; Archelon URCC C 3.18 2004/03/09
; MSP430 CIF 2004/03/02
; Compiled "H:\ESP\gen2\software\msp430\dwarves\jogServos.c" Mon Dec 06 10:22:25 2004
; 
	.dbgseg dbg_syms
	.align 0x2
	.long 0x6c69662e
	.long 0x65
	.long 0x1
	.long 0x0
	.long 0x167fffe
	.long 0x0
	.long DBG5
	.long 0x0
	.long 0x0
	.long 0x0
; __builtin__ unsigned short _BIS_SR(unsigned short);
; __builtin__ unsigned short _BIC_SR(unsigned short);
; __builtin__ unsigned short _BIS_SR_IRQ(unsigned short);
; __builtin__ unsigned short _BIC_SR_IRQ(unsigned short);
;  __builtin__ void _DINT(void);
; __builtin__ void _EINT(void);
; __builtin__ void _NOP(void);
; __builtin__ void _OPC(const unsigned short op);
; __builtin__ short _SWPB(short);  
; __builtin__ long _SWPB_LONG(long);  
; __builtin__ float _SWPB_FLOAT(float);  
; sfrb    IE1               = (0x0000) ;
; sfrb    IFG1              = (0x0002) ;
; sfrb    ME1               = (0x0004) ;
; sfrb    IE2               = (0x0001) ;
; sfrb    IFG2              = (0x0003) ;
; sfrb    ME2               = (0x0005) ;
; sfrw    WDTCTL            = (0x0120) ;
; sfrw    MPY               = (0x0130) ;
; sfrw    MPYS              = (0x0132) ;
; sfrw    MAC               = (0x0134) ;
; sfrw    MACS              = (0x0136) ;
; sfrw    OP2               = (0x0138) ;
; sfrw    RESLO             = (0x013A) ;
; sfrw    RESHI             = (0x013C) ;
; const sfrw SUMEXT         = (0x013E) ;
; const sfrb P1IN           = (0x0020) ;
; sfrb    P1OUT             = (0x0021) ;
; sfrb    P1DIR             = (0x0022) ;
; sfrb    P1IFG             = (0x0023) ;
; sfrb    P1IES             = (0x0024) ;
; sfrb    P1IE              = (0x0025) ;
; sfrb    P1SEL             = (0x0026) ;
; const sfrb P2IN           = (0x0028) ;
; sfrb    P2OUT             = (0x0029) ;
; sfrb    P2DIR             = (0x002A) ;
; sfrb    P2IFG             = (0x002B) ;
; sfrb    P2IES             = (0x002C) ;
; sfrb    P2IE              = (0x002D) ;
; sfrb    P2SEL             = (0x002E) ;
; const sfrb P3IN           = (0x0018) ;
; sfrb    P3OUT             = (0x0019) ;
; sfrb    P3DIR             = (0x001A) ;
; sfrb    P3SEL             = (0x001B) ;
; const sfrb P4IN           = (0x001C) ;
; sfrb    P4OUT             = (0x001D) ;
; sfrb    P4DIR             = (0x001E) ;
; sfrb    P4SEL             = (0x001F) ;
; const sfrb P5IN           = (0x0030) ;
; sfrb    P5OUT             = (0x0031) ;
; sfrb    P5DIR             = (0x0032) ;
; sfrb    P5SEL             = (0x0033) ;
; const sfrb P6IN           = (0x0034) ;
; sfrb    P6OUT             = (0x0035) ;
; sfrb    P6DIR             = (0x0036) ;
; sfrb    P6SEL             = (0x0037) ;
; sfrb    U0CTL             = (0x0070) ;
; sfrb    U0TCTL            = (0x0071) ;
; sfrb    U0RCTL            = (0x0072) ;
; sfrb    U0MCTL            = (0x0073) ;
; sfrb    U0BR0             = (0x0074) ;
; sfrb    U0BR1             = (0x0075) ;
; const sfrb U0RXBUF        = (0x0076) ;
; sfrb    U0TXBUF           = (0x0077) ;
; sfrb    U1CTL             = (0x0078) ;
; sfrb    U1TCTL            = (0x0079) ;
; sfrb    U1RCTL            = (0x007A) ;
; sfrb    U1MCTL            = (0x007B) ;
; sfrb    U1BR0             = (0x007C) ;
; sfrb    U1BR1             = (0x007D) ;
; const sfrb U1RXBUF        = (0x007E) ;
; sfrb    U1TXBUF           = (0x007F) ;
; sfrb    I2CIE             = (0x0050) ;
; sfrb    I2CIFG            = (0x0051) ;
; sfrb    I2CNDAT           = (0x0052) ;
; sfrb    I2CTCTL           = (0x0071) ;
; sfrb    I2CDCTL           = (0x0072) ;
; sfrb    I2CPSC            = (0x0073) ;
; sfrb    I2CSCLH           = (0x0074) ;
; sfrb    I2CSCLL           = (0x0075) ;
; sfrb    I2CDRB            = (0x0076) ;
; sfrw    I2CDRW            = (0x0076) ;
; sfrw    I2COA             = (0x0118) ;
; sfrw    I2CSA             = (0x011A) ;
; const sfrw I2CIV          = (0x011C) ;
; const sfrw TAIV           = (0x012E) ;
; sfrw    TACTL             = (0x0160) ;
; sfrw    TACCTL0           = (0x0162) ;
; sfrw    TACCTL1           = (0x0164) ;
; sfrw    TACCTL2           = (0x0166) ;
; sfrw    TAR               = (0x0170) ;
; sfrw    TACCR0            = (0x0172) ;
; sfrw    TACCR1            = (0x0174) ;
; sfrw    TACCR2            = (0x0176) ;
; const sfrw TBIV           = (0x011E) ;
; sfrw    TBCTL             = (0x0180) ;
; sfrw    TBCCTL0           = (0x0182) ;
; sfrw    TBCCTL1           = (0x0184) ;
; sfrw    TBCCTL2           = (0x0186) ;
; sfrw    TBCCTL3           = (0x0188) ;
; sfrw    TBCCTL4           = (0x018A) ;
; sfrw    TBCCTL5           = (0x018C) ;
; sfrw    TBCCTL6           = (0x018E) ;
; sfrw    TBR               = (0x0190) ;
; sfrw    TBCCR0            = (0x0192) ;
; sfrw    TBCCR1            = (0x0194) ;
; sfrw    TBCCR2            = (0x0196) ;
; sfrw    TBCCR3            = (0x0198) ;
; sfrw    TBCCR4            = (0x019A) ;
; sfrw    TBCCR5            = (0x019C) ;
; sfrw    TBCCR6            = (0x019E) ;
; sfrb    DCOCTL            = (0x0056) ;
; sfrb    BCSCTL1           = (0x0057) ;
; sfrb    BCSCTL2           = (0x0058) ;
; sfrw    FCTL1             = (0x0128) ;
; sfrw    FCTL2             = (0x012A) ;
; sfrw    FCTL3             = (0x012C) ;
; sfrb    CACTL1            = (0x0059) ;
; sfrb    CACTL2            = (0x005A) ;
; sfrb    CAPD              = (0x005B) ;
; sfrw    ADC12CTL0         = (0x01A0) ;
; sfrw    ADC12CTL1         = (0x01A2) ;
; sfrw    ADC12IFG          = (0x01A4) ;
; sfrw    ADC12IE           = (0x01A6) ;
; sfrw    ADC12IV           = (0x01A8) ;
; sfrw    ADC12MEM0         = (0x0140) ;
; sfrw    ADC12MEM1         = (0x0142) ;
; sfrw    ADC12MEM2         = (0x0144) ;
; sfrw    ADC12MEM3         = (0x0146) ;
; sfrw    ADC12MEM4         = (0x0148) ;
; sfrw    ADC12MEM5         = (0x014A) ;
; sfrw    ADC12MEM6         = (0x014C) ;
; sfrw    ADC12MEM7         = (0x014E) ;
; sfrw    ADC12MEM8         = (0x0150) ;
; sfrw    ADC12MEM9         = (0x0152) ;
; sfrw    ADC12MEM10        = (0x0154) ;
; sfrw    ADC12MEM11        = (0x0156) ;
; sfrw    ADC12MEM12        = (0x0158) ;
; sfrw    ADC12MEM13        = (0x015A) ;
; sfrw    ADC12MEM14        = (0x015C) ;
; sfrw    ADC12MEM15        = (0x015E) ;
; sfrb    ADC12MCTL0        = (0x0080) ;
; sfrb    ADC12MCTL1        = (0x0081) ;
; sfrb    ADC12MCTL2        = (0x0082) ;
; sfrb    ADC12MCTL3        = (0x0083) ;
; sfrb    ADC12MCTL4        = (0x0084) ;
; sfrb    ADC12MCTL5        = (0x0085) ;
; sfrb    ADC12MCTL6        = (0x0086) ;
; sfrb    ADC12MCTL7        = (0x0087) ;
; sfrb    ADC12MCTL8        = (0x0088) ;
; sfrb    ADC12MCTL9        = (0x0089) ;
; sfrb    ADC12MCTL10       = (0x008A) ;
; sfrb    ADC12MCTL11       = (0x008B) ;
; sfrb    ADC12MCTL12       = (0x008C) ;
; sfrb    ADC12MCTL13       = (0x008D) ;
; sfrb    ADC12MCTL14       = (0x008E) ;
; sfrb    ADC12MCTL15       = (0x008F) ;
; sfrw    DAC12_0CTL        = (0x01c0) ;
; sfrw    DAC12_1CTL        = (0x01c2) ;
; sfrw    DAC12_0DAT        = (0x01c8) ;
; sfrw    DAC12_1DAT        = (0x01ca) ;
; sfrw    DMACTL0           = (0x0122) ;
; sfrw    DMACTL1           = (0x0124) ;
; sfrw    DMA0CTL           = (0x01e0) ;
; sfrw    DMA1CTL           = (0x01e8) ;
; sfrw    DMA2CTL           = (0x01f0) ;
; sfrw    DMA0SA            = (0x01e2) ;
; sfrw    DMA0DA            = (0x01e4) ;
; sfrw    DMA0SZ            = (0x01e6) ;
; sfrw    DMA1SA            = (0x01ea) ;
; sfrw    DMA1DA            = (0x01ec) ;
; sfrw    DMA1SZ            = (0x01ee) ;
; sfrw    DMA2SA            = (0x01f2) ;
; sfrw    DMA2DA            = (0x01f4) ;
; sfrw    DMA2SZ            = (0x01f6) ;
; typedef int ptrdiff_t;
; ptrdiff_t size 2
; typedef unsigned int size_t;
; size_t size 2
; typedef int wchar_t;
; wchar_t size 2
; typedef	  unsigned char       uint8;
; uint8 size 1
; typedef   uint8               byte;
; byte size 1
; typedef	  signed char         int8;
; int8 size 1
; typedef	  unsigned short      uint16;
; uint16 size 2
; typedef	  short               int16;
; int16 size 2
; typedef	  unsigned long       uint32;
; uint32 size 4
; typedef	  long                int32;
; int32 size 4
; typedef	  enum {false, true}  boolean;
; boolean size 1
; typedef   void voidFn (void);
; voidFn size 0
; typedef	struct {int16 P,I,D;} int16PID;
; int16PID size 6
; static __inline__  void MCLKsleep (unsigned mclks)
; }
; static __inline__  void initDWRFCLKS (void)
; }  
; static __inline__  void initDWRFBUS (void)
; }
; static __inline__ 
;   void driveDWRFbus (void)
; }
; static __inline__ 
;   void floatDWRFbus (void)
; }
; static __inline__ 
;   void setDWRFadr (byte adr)
; } 
; static __inline__  
;   void refreshDWRFadr (byte adr)
; }  
; static __inline__ 
;   void freezeDWRFadr (void)
; }
; static __inline__ 
;   byte readDWRFnext (void)
; }
; static __inline__ 
;   byte readDWRFlast (void)
; }
; static __inline__ 
;   byte readDWRFfirst (byte baseAdr)
; }
; static __inline__ 
;   byte readDWRF (byte adr)
; }
; static __inline__ 
;   void writeDWRFnext (byte value)
; }
; static __inline__ 
;   void writeDWRFlast (byte value)
; }
; static __inline__ 
;   void writeDWRFfirst (byte baseAdr, byte value)
; }
; static __inline__ 
;   void writeDWRF (byte adr, byte value)
; }
; extern
; byte DWRFIEimage;  
; static __inline__  void disableDWRFirqs (byte mask)
; }
; static __inline__  void enableDWRFirqs (byte mask)
; }
; static __inline__  void endDWRFirqs (byte mask)
; }
; static __inline__  void startDWRFirqs (byte mask)
