
/tmp/ccoP9snB.s:151 .text.arm_pid_reset_f32:0000000000000000 $t
|
||
/tmp/ccoP9snB.s:159 .text.arm_pid_reset_f32:0000000000000000 arm_pid_reset_f32
|
||
/tmp/ccoP9snB.s:170 .text.arm_pid_reset_q15:0000000000000000 $t
|
||
/tmp/ccoP9snB.s:178 .text.arm_pid_reset_q15:0000000000000000 arm_pid_reset_q15
|
||
/tmp/ccoP9snB.s:188 .text.arm_pid_reset_q31:0000000000000000 $t
|
||
/tmp/ccoP9snB.s:196 .text.arm_pid_reset_q31:0000000000000000 arm_pid_reset_q31
|
||
/tmp/ccoP9snB.s:207 .text.arm_sin_cos_f32:0000000000000000 $t
|
||
/tmp/ccoP9snB.s:215 .text.arm_sin_cos_f32:0000000000000000 arm_sin_cos_f32
|
||
/tmp/ccoP9snB.s:283 .text.arm_sin_cos_f32:00000000000000f0 $d
|
||
/tmp/ccoP9snB.s:289 .text.arm_sin_cos_q31:0000000000000000 $t
|
||
/tmp/ccoP9snB.s:297 .text.arm_sin_cos_q31:0000000000000000 arm_sin_cos_q31
|
||
/tmp/ccoP9snB.s:425 .text.arm_sin_cos_q31:00000000000001a4 $d
|
||
|
||
UNDEFINED SYMBOLS
|
||
sinTable_f32
|
||
sinTable_q31
|