; }
; typedef byte servoPosition[3];  
; servoPosition size 3
; typedef byte msg16[2];          
; msg16 size 2
; typedef byte umsg16[2];         
; umsg16 size 2
; typedef byte msg32[4];          
; msg32 size 4
; typedef byte umsg32[4];         
; umsg32 size 4
; typedef byte msg16PID[3*2];     
; msg16PID size 6
; enum servoOption {  
;   servoOptionEnable       = 0x1,  
;   servoOptionEncPolarity  = 0x2,  
;   servoOptionThreshold    = 0x4,  
;   servoOptionThresPolarity= 0x8,  
;   servoOptionHomePwr      = 0x10, 
;   servoOptionHomePolarity = 0x20, 
;   servoOptionHomeDir      = 0x40, 
;   servoOptionJog          = 0x80  
; };
; enum servoStatusBits {  
;   servoOn           = 0x1,  
;   servoLostHome     = 0x2,  
;   servoHomeFlag     = 0x4,  
;   servoPastThreshold= 0x8,  
;   servoRLS          = 0x10, 
;   servoFLS          = 0x20  
; };
; enum servoReason { 
;   noServoError, invalidServoChannel, invalidServoGoal,
;   servoAborted, servoOvercurrent, servoOverpressure,
;   servoNotReady, servoPositionErr,servoSpeedError
; };
; enum shaftReason {
;   noShaftError, invalidShaftNumber, invalidShaftAngle,
;   shaftAborted, shaftOvercurrent
; };
; struct servoStatus { 
;   enum servoStatusBits status; 
;   servoPosition    position;   
;   msg16            velocity;   
;   int8             current;    
;   uint8            inPress;    
;   uint8            outPress;   
; };
; enum heaterStates{
; heaterOn, heaterOff};
; typedef struct
; {
; 	uint16	dwell;		
; 	int16 	targetT;	
; 	uint16	errHoldoff;	
; 	int16	minT,maxT;	
; }thermalStep;
; thermalStep size 10
; typedef struct {
;    int16PID heating,cooling;  
; } thermalCalibration;
; thermalCalibration size 12
; enum CompletionCode { 
;   noError, invalidThermalProgram,hardwareFault, temperatureError
; };
; typedef struct
; {
; 	thermalStep tProgram;
; 	thermalCalibration 	tCalib;
; 	int16		currentTemperature,thermoCouple;	
; 	uint16		elapsedTics;
; 	byte 		state;
; 	byte code;
; 	uint8 source;    
; 	uint8 tag;         
;     uint8 cmdType;   
; 	int32		heaterSlope_num;
; 	int32		heaterSlope_den;
; 	int16		heaterPWM,coolerPWM;
; 	uint16		tempSense1,tempSense2;
; 	byte		tempSenseSwitch;
; 	int32		fixedPWM;
; 	int32 		sum;	 		
; 	int32      intLimitP, intLimitN;
; 	int32       Pterm;
; 	int32        Iterm;
; 	int16       temp;	
; }Heater;
; Heater size 78
; void HeaterServoLoop(Heater* h);
; void initHeater(Heater* h);
; void startHeater(Heater* h);
; void turnHeaterOff(Heater* h);
; void calculateSlope(Heater* h);
; enum ESPmsgCmd {  
;   ESPmsgNOP,          
;   ESPmsgEchoCmd,      
;   ESPmsgDupAdr,       
;   solenoidConfigCmd,    
;   solenoidStatusCmd,    
;   solenoidPulseCmd,     
;   solenoidHoldCmd,      
;   shaftConfigCmd,       
;   shaftStatusCmd,       
;   shaftRotateCmd,       
;   thermalConfigCmd,     
;   thermalStatusCmd,     
;   thermalProgramCmd,    
;   thermalRunCmd,        
;   servoConfigCmd,       
;   servoStatusCmd,       
;   servoAbsMoveCmd,      
;   servoRelMoveCmd,      
;   servoOnCmd,         
;   servoGoalCmd,         
;   servoGripCmd,		
;   servoReleaseCmd,	
;   servoGPIOCmd,		
;   servoOffCmd,			
;   ESPmsgCmds 
; };
; struct ESPdupMsg  { 
;   enum ESPmsgCmd cmd;        
;   byte  dupAdr;         
; };
; struct solenoidConfigMsg  { 
;   enum ESPmsgCmd cmd;         
;   byte  pulseDuration;  
; };
; struct solenoidConfigRequest {
;   byte dst;
;   enum ESPmsgCmd cmd;         
; };
; struct solenoidConfigReply { 
;   enum ESPmsgCmd cmd;      
;   byte pulseDuration;      
;   byte quanity;            
; };
; struct solenoidStatusRequest {
;   byte dst;
;   enum ESPmsgCmd cmd;         
; };
; struct solenoidStatusReply { 
;   enum ESPmsgCmd cmd;             
;   byte pulseWidthRemaining; 
;   byte state[1];            
; };
; enum {
;   solenoidStateOFF,
;   solenoidStateUP,
;   solenoidStateDOWN,
;   solenoidStateReserved
; };  
; struct solenoidPulseMsg {
;   enum ESPmsgCmd cmd;       
;   byte direction[1];        
; };
; struct solenoidHoldMsg {
;   enum ESPmsgCmd cmd;       
;   byte direction[1];        
; };
; enum {
;   solenoidDirectionNOP,
;   solenoidDirectionUP,
;   solenoidDirectionDOWN,
;   solenoidDirectionSTOP
; };  
; struct shaftConfigMsg  { 
;   enum ESPmsgCmd cmd;    
;   byte     shaftNumber;  
;   umsg16   maxError;     
;   byte     maxCurrent;   
; };
; struct shaftConfigRequest {
;   enum ESPmsgCmd cmd;    
;   byte     shaftNumber;  
; };
; struct shaftConfigReply  { 
;   enum ESPmsgCmd cmd;    
;   umsg16   maxError;     
;   byte     maxCurrent;   
; };
; struct shaftStatusRequest { 
;   enum ESPmsgCmd cmd;   
;   byte     shaftNumber; 
;   umsg16   repeatRate;  
; };
; struct shaftStatusReply { 
;   enum ESPmsgCmd cmd;   
;   umsg16   angle;       
;   umsg16   goal;        
;   int8     current;     
; };
; struct shaftRotateRequest {
;   enum ESPmsgCmd cmd;   
;   byte     shaftNumber;
;   umsg16   goal;        
;   int8     direction;   
; };
; struct shaftRotateReply {
;   enum ESPmsgCmd cmd;      
;   umsg16   angle;          
;   enum shaftReason reason; 
; };
; struct servoConfig {  
;   enum servoOption optionMask; 
;   servoPosition thresholdOffset; 
;   servoPosition maxPositionErr;  
;   msg16PID  gain;         
;   umsg16    maxSpeed;     
;   umsg16    minSpeed;     
;   uint16    accel;        
;   uint8     maxCurrent;     
;   int8      maxDeltaPress;  
;   uint8     maxInPress;     
;   uint8     maxOutPress;    
;   uint8     minInPress;     
;   uint8     minOutPress;    
; };
; struct servoConfigMsg {   
;   enum ESPmsgCmd  cmd;    
;   byte      channel;      
;   struct servoConfig item;  
; };
; struct servoOffMsg {  
;   enum ESPmsgCmd  cmd;     
;   byte      channel;       
; };
; struct servoConfigRequest {
;   enum ESPmsgCmd  cmd;       
;   byte        channel;       
; };
; struct servoConfigReply {   
;   enum ESPmsgCmd  cmd;      
;   struct servoConfig item;  
; };
; struct servoStatusRequest {  
;   enum ESPmsgCmd  cmd;       
;   byte      channel;      
;   umsg16    repeatRate;   
; };
; struct servoStatusReply {  
;   enum ESPmsgCmd   cmd;       
;   struct servoStatus state;   
; };
; struct servoMoveRequest {  
;   enum ESPmsgCmd  cmd;        
;   byte      channel;
;   servoPosition goal;     
; };
; struct servoMoveReply {    
;   enum ESPmsgCmd   cmd;       
;   enum servoReason    reason;       
;   struct servoStatus  stateAtAbort; 
; };
; struct servoOnRequest {  
;   enum ESPmsgCmd  cmd;     
;   byte      channel;       
; };
; struct servoOnReply {    
;   enum ESPmsgCmd   cmd;       
;   enum servoReason    reason;       
;   struct servoStatus  stateAtAbort; 
; };
; struct servoGoalRequest {  
;   enum ESPmsgCmd   cmd;       
;   byte             channel;   
; };
; struct servoGoalReply {
;   enum ESPmsgCmd   cmd;       
;   enum ESPmsgCmd   servoMode; 
;   servoPosition    goal;      
; };
; struct servoGPIORequest{
;   enum ESPmsgCmd   cmd;       
;   byte channel;
; };
; struct servoGPIOReply{
;   enum ESPmsgCmd   cmd;       
;   byte bitMask;		
; };
; struct servoGPIOMsg{
;   enum ESPmsgCmd   cmd;       
;   byte channel;
;   byte bitMask;		
; };
; struct servoGripRequest{
;   enum ESPmsgCmd   cmd;       
;   byte channel;  
; };
; struct servoGripReply{
;   enum ESPmsgCmd   cmd;       
;   enum servoReason reason;	
; };
; struct thermalConfigMsg  { 
;   enum ESPmsgCmd cmd;   
;   msg16PID  heating, cooling;  
; };
; struct thermalConfigRequest {  
;   enum ESPmsgCmd cmd;   
; };
; struct thermalConfigReply {   
;   enum ESPmsgCmd  cmd;      
;   msg16PID  heating, cooling;  
; };
; struct thermalStatusRequest {
;   enum ESPmsgCmd cmd;   
;   umsg16   repeatRate;  
; };
; struct thermalStatusReply {
;   enum ESPmsgCmd cmd;   
;   msg16    currentTemperature;   
;   umsg16   elapsedTics;          
;   byte     heaterPwr, coolerPwr; 
; };
; struct thermalRunRequest {
;   enum ESPmsgCmd  cmd;        
;   thermalStep step[1];  
; };
; struct thermalRunReply {
;   enum ESPmsgCmd  cmd;        
;   byte completionCode ;  
;   umsg16  elapsedTics;  
; };
; struct thermalProgramRequest {  
;   enum ESPmsgCmd  cmd;        
; };
; struct thermalProgramReply {  
;   enum ESPmsgCmd  cmd;       
;   thermalStep step[1];  
; };
; typedef struct
; {
; 	byte channel;	 		
; 	enum servoOption optionMask;
;         enum servoStatusBits statusMask;
; 	enum servoReason reason;  
; 	struct servoStatus status;      
; 	uint8 source;    
; 	uint8 tag;         
;     uint8 cmdType;   
; 	uint8 sourceStatus;    
; 	uint8 tagStatus;         
; 	int32 position;  		
; 	int32 lastPosition;        
;     int32 thresholdOffset; 
; 	int32 lastIntermediate; 	
; 	int32 lastDerivative;
; 	int32 goalPosition; 	
; 	int32 relative;			
; 	int32 intermediate;	 	
; 	int32 maxPositionErr;
; 	int16 pressure1;
; 	int16 pressure2;
; 	uint16 maxSpeed; 		
; 	uint16 defaultMaxSpeed;
; 	uint16 minSpeed;
; 	int16 cmdVel;	 		
; 	uint16 accel;	 		
; 	int8 stopFlag;			
; 	int16PID gain;	
; 	int32 sum;		 		
; 	int32 previousSum;
; 	int32 lastError;		
; 	int16 motorCurrent;		
; 	int16  maxPressureDelta;	
; 	int16 maxInPressure;	
; 	int16 maxOutPressure;	
; 	int16 minInPressure;	
; 	int16 minOutPressure;	
; 	int16 maxCurrent;
; 	byte limitedFlag;
;     byte pressureSenseSwitch;
;     int32 latchPosition;
;     uint16 servoTics;
;     uint16 repeatRate;
; }MotorChannel;
; MotorChannel size 112
; typedef void trapFn (MotorChannel *m);
; trapFn size 0
; extern trapFn *MoveType0, *MoveType1;
; void getNewPos(MotorChannel* mc);
; void getLatchPos(MotorChannel* mc);
; int32 getPosition(MotorChannel* mc);
; enum servoStatusBits updateStatus(MotorChannel *mc);
; void trapServoLoop(MotorChannel* mc);
; void configMotorChannel(MotorChannel* mc,byte channel);
; void initServo(void);
; void ServoDoNothing(MotorChannel* mc);
; void startAbsMove(MotorChannel* mcChan, int32 newPosition,
;                 unsigned tag, unsigned source);
; void startRelMove(MotorChannel* mcChan, int32 newPosition,
;                 unsigned tag, unsigned source);
; void MotorOverCurrent(MotorChannel* mcChan);
; void MotorPositionError(MotorChannel* mcChan);
; void servoOff(MotorChannel* mcChan);
; typedef struct {   
;   byte *head, *tail;  
;   byte   buffer[1];   
; } fifoBody;
; fifoBody size 6
; typedef const struct {   
;   fifoBody *body;
;   byte *end;           
;   unsigned limit;      
; } fifo;
; ****** Warning: const variable ``fifo'' lacks initializer
; fifo size 6
; static __inline__  
; void FIFOclear (fifo *r)
; }
; static __inline__  
; unsigned FIFOdiff (fifo *r)
; }
; static __inline__  
; unsigned FIFOlen (fifo *r) {
; }
; static __inline__  
; unsigned FIFOfree (fifo *r) {
; }
; static __inline__  
; unsigned FIFOfreeFrom (fifo *r, byte *tail) {
; }
; static __inline__ 
; byte *FIFOadvance (fifo *r, byte *headOrTail, unsigned stride)
; }
; static __inline__ 
; byte *FIFOretreat (fifo *r, byte *headOrTail, unsigned stride)
; }
; static __inline__  
; unsigned FIFOdelta (fifo *r, byte *cursor, byte *base) {
; }
; static __inline__ 
; byte *FIFOinc (fifo *r, byte *headOrTail)
; }
; static __inline__ 
; byte *FIFOdec (fifo *r, byte *headOrTail)
; }
; static __inline__ 
; unsigned FIFOpoke (fifo *r)
; }
; static __inline__ 
; byte *FIFOaddChunk (fifo *r, byte *src, byte *dst, unsigned len)
; }
; static __inline__ 
; void FIFOwriteChunk (fifo *r, byte *src, unsigned len)
; }
; static __inline__ 
; unsigned FIFOpeek (fifo *r)
; }
; static __inline__ 
; byte *FIFOreadChunkAhead (fifo *r, byte *src, byte *dst, unsigned len)
; }
; static __inline__ 
; void FIFOreadChunk (fifo *r, byte *dst, unsigned len)
; }
; static __inline__  
; unsigned FIFOreadByteAhead(fifo *r, byte **headPtr)
; }
; static __inline__  
; unsigned FIFOreadByte(fifo *r)
; }
; static __inline__ 
; void FIFOwriteByte(fifo *r, byte octet)
; }
; static __inline__ 
; void FIFOwriteByteW(fifo *r, unsigned octet)
; }
; static __inline__ 
; unsigned FIFOwriteByteIfNotFull(fifo *r, unsigned octet)
; }
; static __inline__  void FIFOwrite16 (fifo *r, uint16 word) {
; }
; static __inline__  void FIFOwrite24 (fifo *r, uint32 word) {
; }
; static __inline__  void FIFOwrite32 (fifo *r, uint32 word) {
; }
; static __inline__  
; byte *FIFOaddByte (fifo *r, byte *tail, byte octet)
; }
; static __inline__  
; byte *FIFOaddByteW (fifo *r, byte *tail, unsigned octet)
; }
; static __inline__ 
; byte *bufAddByte (byte *cursor, byte octet)
; }
; static __inline__ 
; byte *bufAddByteW (byte *cursor, unsigned octet)
; }
; static __inline__  byte *FIFOadd16 (fifo *r, byte *tail, uint16 word) {
; }
; static __inline__ 
; byte *bufAdd16 (byte *cursor, unsigned word)
; }
; static __inline__  byte *FIFOadd24 (fifo *r, byte *tail, uint32 word) {
; }
; static __inline__ 
; byte *bufAdd24 (byte *cursor, uint32 word)
; }
; static __inline__  byte *FIFOadd32 (fifo *r, byte *tail, uint32 word) {
; }
; static __inline__ 
; byte *bufAdd32 (byte *cursor, uint32 word)
; }
; byte *FIFOaddBlock (fifo *r, byte *src, byte *dst, unsigned len);
; static __inline__  uint16 FIFOread16 (fifo *r) {
; }
; static __inline__  uint16 FIFOread16Ahead (fifo *r, byte **headPtr) {
; }
; static __inline__  uint32 FIFOread24 (fifo *r) {
; }
; static __inline__  uint32 FIFOread24Ahead (fifo *r, byte **headPtr) {
; }
; static __inline__  uint32 FIFOread24signed (fifo *r) {
; }
; static __inline__  uint32 FIFOread24signedAhead (fifo *r, byte **headPtr) {
; }
; static __inline__  uint32 FIFOread32 (fifo *r) {
; }
; static __inline__  uint32 FIFOread32Ahead (fifo *r, byte **headPtr) {
; }
; byte *FIFOreadBlockAhead (fifo *r, byte *src, byte *dst, unsigned len);
; void RX1ISR (void);
; static __inline__  void kickstart (void)
; }
; static __inline__  void pollInput (void)
; }
; typedef const struct parserInstance parserInstance;
; ****** Warning: const variable ``parserInstance'' lacks initializer
; parserInstance size 0
; struct parserInstance {
;   fifo *input, *output;     
;   voidFn *pollInput;        
;   voidFn *kickstartOutput;  
;   void (*resync) (byte USARTerrMask);  
; };
; void parserAwaitInput (fifo *from, unsigned length);
; unsigned parserGetByte (parserInstance *instance);
; unsigned parserGetByteAhead (parserInstance *instance, byte **head);
; uint16 parserGetWord (parserInstance *instance);
; void parserPutByte (parserInstance *instance, unsigned b);
; void parserPutWord (parserInstance *instance, uint16 word);
; void parserPutBlock (parserInstance *instance, byte *src, unsigned len);
; void parserPutString (parserInstance *instance, char *s);
; void parserSkipInput (parserInstance *instance, unsigned len);
; int parserGetHex (parserInstance *port, unsigned limit);
; void cpld_io_init(void);
; byte get_cpld_io(byte reg);
; void set_cpld_io(byte reg,byte val);
; void clear_cpld_bit(byte reg,byte val);
; void set_cpld_bit(byte reg, byte val);
; enum timerIndex {   
;   dcoTimer,         
;   servoTimer,
;   valveTimer,
;   heaterTimer,
;   gripperTimer,
;   NTIMERS   
; };
; enum debugMask {  
;   debugCmds   = 0x01,    
;   debugI2C    = 0x02,    
;   debugEnc    = 0x04,    
;   debugValve  = 0x08,    
;   debugTemp   = 0x10,    
;   debugHeatPWM= 0x20,     
;   debugPressure  = 0x40
; };
; extern enum debugMask debugFlag;
; extern uint16 opComplete;
; void putDebugNewLine (void);
; void putDebugString (char *string);
; void putDebugLine (char *line);
; void reportErr (const char *errTxt, ...);
; void checkServoStatus(MotorChannel *mcChan);
; typedef const struct I2CnodeInstance I2CnodeInstance;
; ****** Warning: const variable ``I2CnodeInstance'' lacks initializer
; I2CnodeInstance size 0
; typedef void I2Cisr (I2CnodeInstance *instance);
; I2Cisr size 0
; typedef I2Cisr * const* I2Cvectors; 
; I2Cvectors size 2
; typedef enum {
;   noI2CnodeEvent,                
;   I2CnodeCRCmsg,      
;   I2CnodeNonCRCmsg,   
;   I2CnodeGCCRCmsg,    
;   I2CnodeGCmsg,       
;   I2CnodeReadRequest, 
;   I2CnodeEventTypes
; } I2CnodeEventType;
; I2CnodeEventType size 1
; typedef enum {  
;   I2CnodeOK,
;   I2CnodeNACK,    
;   I2CnodeCRCNACK, 
;   I2CnodeBusErr,  
;   I2CnodeTimeOut, 
;   I2CnodeArgErr,  
;   I2CnodeInUse,   
;   I2CnodeRetryErr,
;   I2CnodeErrs
; } I2CnodeErr;
; I2CnodeErr size 1
; struct I2Cnode {       
;   I2Cvectors state;    
;   byte  *headEvent;    
;   byte  ownAdr;      
; };
; struct I2CnodeInstance {      
;   struct I2Cnode *current;    
;   fifo   *events;             
;   I2Cisr *filter;   
;   I2Cisr *readReq;  
;   uint16 timeout;   
;   byte   retries;   
;   byte   lowPeriod, highPeriod;  
; };
; static __inline__ 
;   I2CnodeEventType *I2CnodeNewEvent (I2CnodeInstance *instance)
; }
; static __inline__  
;   byte *I2CnodeEventBody (I2CnodeInstance *instance, 
;                               I2CnodeEventType *evType, unsigned *eventLen)
; }
; static __inline__  
;   byte *I2CnodeOpenEvent (I2CnodeInstance *instance)
; }
; static __inline__  
;   void I2CnodeCloseEvent (I2CnodeInstance *instance, 
;                               I2CnodeEventType evType, byte *eventEnd)
; }
; static __inline__ 
;   void I2CnodeAddEvent (I2CnodeInstance *instance, I2CnodeEventType ev)
; }
; void acceptNewI2CnodeEvent (I2CnodeInstance *instance);
; I2CnodeErr 
;   I2CnodeAnswer (I2CnodeInstance *instance, byte *buffer, unsigned len);
; void I2CnodeInit (I2CnodeInstance *instance);
; void I2CnodeRestart (I2CnodeInstance *instance);
; void retireI2CnodeEvent (I2CnodeInstance *instance);
; I2CnodeEventType
;   nextI2CnodeEvent (I2CnodeInstance *instance, unsigned *eventLen);
; static __inline__  I2CnodeEventType
;   checkNextI2CnodeEvent (I2CnodeInstance *instance, unsigned *eventLen)
; }
; static __inline__  I2CnodeEventType
;   awaitNextI2CnodeEvent (I2CnodeInstance *instance, unsigned *eventLen)
; }
; I2CnodeErr 
;   setI2CnodeAdr (I2CnodeInstance *instance, uint16 newAdr);
; I2CnodeErr I2CnodeRead(I2CnodeInstance *instance, uint16 I2Csrc, 
;                             byte *buffer, unsigned length);
; I2CnodeErr I2CnodeWrite(I2CnodeInstance *instance, uint16 I2Cdst, 
;                               byte *buffer, unsigned length);
; unsigned I2CnodeBytesXferred(I2CnodeInstance *instance);
; void I2CnodeTic (I2CnodeInstance *instance);
; void I2CnodeCkHeld (I2CnodeInstance *instance);
; static __inline__  void connectI2C (void)
; }
; static __inline__  void I2CnodeCkEdge (I2CnodeInstance *instance)
; }
; ****** Warning: Symbol ``instance'' (function I2CnodeCkEdge) was defined, but not used
; void jogServo(MotorChannel* mcChan)
DBG3:
	.long 0x53676f6a
	.long 0x6f767265
	.long _jogServo
	.long 0x40
	.long 0x1020001
	.long DBG1
	.long DBG7-DBG8
	.long DBG9
	.long DBG6
	.long 0x0
	.pseg jogServos_code
DBG8:
	.dbgseg dbg_syms
DBG1:
	.long 0x66622e
	.long 0x0
	.long DBG8
	.long 0x0
	.long 0x1650001
	.long 0x0
	.long 0xc
	.long 0x0
	.long DBG10
	.long 0x0
	.dbgseg dbg_line
	.align 0x2
DBG9:
	.long DBG3
	.long 0x0
	.long _jogServo
	.long 0x1
	.long DBG12
	.long 0x2
	.long DBG13
	.long 0xd
	.long DBG14
	.long 0xe
	.long DBG15
	.long 0xf
	.long DBG16
	.long 0x10
	.long DBG17
	.long 0x11
	.long DBG18
	.long 0x12
	.long DBG19
	.long 0x13
	.long DBG20
	.long 0x14
	.long DBG21
	.long 0x15
	.long DBG22
	.long 0x16
	.long DBG23
	.long 0x17
	.long DBG24
	.long 0x18
	.long DBG35
	.long 0x19
	.long DBG36
	.long 0x1a
	.long DBG37
	.long 0x1b
	.long DBG38
	.long 0x1c
	.long DBG39
	.long 0x1d
	.long DBG40
	.long 0x1e
	.long DBG41
	.long 0x1f
	.long DBG42
	.long 0x20
	.long DBG43
	.long 0x21
	.long DBG44
	.long 0x22
	.long DBG45
	.long 0x23
	.long DBG46
	.long 0x24
	.long DBG47
	.long 0x25
	.long DBG48
	.long 0x26
	.long DBG49
	.long 0x27
	.long DBG50
	.long 0x28
	.long DBG51
	.long 0x29
	.long DBG52
	.long 0x2a
	.long DBG53
	.long 0x2b
	.long DBG54
	.long 0x2c
	.long DBG55
	.long 0x2d
	.long DBG56
	.long 0x2e
	.long DBG57
	.long 0x2f
	.long DBG58
	.long 0x30
	.long DBG59
	.long 0x31
	.long DBG60
	.long 0x32
	.long DBG61
	.long 0x33
	.long DBG62
	.long 0x35
	.long DBG63
	.long 0x36
	.long DBG64
	.long 0x39
	.long DBG65
	.long 0x3b
	.long DBG66
	.long 0x3c
	.long DBG67
	.long 0x3d
	.long DBG68
	.long 0x3e
	.long DBG69
	.long 0x42
	.long DBG70
	.long 0x46
	.long DBG71
	.long 0x47
	.long DBG72
	.long 0x48
	.long DBG73
	.long 0x4b
	.long DBG74
	.long 0x4c
	.long DBG75
	.long 0x4e
	.long DBG76
	.long 0x4f
	.long DBG77
	.long 0x50
	.long DBG78
	.long 0x51
	.long DBG79
	.long 0x55
	.long DBG80
	.long 0x57
	.long DBG81
	.long 0x5a
	.long DBG82
	.long 0x5b
	.long DBG83
	.long 0x5c
	.long DBG84
	.long 0x5d
	.long DBG85
	.long 0x5e
	.long DBG86
	.long 0x5f
	.long DBG87
	.long 0x60
	.long DBG88
	.long 0x61
	.long DBG89
	.long 0x62
	.long DBG90
	.long 0x63
	.long DBG91
	.long 0x64
	.long DBG92
	.long 0x65
	.long DBG93
	.long 0x66
	.long DBG94
	.long 0x67
	.long DBG95
	.long 0x69
	.long DBG96
	.long 0x6a
	.long DBG97
	.long 0x6b
	.long DBG98
	.long 0x6c
	.long DBG99
	.long 0x6d
	.long DBG100
	.long 0x6e
	.long DBG101
	.long 0x6f
	.long DBG102
	.long 0x70
	.long DBG103
	.long 0x71
	.long DBG104
	.long 0x72
	.long DBG105
	.long 0x73
	.long DBG106
	.long 0x74
	.long DBG107
	.long 0x75
	.long DBG108
	.long 0x76
	.long DBG109
	.long 0x77
	.long DBG110
	.long 0x7a
	.long DBG111
	.long 0x86
	.long DBG112
	.long 0x87
	.long DBG113
	.long 0x88
	.long DBG114
	.long 0x89
	.long DBG115
	.long 0x8a
	.long DBG116
	.long 0x8b
	.long DBG117
	.long 0x8d
	.long DBG118
	.long 0x8f
	.pseg jogServos_code
	.global _jogServo
_jogServo:
	push	r4
	push	r5
	push	r6
	push	r7
	push	r8
DBG11:
; ENTRY
	mov	r12,r7
DBG13:
DBG12:
; mcChan at argloc 0 (0x0) in reg  size 2
; home in reg  size 2
; error in reg  size 4
; PID in reg  size 4
; tempSpeed in reg  size 2
; tempAccel in reg  size 2
; result in reg  size 1
; {
; int home,servoBit;
; long int error;
; long int PID;
; int16 tempSpeed, tempAccel;
; long int derivTerm;
;   if (mcChan->optionMask & servoOptionHomeDir)
	bit.b	#0x40,0x1(r7)
	jeq	jogServo_L1
DBG15:
DBG14:
;    {
;     tempSpeed = -mcChan->minSpeed;
	mov	0x3e(r7),r14
	inv	r14
	inc	r14
DBG16:
;     tempAccel = -mcChan->accel;
	mov	0x42(r7),r12
	inv	r12
	inc	r12
DBG18:
DBG17:
;    }
	jmp	jogServo_L2
jogServo_L1:
;   else 
;    {
DBG19:
;     tempSpeed = mcChan->minSpeed;
DBG20:
	mov	0x3e(r7),r14
DBG21:
;     tempAccel = mcChan->accel;
	mov	0x42(r7),r12
DBG22:
jogServo_L2:
;    }
;  _DINT();_NOP();
DBG23:
	dint
	nop
DBG26:
DBG25:
DBG24:
;  home = readDWRF( 3 );_EINT();
; {  
;   return setDWRFadr(adr), floatDWRFbus(), readDWRFlast();
; {
;   P1OUT  = adr;
	mov.b	#0x3,&0x21
DBG27:
;   driveDWRFbus();
; {
;   P1DIR  = -1;    
	mov.b	#0xff,&0x22
DBG28:
;  (( P3OUT ) &= ~( 0x01 )) ;  
	and.b	#0xfe,&0x19
DBG30:
DBG29:
; {
;   P1DIR  = 0;     
	mov.b	#0x0,&0x22
DBG32:
DBG31:
; {
;   byte result;
;  (( P3OUT ) &= ~( 0x10 )) ;
	and.b	#0xef,&0x19
;   result = P1IN ;
	mov.b	&0x20,r13
;  (( P3OUT ) |= ( 0x01 | 0x10 )) ;
	bis.b	#0x11,&0x19
DBG34:
DBG33:
;   return result;
	and	#0xff,r13
	eint
DBG35:
;  if (mcChan->channel == 0)
	cmp.b	#0x0,0(r7)
	jne	jogServo_L3
DBG37:
DBG36:
;   {
;    if (home & ( 0x04 )) 
	bit	#0x4,r13
	jeq	jogServo_L4
DBG38:
;         mcChan->cmdVel += tempAccel;
	add	r12,0x40(r7)
DBG39:
	jmp	jogServo_L6
jogServo_L4:
;    else 
;         mcChan->cmdVel -= tempAccel;
DBG40:
	sub	r12,0x40(r7)
jogServo_L5:
DBG41:
;   }
DBG42:
	jmp	jogServo_L6
jogServo_L3:
;  else
;  {
DBG43:
;    if (home & ( 0x40 )) 
DBG44:
	bit	#0x40,r13
	jeq	jogServo_L7
DBG45:
;         mcChan->cmdVel += tempAccel;
	add	r12,0x40(r7)
DBG46:
	jmp	jogServo_L8
jogServo_L7:
;    else 
;         mcChan->cmdVel -= tempAccel;
DBG47:
	sub	r12,0x40(r7)
jogServo_L8:
DBG48:
jogServo_L6:
;  }
;  if ( (((mcChan->cmdVel) >=0)?(mcChan->cmdVel):(-mcChan->cmdVel))  > (((tempSpeed) >=0)?(tempSp
DBG49:
	mov	#0x0,r12
	cmp	r12,0x40(r7)
	jl	jogServo_LL4
	mov	0x40(r7),r13
	jmp	jogServo_LL5
jogServo_LL4:
	mov	0x40(r7),r13
	inv	r13
	inc	r13
jogServo_LL5:
	cmp	r12,r14
	jl	jogServo_LL6
	mov	r14,r12
	jmp	jogServo_LL7
jogServo_LL6:
	mov	r14,r12
	inv	r12
	inc	r12
jogServo_LL7:
	cmp	r13,r12
	jge	jogServo_L9
DBG51:
DBG50:
; eed):(-tempSpeed)) ) 
;   {
;    if (mcChan->cmdVel < 0)  
	cmp	#0x0,0x40(r7)
	jge	jogServo_L10
DBG53:
DBG52:
;     {
;      if (tempSpeed < 0) mcChan->cmdVel = tempSpeed;
	cmp	#0x0,r14
	jge	jogServo_L11
	mov	r14,0x40(r7)
DBG54:
	jmp	jogServo_L13
jogServo_L11:
;      else mcChan->cmdVel = -tempSpeed; 
	inv	r14
	inc	r14
	mov	r14,0x40(r7)
jogServo_L12:
DBG55:
;     }
DBG56:
	jmp	jogServo_L13
jogServo_L10:
;    else 
;     {
DBG57:
;      if (tempSpeed < 0) mcChan->cmdVel = -tempSpeed;
DBG58:
	cmp	#0x0,r14
	jge	jogServo_L14
	inv	r14
	inc	r14
	mov	r14,0x40(r7)
DBG59:
	jmp	jogServo_L15
jogServo_L14:
;      else mcChan->cmdVel = tempSpeed; 
	mov	r14,0x40(r7)
jogServo_L15:
DBG60:
jogServo_L13:
;     }
DBG61:
;   }
DBG62:
jogServo_L9:
;    mcChan->intermediate += mcChan->cmdVel;
	mov	0x40(r7),r13
	mov	#0x0,r12
	cmp	#0x0,r13
	jge	jogServo_LL8
	mov	#-0x1,r12
jogServo_LL8:
	add	r13,0x2e(r7)
	addc	r12,0x30(r7)
DBG63:
;    mcChan->lastIntermediate = mcChan->intermediate;
	mov	0x2e(r7),0x1e(r7)
	mov	0x30(r7),0x20(r7)
DBG64:
;   error = mcChan->intermediate - mcChan->position;
	mov	0x2e(r7),r8
	mov	0x30(r7),r6
	sub	0x12(r7),r8
	subc	0x14(r7),r6
DBG65:
;   if ( (((error) >=0)?(error):(-error))  > mcChan->maxPositionErr)
	mov	r8,r13
	mov	r6,r12
	sub	#0x0,r13
	subc	#0x0,r12
	jl	jogServo_LL9
	mov	r8,r13
	mov	r6,r12
	jmp	jogServo_LL10
jogServo_LL9:
	mov	#0x0,r13
	mov	#0x0,r12
	sub	r8,r13
	subc	r6,r12
jogServo_LL10:
	mov	0x32(r7),r15
	mov	0x34(r7),r14
	sub	r13,r15
	subc	r12,r14
	jge	jogServo_L16
DBG67:
DBG66:
;    {
;     MotorPositionError(mcChan);     
	mov	r7,r12
	call	#_MotorPositionError
DBG69:
DBG68:
;      } 
jogServo_L16:
;   PID = (mcChan->gain.P * error);
	mov	0x46(r7),r13
	mov	#0x0,r12
	cmp	#0x0,r13
	jge	jogServo_LL11
	mov	#-0x1,r12
jogServo_LL11:
	mov	r8,r15
	mov	r6,r14
	call	#__smult32
	mov	r13,r5
	mov	r12,r4
DBG70:
;   if (mcChan->gain.I != 0)
	cmp	#0x0,0x48(r7)
	jeq	jogServo_L17
DBG72:
DBG71:
;    {
;        mcChan->sum = mcChan->sum + error;
	add	r8,0x4c(r7)
	addc	r6,0x4e(r7)
DBG73:
;       if (mcChan->sum > ((long int)32768) ) mcChan->sum = ((long int)32768) ;
	mov	#0x8000,r14
	mov	#0x0,r15
	mov	r14,r12
	mov	r15,r13
	sub	0x4c(r7),r12
	subc	0x4e(r7),r13
	jge	jogServo_L18
	mov	r14,0x4c(r7)
	mov	r15,0x4e(r7)
DBG74:
	jmp	jogServo_L19
jogServo_L18:
;        else if ( mcChan->sum < - ((long int)32768) ) mcChan->sum = - ((long int)32768) ;
	mov	#0x8000,r12
	mov	#-0x1,r13
	mov	0x4c(r7),r14
	mov	0x4e(r7),r15
	sub	r12,r14
	subc	r13,r15
	jge	jogServo_L20
	mov	r12,0x4c(r7)
	mov	r13,0x4e(r7)
DBG75:
jogServo_L20:
jogServo_L19:
;  	     PID += mcChan->sum * mcChan->gain.I;
	mov	0x48(r7),r15
	mov	#0x0,r14
	cmp	#0x0,r15
	jge	jogServo_LL12
	mov	#-0x1,r14
jogServo_LL12:
	mov	0x4c(r7),r13
	mov	0x4e(r7),r12
	call	#__smult32
	add	r13,r5
	addc	r12,r4
DBG77:
DBG76:
;   }
	jmp	jogServo_L21
jogServo_L17:
;   else mcChan->sum = 0;
	mov	#0x0,0x4c(r7)
	mov	#0x0,0x4e(r7)
jogServo_L21:
;   PID += mcChan->gain.D * (error - mcChan->lastError);
DBG78:
	mov	r8,r15
	mov	r6,r14
	sub	0x54(r7),r15
	subc	0x56(r7),r14
	mov	0x4a(r7),r13
	mov	#0x0,r12
	cmp	#0x0,r13
	jge	jogServo_LL13
	mov	#-0x1,r12
jogServo_LL13:
	call	#__smult32
	add	r13,r5
	addc	r12,r4
DBG79:
;   mcChan->lastError = error;
	mov	r8,0x54(r7)
	mov	r6,0x56(r7)
DBG80:
;   PID=PID/ 5000 ;
	mov	r5,r13
	mov	r4,r12
	mov	#0x1388,r15
	mov	#0x0,r14
	call	#__sdiv32
DBG81:
;   if (PID < 0 )
	mov	r13,r15
	mov	r12,r14
	sub	#0x0,r15
	subc	#0x0,r14
	jge	jogServo_L22
DBG83:
DBG82:
;   {
;     switch (mcChan->channel)
	jmp	jogServo_L24
DBG85:
DBG84:
;     {
;     case 0:
jogServo_L25:
;  (( P5OUT ) |= ( 0x01 )) ;
DBG86:
	bis.b	#0x1,&0x31
DBG87:
;  (( P5OUT ) &= ~( 0x02 )) ;
	and.b	#0xfd,&0x31
DBG88:
;     break;
	jmp	jogServo_L23
DBG89:
;     case 1:
jogServo_L26:
;  (( P5OUT ) |= ( 0x04 )) ;
DBG90:
	bis.b	#0x4,&0x31
DBG91:
;  (( P5OUT ) &= ~( 0x08 )) ;
	and.b	#0xf7,&0x31
DBG92:
;     break;
	jmp	jogServo_L23
DBG93:
;     default:break;
jogServo_L27:
	jmp	jogServo_L23
DBG94:
jogServo_L24:
	mov.b	@r7,r14
; swcode: switch has 2 cases - min 0 max 1
	cmp	#0x0,r14
	jeq	jogServo_L25
	cmp	#0x1,r14
	jeq	jogServo_L26
	jmp	jogServo_L27
jogServo_L23:
;     }
;   PID = PID * -1;   
DBG95:
	mov	#0x0,r14
	mov	#0x0,r15
	sub	r13,r14
	subc	r12,r15
DBG97:
DBG96:
;   }
	jmp	jogServo_L28
jogServo_L22:
;   else 
;   { 
DBG98:
;    switch (mcChan->channel)
DBG99:
	jmp	jogServo_L30
DBG101:
DBG100:
;     {
;     case 0:
jogServo_L31:
;  (( P5OUT ) &= ~( 0x01 | 0x02 )) ;
DBG102:
	and.b	#0xfc,&0x31
	mov	r13,r14
	mov	r12,r15
DBG103:
;     break;
	jmp	jogServo_L29
DBG104:
;     case 1:
jogServo_L32:
;  (( P5OUT ) &= ~( 0x04 | 0x08 )) ;
DBG105:
	and.b	#0xf3,&0x31
	mov	r13,r14
	mov	r12,r15
DBG106:
;     break;
	jmp	jogServo_L29
DBG107:
;     default:break;
jogServo_L33:
	mov	r13,r14
	mov	r12,r15
	jmp	jogServo_L29
DBG108:
jogServo_L30:
	mov.b	@r7,r14
; swcode: switch has 2 cases - min 0 max 1
	cmp	#0x0,r14
	jeq	jogServo_L31
	cmp	#0x1,r14
	jeq	jogServo_L32
	jmp	jogServo_L33
jogServo_L29:
;    }
DBG109:
jogServo_L28:
;   }
;  if (PID > 100  - 5 ) PID = 100  - 5 ;  
DBG110:
	mov	#0x5f,r12
	mov	#0x0,r13
	mov	r12,r4
	sub	r14,r4
	subc	r15,r13
	jge	jogServo_L34
	mov	r12,r14
DBG111:
jogServo_L34:
;  if(mcChan->channel==0)                       
	cmp.b	#0x0,0(r7)
	jne	jogServo_L35
DBG112:
;   TBCCR1 = PID;   
	mov	r14,&0x194
DBG113:
	jmp	jogServo_L36
jogServo_L35:
;   else
;   {
DBG114:
;    TBCCR2 = PID;  
DBG115:
	mov	r14,&0x196
DBG116:
jogServo_L36:
;    } 
; 	mcChan->lastPosition=mcChan->position;
DBG117:
	mov	0x12(r7),0x16(r7)
	mov	0x14(r7),0x18(r7)
DBG119:
DBG118:
; EXIT
; .temp0 at stkloc 0 (0x0) size 10
	pop	r8
	pop	r7
	pop	r6
	pop	r5
	pop	r4
	ret
	.dbgseg dbg_syms
DBG2:
	.long 0x62622e
	.long 0x0
	.long DBG11
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x1
	.long 0x0
	.long DBG120
	.long 0x0
servoOption_1:
DBG4:
	.long 0x0
	.long DBG122
	.long 0x0
	.long 0xa
	.long 0x10ffffe
	.long 0x0
	.long 0x10000
	.long 0x0
	.long DBG121
	.long 0x0
	.long 0x0
	.long DBG123
	.long 0x1
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG124
	.long 0x2
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG125
	.long 0x4
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG126
	.long 0x8
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG127
	.long 0x10
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG128
	.long 0x20
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG129
	.long 0x40
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG130
	.long 0x80
	.long 0xb
	.long 0x10ffff
	.long 0x736f652e
	.long 0x0
	.long 0x1
	.long 0x0
	.long 0x166ffff
	.long DBG4
	.long 0x10000
	.long 0x0
	.long 0x0
	.long 0x0
servoStatusBits_2:
DBG121:
	.long 0x0
	.long DBG132
	.long 0x0
	.long 0xa
	.long 0x10ffffe
	.long 0x0
	.long 0x10000
	.long 0x0
	.long DBG131
	.long 0x0
	.long 0x76726573
	.long 0x6e4f6f
	.long 0x1
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG133
	.long 0x2
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG134
	.long 0x4
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG135
	.long 0x8
	.long 0xb
	.long 0x10ffff
	.long 0x76726573
	.long 0x534c526f
	.long 0x10
	.long 0xb
	.long 0x10ffff
	.long 0x76726573
	.long 0x534c466f
	.long 0x20
	.long 0xb
	.long 0x10ffff
	.long 0x736f652e
	.long 0x0
	.long 0x1
	.long 0x0
	.long 0x166ffff
	.long DBG121
	.long 0x10000
	.long 0x0
	.long 0x0
	.long 0x0
servoReason_3:
DBG131:
	.long 0x0
	.long DBG137
	.long 0x0
	.long 0xa
	.long 0x10ffffe
	.long 0x0
	.long 0x10000
	.long 0x0
	.long DBG136
	.long 0x0
	.long 0x0
	.long DBG138
	.long 0x0
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG139
	.long 0x1
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG140
	.long 0x2
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG141
	.long 0x3
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG142
	.long 0x4
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG143
	.long 0x5
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG144
	.long 0x6
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG145
	.long 0x7
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG146
	.long 0x8
	.long 0xb
	.long 0x10ffff
	.long 0x736f652e
	.long 0x0
	.long 0x1
	.long 0x0
	.long 0x166ffff
	.long DBG131
	.long 0x10000
	.long 0x0
	.long 0x0
	.long 0x0
servoStatus_4:
DBG136:
	.long 0x0
	.long DBG148
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0x90000
	.long 0x0
	.long DBG147
	.long 0x0
	.long 0x74617473
	.long 0x7375
	.long 0x0
	.long 0xa
	.long 0x108ffff
	.long servoStatusBits_2
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x69736f70
	.long 0x6e6f6974
	.long 0x1
	.long 0x6c
	.long 0x108ffff
	.long 0x0
	.long 0x3008f
	.long 0x3
	.long 0x0
	.long 0x0
	.long 0x6f6c6576
	.long 0x79746963
	.long 0x4
	.long 0x6c
	.long 0x108ffff
	.long 0x0
	.long 0x2008f
	.long 0x2
	.long 0x0
	.long 0x0
	.long 0x72727563
	.long 0x746e65
	.long 0x6
	.long 0x2
	.long 0x8ffff
	.long 0x72506e69
	.long 0x737365
	.long 0x7
	.long 0xc
	.long 0x8ffff
	.long 0x5074756f
	.long 0x73736572
	.long 0x8
	.long 0xc
	.long 0x8ffff
	.long 0x736f652e
	.long 0x0
	.long 0x9
	.long 0x0
	.long 0x166ffff
	.long DBG136
	.long 0x90000
	.long 0x0
	.long 0x0
	.long 0x0
.1fake_5:
DBG147:
	.long 0x6166312e
	.long 0x355f656b
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0x60000
	.long 0x0
	.long DBG149
	.long 0x0
	.long 0x50
	.long 0x0
	.long 0x0
	.long 0x3
	.long 0x8ffff
	.long 0x49
	.long 0x0
	.long 0x2
	.long 0x3
	.long 0x8ffff
	.long 0x44
	.long 0x0
	.long 0x4
	.long 0x3
	.long 0x8ffff
	.long 0x736f652e
	.long 0x0
	.long 0x6
	.long 0x0
	.long 0x166ffff
	.long DBG147
	.long 0x60000
	.long 0x0
	.long 0x0
	.long 0x0
.7fake_6:
DBG149:
	.long 0x6166372e
	.long 0x365f656b
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0x700000
	.long 0x0
	.long DBG150
	.long 0x0
	.long 0x6e616863
	.long 0x6c656e
	.long 0x0
	.long 0xc
	.long 0x8ffff
	.long 0x0
	.long DBG151
	.long 0x1
	.long 0xa
	.long 0x108ffff
	.long servoOption_1
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long DBG152
	.long 0x2
	.long 0xa
	.long 0x108ffff
	.long servoStatusBits_2
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x73616572
	.long 0x6e6f
	.long 0x3
	.long 0xa
	.long 0x108ffff
	.long servoReason_3
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x74617473
	.long 0x7375
	.long 0x4
	.long 0x8
	.long 0x108ffff
	.long servoStatus_4
	.long 0x9
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x72756f73
	.long 0x6563
	.long 0xd
	.long 0xc
	.long 0x8ffff
	.long 0x676174
	.long 0x0
	.long 0xe
	.long 0xc
	.long 0x8ffff
	.long 0x54646d63
	.long 0x657079
	.long 0xf
	.long 0xc
	.long 0x8ffff
	.long 0x0
	.long DBG153
	.long 0x10
	.long 0xc
	.long 0x8ffff
	.long 0x0
	.long DBG154
	.long 0x11
	.long 0xc
	.long 0x8ffff
	.long 0x69736f70
	.long 0x6e6f6974
	.long 0x12
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG155
	.long 0x16
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG156
	.long 0x1a
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG157
	.long 0x1e
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG158
	.long 0x22
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG159
	.long 0x26
	.long 0x5
	.long 0x8ffff
	.long 0x616c6572
	.long 0x65766974
	.long 0x2a
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG160
	.long 0x2e
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG161
	.long 0x32
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG162
	.long 0x36
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG163
	.long 0x38
	.long 0x3
	.long 0x8ffff
	.long 0x5378616d
	.long 0x64656570
	.long 0x3a
	.long 0xd
	.long 0x8ffff
	.long 0x0
	.long DBG164
	.long 0x3c
	.long 0xd
	.long 0x8ffff
	.long 0x536e696d
	.long 0x64656570
	.long 0x3e
	.long 0xd
	.long 0x8ffff
	.long 0x56646d63
	.long 0x6c65
	.long 0x40
	.long 0x3
	.long 0x8ffff
	.long 0x65636361
	.long 0x6c
	.long 0x42
	.long 0xd
	.long 0x8ffff
	.long 0x706f7473
	.long 0x67616c46
	.long 0x44
	.long 0x2
	.long 0x8ffff
	.long 0x6e696167
	.long 0x0
	.long 0x46
	.long 0x8
	.long 0x108ffff
	.long .1fake_5
	.long 0x6
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x6d7573
	.long 0x0
	.long 0x4c
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG165
	.long 0x50
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG166
	.long 0x54
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG167
	.long 0x58
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG168
	.long 0x5a
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG169
	.long 0x5c
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG170
	.long 0x5e
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG171
	.long 0x60
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG172
	.long 0x62
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG173
	.long 0x64
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG174
	.long 0x66
	.long 0xc
	.long 0x8ffff
	.long 0x0
	.long DBG175
	.long 0x67
	.long 0xc
	.long 0x8ffff
	.long 0x0
	.long DBG176
	.long 0x68
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG177
	.long 0x6c
	.long 0xd
	.long 0x8ffff
	.long 0x0
	.long DBG178
	.long 0x6e
	.long 0xd
	.long 0x8ffff
	.long 0x736f652e
	.long 0x0
	.long 0x70
	.long 0x0
	.long 0x166ffff
	.long DBG149
	.long 0x700000
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x6843636d
	.long 0x6e61
	.long 0xc0102
	.long 0x28
	.long 0x111ffff
	.long .7fake_6
	.long 0x70
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG12
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x2
	.long 0x0
	.long 0x0
	.long 0x0
DBG120:
	.long 0x62622e
	.long 0x0
	.long DBG12
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x2
	.long 0x0
	.long DBG179
	.long 0x0
	.long 0x6843636d
	.long 0x6e61
	.long 0x70102
	.long 0x28
	.long 0x111ffff
	.long .7fake_6
	.long 0x70
	.long 0x0
	.long 0x0
	.long 0x0
DBG179:
	.long 0x62622e
	.long 0x0
	.long DBG16
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x10
	.long 0x0
	.long DBG180
	.long 0x0
	.long 0x0
	.long DBG181
	.long 0xe0102
	.long 0x3
	.long 0x4ffff
DBG180:
	.long 0x62622e
	.long 0x0
	.long DBG17
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x11
	.long 0x0
	.long DBG182
	.long 0x0
	.long 0x0
	.long DBG183
	.long 0xc0102
	.long 0x3
	.long 0x4ffff
DBG182:
	.long 0x62622e
	.long 0x0
	.long DBG33
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x18
	.long 0x0
	.long DBG184
	.long 0x0
	.long 0x75736572
	.long 0x746c
	.long 0xd0102
	.long 0xc
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG35
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x19
	.long 0x0
	.long 0x0
	.long 0x0
DBG184:
	.long 0x62622e
	.long 0x0
	.long DBG35
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x19
	.long 0x0
	.long DBG185
	.long 0x0
	.long 0x75736572
	.long 0x746c
	.long 0xd0102
	.long 0xc
	.long 0x4ffff
	.long 0x656d6f68
	.long 0x0
	.long 0xd0102
	.long 0x4
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG50
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x28
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG50
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x28
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG55
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x2d
	.long 0x0
	.long 0x0
	.long 0x0
DBG185:
	.long 0x62622e
	.long 0x0
	.long DBG57
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x2f
	.long 0x0
	.long DBG186
	.long 0x0
	.long 0x0
	.long DBG181
	.long 0xe0102
	.long 0x3
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG59
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x31
	.long 0x0
	.long 0x0
	.long 0x0
DBG186:
	.long 0x62622e
	.long 0x0
	.long DBG59
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x31
	.long 0x0
	.long DBG187
	.long 0x0
	.long 0x0
	.long DBG181
	.long 0xe0102
	.long 0x3
	.long 0x4ffff
DBG187:
	.long 0x62622e
	.long 0x0
	.long DBG65
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x3b
	.long 0x0
	.long DBG188
	.long 0x0
	.long 0x6f727265
	.long 0x72
	.long 0x200
	.long 0x5
	.long 0x204ffff
	.long 0x6f727265
	.long 0x72
	.long 0x60102
	.long 0x5
	.long 0x104ffff
	.long 0x6f727265
	.long 0x72
	.long 0x80102
	.long 0x5
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG66
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x3c
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG66
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x3c
	.long 0x0
	.long 0x0
	.long 0x0
DBG188:
	.long 0x62622e
	.long 0x0
	.long DBG66
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x3c
	.long 0x0
	.long DBG189
	.long 0x0
	.long 0x6f727265
	.long 0x72
	.long 0x200
	.long 0x5
	.long 0x204ffff
	.long 0x6f727265
	.long 0x72
	.long 0x60102
	.long 0x5
	.long 0x104ffff
	.long 0x6f727265
	.long 0x72
	.long 0x80102
	.long 0x5
	.long 0x4ffff
DBG189:
	.long 0x62622e
	.long 0x0
	.long DBG70
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x46
	.long 0x0
	.long DBG190
	.long 0x0
	.long 0x444950
	.long 0x0
	.long 0x200
	.long 0x5
	.long 0x204ffff
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x1000000
	.long 0x444950
	.long 0x0
	.long 0x50102
	.long 0x5
	.long 0x4ffff
DBG190:
	.long 0x62622e
	.long 0x0
	.long DBG70
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x46
	.long 0x0
	.long DBG191
	.long 0x0
	.long 0x444950
	.long 0x0
	.long 0x200
	.long 0x5
	.long 0x204ffff
	.long 0x444950
	.long 0x0
	.long 0x40102
	.long 0x5
	.long 0x104ffff
	.long 0x444950
	.long 0x0
	.long 0x50102
	.long 0x5
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG111
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x86
	.long 0x0
	.long 0x0
	.long 0x0
DBG191:
	.long 0x62622e
	.long 0x0
	.long DBG111
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x86
	.long 0x0
	.long DBG192
	.long 0x0
	.long 0x444950
	.long 0x0
	.long 0x200
	.long 0x5
	.long 0x204ffff
	.long 0x444950
	.long 0x0
	.long 0xf0102
	.long 0x5
	.long 0x104ffff
	.long 0x444950
	.long 0x0
	.long 0x50102
	.long 0x5
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG118
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x8f
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG118
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x8f
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG118
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x8f
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG118
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x8f
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x66652e
	.long 0x0
	.long DBG119
	.long 0x0
	.long 0x1650001
	.long 0x0
	.long 0x9a
	.long 0x0
	.long 0x0
	.long 0x0
	.pseg jogServos_code
DBG7:
	.dbgseg dbg_syms
	.long 0x53676f6a
	.long 0x6f767265
	.long DBG7
	.long 0x0
	.long 0xff0001
; }
; ****** Warning: Symbol ``servoBit'' (function jogServo) was defined, but not used
; ****** Warning: Symbol ``derivTerm'' (function jogServo) was defined, but not used
; void latchActive1(MotorChannel* mc)
DBG6:
	.long 0x0
	.long DBG197
	.long _latchActive1
	.long 0x40
	.long 0x1020001
	.long DBG10
	.long DBG194-DBG195
	.long DBG196
	.long DBG193
	.long 0x0
	.pseg jogServos_code
DBG195:
	.dbgseg dbg_syms
DBG10:
	.long 0x66622e
	.long 0x0
	.long DBG195
	.long 0x0
	.long 0x1650001
	.long 0x0
	.long 0x9c
	.long 0x0
	.long DBG198
	.long 0x0
	.dbgseg dbg_line
DBG196:
	.long DBG6
	.long 0x0
	.long _latchActive1
	.long 0x1
	.long DBG200
	.long 0x2
	.long DBG201
	.long 0x3
	.long DBG202
	.long 0x4
	.long DBG211
	.long 0x5
	.long DBG212
	.long 0x7
	.long DBG213
	.long 0x9
	.long DBG214
	.long 0xa
	.long DBG215
	.long 0xb
	.long DBG216
	.long 0xc
	.long DBG217
	.long 0xd
	.long DBG218
	.long 0xe
	.long DBG219
	.long 0xf
	.long DBG220
	.long 0x10
	.long DBG231
	.long 0x11
	.long DBG232
	.long 0x12
	.long DBG233
	.long 0x13
	.long DBG234
	.long 0x14
	.long DBG245
	.long 0x15
	.long DBG246
	.long 0x16
	.long DBG247
	.long 0x18
	.long DBG248
	.long 0x1a
	.pseg jogServos_code
	.global _latchActive1
_latchActive1:
	push	r4
	push	r5
	push	r6
	push	r7
	push	r8
DBG199:
; ENTRY
	mov	r12,r7
DBG201:
DBG200:
; mc at argloc 0 (0x0) in reg  size 2
; value in reg  size 1
; value in reg  size 1
; {
;  _DINT();
	dint
DBG204:
DBG203:
DBG202:
;   writeDWRF( 1 , 0x40 ); 
; {
;   setDWRFadr (adr), writeDWRFlast (value);
; {
;   P1OUT  = adr;
	mov.b	#0x1,&0x21
DBG205:
;   driveDWRFbus();
; {
;   P1DIR  = -1;    
	mov.b	#0xff,r8
	mov.b	r8,&0x22
DBG206:
;  (( P3OUT ) &= ~( 0x01 )) ;  
	mov.b	#0xfe,r5
	and.b	r5,&0x19
DBG208:
DBG207:
; {
;   P1OUT  = value;  
	mov.b	#0x40,&0x21
;  (( P3OUT ) &= ~( 0x04 )) ;
	mov.b	#0xfb,r4
	and.b	r4,&0x19
;  (( P3OUT ) |= ( 0x01 | 0x04 )) ;
	mov.b	#0x5,r6
	bis.b	r6,&0x19
DBG211:
DBG210:
DBG209:
;  _EINT();
	eint
DBG212:
;  getLatchPos(mc);
	mov	r7,r12
	call	#_getLatchPos
DBG213:
;  mc->goalPosition = mc->latchPosition + mc->thresholdOffset;
	mov	0x68(r7),r12
	mov	0x6a(r7),r13
	add	0x1a(r7),r12
	addc	0x1c(r7),r13
	mov	r12,0x26(r7)
	mov	r13,0x28(r7)
DBG214:
;  mc->intermediate = mc->position;
	mov	0x12(r7),0x2e(r7)
	mov	0x14(r7),0x30(r7)
DBG215:
;  mc->lastIntermediate = mc->position;
	mov	0x12(r7),0x1e(r7)
	mov	0x14(r7),0x20(r7)
DBG216:
;  mc->cmdVel = 0;
	mov	#0x0,0x40(r7)
DBG217:
;  ((mc->statusMask) |= (servoPastThreshold)) ;
	bis.b	#0x8,0x2(r7)
DBG218:
;  if (mc->channel == 0) 
	cmp.b	#0x0,0(r7)
	jne	latchActive1_L1
DBG222:
DBG221:
DBG220:
DBG219:
;  {
;  disableDWRFirqs ( 0x20 );    
; {
;   writeDWRF( 0 , DWRFIEimage &= ~mask);
; {
	and.b	#0xdf,&_DWRFIEimage
	mov.b	&_DWRFIEimage,r12
DBG223:
;   setDWRFadr (adr), writeDWRFlast (value);
; {
;   P1OUT  = adr;
	mov.b	#0x0,&0x21
DBG224:
;   driveDWRFbus();
; {
;   P1DIR  = -1;    
	mov.b	r8,&0x22
DBG225:
;  (( P3OUT ) &= ~( 0x01 )) ;  
	and.b	r5,&0x19
DBG227:
DBG226:
; {
;   P1OUT  = value;  
	mov.b	r12,&0x21
;  (( P3OUT ) &= ~( 0x04 )) ;
	and.b	r4,&0x19
;  (( P3OUT ) |= ( 0x01 | 0x04 )) ;
	bis.b	r6,&0x19
DBG232:
DBG231:
DBG230:
DBG229:
DBG228:
;  } 
	jmp	latchActive1_L2
latchActive1_L1:
;  else  
;  {
DBG233:
;  disableDWRFirqs ( 0x40 );
DBG234:
; {
DBG235:
;   writeDWRF( 0 , DWRFIEimage &= ~mask);
; {
DBG236:
	and.b	#0xbf,&_DWRFIEimage
	mov.b	&_DWRFIEimage,r12
DBG237:
;   setDWRFadr (adr), writeDWRFlast (value);
; {
;   P1OUT  = adr;
	mov.b	#0x0,&0x21
DBG238:
;   driveDWRFbus();
; {
;   P1DIR  = -1;    
	mov.b	r8,&0x22
DBG239:
;  (( P3OUT ) &= ~( 0x01 )) ;  
	and.b	r5,&0x19
DBG241:
DBG240:
; {
;   P1OUT  = value;  
	mov.b	r12,&0x21
;  (( P3OUT ) &= ~( 0x04 )) ;
	and.b	r4,&0x19
;  (( P3OUT ) |= ( 0x01 | 0x04 )) ;
	bis.b	r6,&0x19
DBG245:
DBG244:
DBG243:
DBG242:
latchActive1_L2:
;  }
;  reportErr ("\nLatch Pos %ld\t chan%x\n", mc->latchPosition,mc->channel);
DBG246:
	mov.b	@r7,r12
	push	r12
	push	0x6a(r7)
	push	0x68(r7)
	push	#jogServos_V1
	call	#_reportErr
	add	#0x8,sp
DBG247:
;   reportErr ("Goal Pos %ld\n", mc->goalPosition);	
	push	0x28(r7)
	push	0x26(r7)
	push	#jogServos_V2
	call	#_reportErr
	add	#0x6,sp
DBG249:
DBG248:
; EXIT
; .temp1 at stkloc 0 (0x0) size 10
	pop	r8
	pop	r7
	pop	r6
	pop	r5
	pop	r4
	ret
	.dbgseg dbg_syms
DBG192:
	.long 0x62622e
	.long 0x0
	.long DBG199
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x1
	.long 0x0
	.long DBG250
	.long 0x0
	.long 0x636d
	.long 0x0
	.long 0xc0102
	.long 0x28
	.long 0x111ffff
	.long .7fake_6
	.long 0x70
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG200
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x2
	.long 0x0
	.long 0x0
	.long 0x0
DBG250:
	.long 0x62622e
	.long 0x0
	.long DBG200
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x2
	.long 0x0
	.long DBG251
	.long 0x0
	.long 0x636d
	.long 0x0
	.long 0x70102
	.long 0x28
	.long 0x111ffff
	.long .7fake_6
	.long 0x70
	.long 0x0
	.long 0x0
	.long 0x0
DBG251:
	.long 0x62622e
	.long 0x0
	.long DBG223
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x10
	.long 0x0
	.long DBG252
	.long 0x0
	.long 0x756c6176
	.long 0x65
	.long 0xc0102
	.long 0xc
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG237
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x14
	.long 0x0
	.long 0x0
	.long 0x0
DBG252:
	.long 0x62622e
	.long 0x0
	.long DBG237
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x14
	.long 0x0
	.long DBG253
	.long 0x0
	.long 0x756c6176
	.long 0x65
	.long 0xc0102
	.long 0xc
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG247
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x18
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG248
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x1a
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x66652e
	.long 0x0
	.long DBG249
	.long 0x0
	.long 0x1650001
	.long 0x0
	.long 0xb5
	.long 0x0
	.long 0x0
	.long 0x0
	.pseg jogServos_code
DBG194:
	.dbgseg dbg_syms
	.long 0x0
	.long DBG197
	.long DBG194
	.long 0x0
	.long 0xff0001
; }
; void homed(MotorChannel* mc)
DBG193:
	.long 0x656d6f68
	.long 0x64
	.long _homed
	.long 0x40
	.long 0x1020001
	.long DBG198
	.long DBG255-DBG256
	.long DBG257
	.long DBG254
	.long 0x0
	.pseg jogServos_code
DBG256:
	.dbgseg dbg_syms
DBG198:
	.long 0x66622e
	.long 0x0
	.long DBG256
	.long 0x0
	.long 0x1650001
	.long 0x0
	.long 0xb6
	.long 0x0
	.long DBG258
	.long 0x0
	.dbgseg dbg_line
DBG257:
	.long DBG193
	.long 0x0
	.long _homed
	.long 0x1
	.long DBG260
	.long 0x2
	.long DBG261
	.long 0x4
	.long DBG262
	.long 0x5
	.long DBG263
	.long 0x7
	.long DBG274
	.long 0x8
	.long DBG275
	.long 0x9
	.long DBG276
	.long 0xb
	.long DBG277
	.long 0xc
	.long DBG278
	.long 0xd
	.long DBG279
	.long 0xf
	.long DBG280
	.long 0x10
	.long DBG281
	.long 0x12
	.long DBG282
	.long 0x14
	.long DBG285
	.long 0x15
	.long DBG287
	.long 0x16
	.long DBG289
	.long 0x17
	.pseg jogServos_code
	.global _homed
_homed:
	push	r4
DBG259:
; ENTRY
	mov	r12,r4
DBG261:
DBG260:
; mc at argloc 0 (0x0) in reg  size 2
; mask in reg  size 1
; value in reg  size 1
; {
;     clear_cpld_bit( 3 , 0x02 <<(mc->channel*4)); 
	mov.b	@r4,r13
	rla	r13
	rla	r13
	mov	#0x2,r12
	cmp	#0x0,r13
	jeq	homed_LL2
homed_LL3:
	rla	r12
	dec	r13
	jnz	homed_LL3
homed_LL2:
	and.b	#0xff,r12
	mov.b	r12,r13
	mov.b	#0x3,r12
	call	#_clear_cpld_bit
DBG262:
;     _DINT();_NOP();
	dint
	nop
DBG264:
DBG263:
;     disableDWRFirqs ( 0x04 <<mc->channel);
; {
	mov.b	@r4,r13
	mov.b	#0x4,r12
	cmp	#0x0,r13
	jeq	homed_LL4
homed_LL5:
	rla.b	r12
	dec	r13
	jnz	homed_LL5
homed_LL4:
;   writeDWRF( 0 , DWRFIEimage &= ~mask);
; {
DBG265:
	bic.b	r12,&_DWRFIEimage
	mov.b	&_DWRFIEimage,r12
DBG266:
;   setDWRFadr (adr), writeDWRFlast (value);
; {
;   P1OUT  = adr;
	mov.b	#0x0,&0x21
DBG267:
;   driveDWRFbus();
; {
;   P1DIR  = -1;    
	mov.b	#0xff,&0x22
DBG268:
;  (( P3OUT ) &= ~( 0x01 )) ;  
	and.b	#0xfe,&0x19
DBG270:
DBG269:
; {
;   P1OUT  = value;  
	mov.b	r12,&0x21
;  (( P3OUT ) &= ~( 0x04 )) ;
	and.b	#0xfb,&0x19
;  (( P3OUT ) |= ( 0x01 | 0x04 )) ;
	bis.b	#0x5,&0x19
DBG274:
DBG273:
DBG272:
DBG271:
;     _EINT();
	eint
DBG275:
;   mc->position = 0;
	mov	#0x0,0x12(r4)
	mov	#0x0,0x14(r4)
DBG276:
;   mc->intermediate =0;
	mov	#0x0,0x2e(r4)
	mov	#0x0,0x30(r4)
DBG277:
;   mc->lastIntermediate = 0;  
	mov	#0x0,0x1e(r4)
	mov	#0x0,0x20(r4)
DBG278:
;   mc->sum=0;
	mov	#0x0,0x4c(r4)
	mov	#0x0,0x4e(r4)
DBG279:
;   mc->lastError = 0;
	mov	#0x0,0x54(r4)
	mov	#0x0,0x56(r4)
DBG280:
;  ((mc->statusMask) &= ~(servoLostHome)) ; 
	and.b	#0xfd,0x2(r4)
DBG281:
;   reportErr ("Servo status %x\n", mc->statusMask);	
	mov.b	0x2(r4),r12
	push	r12
	push	#jogServos_V3
	call	#_reportErr
	add	#0x4,sp
DBG282:
;   if(!mc->channel) {MoveType0 = trapServoLoop;reportErr ("InHOMED.New Move= Trap Ch=0");}
	cmp.b	#0x0,0(r4)
	jne	homed_L1
DBG283:
	mov	#_trapServoLoop,&_MoveType0
	push	#jogServos_V4
	call	#_reportErr
	add	#0x2,sp
DBG285:
DBG284:
	jmp	homed_LL6
homed_L1:
;   else {
DBG286:
;   MoveType1 = trapServoLoop;reportErr ("InHOMED.New Move= Trap Ch=1");}
DBG287:
	mov	#_trapServoLoop,&_MoveType1
	push	#jogServos_V5
	call	#_reportErr
	add	#0x2,sp
DBG288:
homed_L2:
DBG289:
homed_LL6:
; EXIT
; .temp2 at stkloc 0 (0x0) size 2
DBG290:
	pop	r4
	ret
	.dbgseg dbg_syms
DBG253:
	.long 0x62622e
	.long 0x0
	.long DBG259
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x1
	.long 0x0
	.long DBG291
	.long 0x0
	.long 0x636d
	.long 0x0
	.long 0xc0102
	.long 0x28
	.long 0x111ffff
	.long .7fake_6
	.long 0x70
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG260
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x2
	.long 0x0
	.long 0x0
	.long 0x0
DBG291:
	.long 0x62622e
	.long 0x0
	.long DBG260
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x2
	.long 0x0
	.long DBG292
	.long 0x0
	.long 0x636d
	.long 0x0
	.long 0x40102
	.long 0x28
	.long 0x111ffff
	.long .7fake_6
	.long 0x70
	.long 0x0
	.long 0x0
	.long 0x0
DBG292:
	.long 0x62622e
	.long 0x0
	.long DBG265
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x7
	.long 0x0
	.long DBG293
	.long 0x0
	.long 0x6b73616d
	.long 0x0
	.long 0xc0102
	.long 0xc
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG266
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x7
	.long 0x0
	.long 0x0
	.long 0x0
DBG293:
	.long 0x62622e
	.long 0x0
	.long DBG266
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x7
	.long 0x0
	.long DBG294
	.long 0x0
	.long 0x756c6176
	.long 0x65
	.long 0xc0102
	.long 0xc
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG282
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x14
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x62652e
	.long 0x0
	.long DBG289
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x17
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x66652e
	.long 0x0
	.long DBG290
	.long 0x0
	.long 0x1650001
	.long 0x0
	.long 0xcc
	.long 0x0
	.long 0x0
	.long 0x0
	.pseg jogServos_code
DBG255:
	.dbgseg dbg_syms
	.long 0x656d6f68
	.long 0x64
	.long DBG255
	.long 0x0
	.long 0xff0001
; }
; void limitReached(MotorChannel* mc0, MotorChannel* mc1)
DBG254:
	.long 0x0
	.long DBG299
	.long _limitReached
	.long 0x40
	.long 0x1020001
	.long DBG258
	.long DBG296-DBG297
	.long DBG298
	.long DBG295
	.long 0x0
	.pseg jogServos_code
DBG297:
	.dbgseg dbg_syms
DBG258:
	.long 0x66622e
	.long 0x0
	.long DBG297
	.long 0x0
	.long 0x1650001
	.long 0x0
	.long 0xcd
	.long 0x0
	.long DBG300
	.long 0x0
	.dbgseg dbg_line
DBG298:
	.long DBG254
	.long 0x0
	.long _limitReached
	.long 0x1
	.long DBG302
	.long 0x2
	.long DBG303
	.long 0x5
	.long DBG304
	.long 0x6
	.long DBG315
	.long 0x7
	.long DBG324
	.long 0x8
	.long DBG325
	.long 0xa
	.long DBG326
	.long 0xb
	.long DBG327
	.long 0xd
	.long DBG328
	.long 0xe
	.long DBG329
	.long 0xf
	.long DBG330
	.long 0x10
	.long DBG331
	.long 0x11
	.long DBG332
	.long 0x12
	.long DBG333
	.long 0x13
	.long DBG334
	.long 0x14
	.long DBG335
	.long 0x15
	.long DBG336
	.long 0x16
	.long DBG337
	.long 0x17
	.long DBG338
	.long 0x18
	.long DBG339
	.long 0x23
	.pseg jogServos_code
	.global _limitReached
_limitReached:
; ENTRY
DBG301:
; mc0 at argloc 0 (0x0) in reg  size 2
; mc1 at argloc 0 (0x0) in reg  size 2
; limitReg in reg  size 1
; result in reg  size 1
; {
DBG302:
;   byte limitReg;
;   _DINT();_NOP();
DBG303:
	dint
	nop
DBG306:
DBG305:
DBG304:
;   limitReg = readDWRF( 3 );
; {  
;   return setDWRFadr(adr), floatDWRFbus(), readDWRFlast();
; {
;   P1OUT  = adr;
	mov.b	#0x3,&0x21
DBG307:
;   driveDWRFbus();
; {
;   P1DIR  = -1;    
	mov.b	#0xff,&0x22
DBG308:
;  (( P3OUT ) &= ~( 0x01 )) ;  
	and.b	#0xfe,&0x19
DBG310:
DBG309:
; {
;   P1DIR  = 0;     
	mov.b	#0x0,&0x22
DBG312:
DBG311:
; {
;   byte result;
;  (( P3OUT ) &= ~( 0x10 )) ;
	and.b	#0xef,&0x19
;   result = P1IN ;
	mov.b	&0x20,r14
;  (( P3OUT ) |= ( 0x01 | 0x10 )) ;
	bis.b	#0x11,&0x19
DBG317:
DBG316:
DBG315:
DBG314:
DBG313:
;   return result;
;   writeDWRF( 1 , 0x10 ); 
; {
;   setDWRFadr (adr), writeDWRFlast (value);
; {
;   P1OUT  = adr;
	mov.b	#0x1,&0x21
DBG318:
;   driveDWRFbus();
; {
;   P1DIR  = -1;    
	mov.b	#0xff,&0x22
DBG319:
;  (( P3OUT ) &= ~( 0x01 )) ;  
	and.b	#0xfe,&0x19
DBG321:
DBG320:
; {
;   P1OUT  = value;  
	mov.b	#0x10,&0x21
;  (( P3OUT ) &= ~( 0x04 )) ;
	and.b	#0xfb,&0x19
;  (( P3OUT ) |= ( 0x01 | 0x04 )) ;
	bis.b	#0x5,&0x19
DBG324:
DBG323:
DBG322:
;   _EINT();
	eint
DBG325:
;    if(limitReg & ( 0x02 | 0x01 ))
	bit.b	#0x3,r14
	jeq	limitReached_L1
DBG327:
DBG326:
;    {
;     mc0->gain.P=0;
	mov	#0x0,0x46(r12)
DBG328:
; 	mc0->gain.D=0;
	mov	#0x0,0x4a(r12)
DBG329:
; 	mc0->gain.I=0;
	mov	#0x0,0x48(r12)
DBG330:
;     TBCCR1 = 0;   
	mov	#0x0,&0x194
DBG332:
DBG331:
;    } 
	jmp	limitReached_LL4
limitReached_L1:
;    else if (limitReg & ( 0x20 | 0x10 ))
	bit.b	#0x30,r14
	jeq	limitReached_L3
DBG334:
DBG333:
;    {
;    mc1->gain.P=0;
	mov	#0x0,0x46(r13)
DBG335:
;    mc1->gain.D=0;
	mov	#0x0,0x4a(r13)
DBG336:
;    mc1->gain.I=0;
	mov	#0x0,0x48(r13)
DBG337:
;    TBCCR2 = 0;  
	mov	#0x0,&0x196
DBG339:
DBG338:
;    }
limitReached_L3:
limitReached_L2:
DBG340:
limitReached_LL4:
; EXIT
DBG341:
	ret
	.dbgseg dbg_syms
	.long 0x31636d
	.long 0x0
	.long 0xd0102
	.long 0x28
	.long 0x111ffff
	.long .7fake_6
	.long 0x70
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x30636d
	.long 0x0
	.long 0xc0102
	.long 0x28
	.long 0x111ffff
	.long .7fake_6
	.long 0x70
	.long 0x0
	.long 0x0
	.long 0x0
DBG294:
	.long 0x62622e
	.long 0x0
	.long DBG313
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x6
	.long 0x0
	.long DBG342
	.long 0x0
	.long 0x75736572
	.long 0x746c
	.long 0xe0102
	.long 0xc
	.long 0x4ffff
	.long 0x696d696c
	.long 0x67655274
	.long 0xe0102
	.long 0xc
	.long 0x4ffff
	.long 0x62652e
	.long 0x0
	.long DBG340
	.long 0x0
	.long 0x1640001
	.long 0x0
	.long 0x23
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x66652e
	.long 0x0
	.long DBG341
	.long 0x0
	.long 0x1650001
	.long 0x0
	.long 0xef
	.long 0x0
	.long 0x0
	.long 0x0
	.pseg jogServos_code
DBG296:
	.dbgseg dbg_syms
	.long 0x0
	.long DBG299
	.long DBG296
	.long 0x0
	.long 0xff0001
; }
	.extern _trapServoLoop
	.extern _DWRFIEimage
	.extern _nextI2CnodeEvent
	.extern _reportErr
	.extern _clear_cpld_bit
	.extern _RX1ISR
	.extern _MoveType0
	.extern _MoveType1
	.extern _MotorPositionError
	.extern _retireI2CnodeEvent
	.extern __smult32
	.extern __sdiv32
	.extern _getLatchPos
.0fake_7:
DBG150:
	.long 0x6166302e
	.long 0x375f656b
	.long 0x0
	.long 0xa
	.long 0x10ffffe
	.long 0x0
	.long 0x10000
	.long 0x0
	.long DBG343
	.long 0x0
	.long 0x736c6166
	.long 0x65
	.long 0x0
	.long 0xb
	.long 0x10ffff
	.long 0x65757274
	.long 0x0
	.long 0x1
	.long 0xb
	.long 0x10ffff
	.long 0x736f652e
	.long 0x0
	.long 0x1
	.long 0x0
	.long 0x166ffff
	.long DBG150
	.long 0x10000
	.long 0x0
	.long 0x0
	.long 0x0
.8fake_8:
DBG343:
	.long 0x6166382e
	.long 0x385f656b
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0x60000
	.long 0x0
	.long DBG344
	.long 0x0
	.long 0x64616568
	.long 0x0
	.long 0x0
	.long 0x2c
	.long 0x8ffff
	.long 0x6c696174
	.long 0x0
	.long 0x2
	.long 0x2c
	.long 0x8ffff
	.long 0x66667562
	.long 0x7265
	.long 0x4
	.long 0x6c
	.long 0x108ffff
	.long 0x0
	.long 0x100f3
	.long 0x1
	.long 0x0
	.long 0x0
	.long 0x736f652e
	.long 0x0
	.long 0x6
	.long 0x0
	.long 0x166ffff
	.long DBG343
	.long 0x60000
	.long 0x0
	.long 0x0
	.long 0x0
.9fake_9:
DBG344:
	.long 0x6166392e
	.long 0x395f656b
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0x60000
	.long 0x0
	.long DBG345
	.long 0x0
	.long 0x79646f62
	.long 0x0
	.long 0x0
	.long 0x28
	.long 0x108ffff
	.long .8fake_8
	.long 0x5
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x646e65
	.long 0x0
	.long 0x2
	.long 0x2c
	.long 0x8ffff
	.long 0x696d696c
	.long 0x74
	.long 0x4
	.long 0xe
	.long 0x8ffff
	.long 0x736f652e
	.long 0x0
	.long 0x6
	.long 0x0
	.long 0x166ffff
	.long DBG344
	.long 0x60000
	.long 0x0
	.long 0x0
	.long 0x0
parserInstance_10:
DBG345:
	.long 0x0
	.long DBG347
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0xa0000
	.long 0x0
	.long DBG346
	.long 0x0
	.long 0x75706e69
	.long 0x74
	.long 0x0
	.long 0x28
	.long 0x108ffff
	.long .9fake_9
	.long 0x6
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x7074756f
	.long 0x7475
	.long 0x2
	.long 0x28
	.long 0x108ffff
	.long .9fake_9
	.long 0x6
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long DBG348
	.long 0x4
	.long 0x2a0
	.long 0x8ffff
	.long 0x0
	.long DBG349
	.long 0x6
	.long 0x2a0
	.long 0x8ffff
	.long 0x79736572
	.long 0x636e
	.long 0x8
	.long 0x2a0
	.long 0x8ffff
	.long 0x736f652e
	.long 0x0
	.long 0xa
	.long 0x0
	.long 0x166ffff
	.long DBG345
	.long 0xa0000
	.long 0x0
	.long 0x0
	.long 0x0
.10fake_11:
DBG346:
	.long 0x0
	.long DBG351
	.long 0x0
	.long 0xa
	.long 0x10ffffe
	.long 0x0
	.long 0x10000
	.long 0x0
	.long DBG350
	.long 0x0
	.long 0x0
	.long DBG352
	.long 0x0
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG353
	.long 0x1
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG354
	.long 0x2
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG355
	.long 0x3
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG356
	.long 0x4
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG357
	.long 0x5
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG358
	.long 0x6
	.long 0xb
	.long 0x10ffff
	.long 0x736f652e
	.long 0x0
	.long 0x1
	.long 0x0
	.long 0x166ffff
	.long DBG346
	.long 0x10000
	.long 0x0
	.long 0x0
	.long 0x0
.2fake_12:
DBG350:
	.long 0x0
	.long DBG360
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0xa0000
	.long 0x0
	.long DBG359
	.long 0x0
	.long 0x6c657764
	.long 0x6c
	.long 0x0
	.long 0xd
	.long 0x8ffff
	.long 0x67726174
	.long 0x547465
	.long 0x2
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG361
	.long 0x4
	.long 0xd
	.long 0x8ffff
	.long 0x546e696d
	.long 0x0
	.long 0x6
	.long 0x3
	.long 0x8ffff
	.long 0x5478616d
	.long 0x0
	.long 0x8
	.long 0x3
	.long 0x8ffff
	.long 0x736f652e
	.long 0x0
	.long 0xa
	.long 0x0
	.long 0x166ffff
	.long DBG350
	.long 0xa0000
	.long 0x0
	.long 0x0
	.long 0x0
.11fake_13:
DBG359:
	.long 0x0
	.long DBG363
	.long 0x0
	.long 0xa
	.long 0x10ffffe
	.long 0x0
	.long 0x10000
	.long 0x0
	.long DBG362
	.long 0x0
	.long 0x0
	.long DBG364
	.long 0x0
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG365
	.long 0x1
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG366
	.long 0x2
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG367
	.long 0x3
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG368
	.long 0x4
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG369
	.long 0x5
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG370
	.long 0x6
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG371
	.long 0x7
	.long 0xb
	.long 0x10ffff
	.long 0x0
	.long DBG372
	.long 0x8
	.long 0xb
	.long 0x10ffff
	.long 0x736f652e
	.long 0x0
	.long 0x1
	.long 0x0
	.long 0x166ffff
	.long DBG359
	.long 0x10000
	.long 0x0
	.long 0x0
	.long 0x0
.3fake_14:
DBG362:
	.long 0x0
	.long DBG374
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0xc0000
	.long 0x0
	.long DBG373
	.long 0x0
	.long 0x74616568
	.long 0x676e69
	.long 0x0
	.long 0x8
	.long 0x108ffff
	.long .1fake_5
	.long 0x6
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x6c6f6f63
	.long 0x676e69
	.long 0x6
	.long 0x8
	.long 0x108ffff
	.long .1fake_5
	.long 0x6
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x736f652e
	.long 0x0
	.long 0xc
	.long 0x0
	.long 0x166ffff
	.long DBG362
	.long 0xc0000
	.long 0x0
	.long 0x0
	.long 0x0
I2Cnode_15:
DBG373:
	.long 0x0
	.long DBG376
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0x60000
	.long 0x0
	.long DBG375
	.long 0x0
	.long 0x74617473
	.long 0x65
	.long 0x0
	.long 0x1520
	.long 0x8ffff
	.long 0x0
	.long DBG377
	.long 0x2
	.long 0x2c
	.long 0x8ffff
	.long 0x416e776f
	.long 0x7264
	.long 0x4
	.long 0xc
	.long 0x8ffff
	.long 0x736f652e
	.long 0x0
	.long 0x6
	.long 0x0
	.long 0x166ffff
	.long DBG373
	.long 0x60000
	.long 0x0
	.long 0x0
	.long 0x0
I2CnodeInstance_16:
DBG375:
	.long 0x0
	.long DBG379
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0xe0000
	.long 0x0
	.long DBG378
	.long 0x0
	.long 0x72727563
	.long 0x746e65
	.long 0x0
	.long 0x28
	.long 0x108ffff
	.long I2Cnode_15
	.long 0x5
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x6e657665
	.long 0x7374
	.long 0x2
	.long 0x28
	.long 0x108ffff
	.long .9fake_9
	.long 0x6
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x746c6966
	.long 0x7265
	.long 0x4
	.long 0x2a0
	.long 0x8ffff
	.long 0x64616572
	.long 0x716552
	.long 0x6
	.long 0x2a0
	.long 0x8ffff
	.long 0x656d6974
	.long 0x74756f
	.long 0x8
	.long 0xd
	.long 0x8ffff
	.long 0x72746572
	.long 0x736569
	.long 0xa
	.long 0xc
	.long 0x8ffff
	.long 0x0
	.long DBG380
	.long 0xb
	.long 0xc
	.long 0x8ffff
	.long 0x0
	.long DBG381
	.long 0xc
	.long 0xc
	.long 0x8ffff
	.long 0x736f652e
	.long 0x0
	.long 0xe
	.long 0x0
	.long 0x166ffff
	.long DBG375
	.long 0xe0000
	.long 0x0
	.long 0x0
	.long 0x0
.4fake_17:
DBG378:
	.long 0x0
	.long DBG383
	.long 0x0
	.long 0x8
	.long 0x10afffe
	.long 0x0
	.long 0x4e0000
	.long 0x0
	.long DBG382
	.long 0x0
	.long 0x6f725074
	.long 0x6d617267
	.long 0x0
	.long 0x8
	.long 0x108ffff
	.long .2fake_12
	.long 0xa
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x6c614374
	.long 0x6269
	.long 0xa
	.long 0x8
	.long 0x108ffff
	.long .3fake_14
	.long 0xc
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long DBG384
	.long 0x16
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG385
	.long 0x18
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG386
	.long 0x1a
	.long 0xd
	.long 0x8ffff
	.long 0x74617473
	.long 0x65
	.long 0x1c
	.long 0xc
	.long 0x8ffff
	.long 0x65646f63
	.long 0x0
	.long 0x1d
	.long 0xc
	.long 0x8ffff
	.long 0x72756f73
	.long 0x6563
	.long 0x1e
	.long 0xc
	.long 0x8ffff
	.long 0x676174
	.long 0x0
	.long 0x1f
	.long 0xc
	.long 0x8ffff
	.long 0x54646d63
	.long 0x657079
	.long 0x20
	.long 0xc
	.long 0x8ffff
	.long 0x0
	.long DBG387
	.long 0x22
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG388
	.long 0x26
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG389
	.long 0x2a
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG390
	.long 0x2c
	.long 0x3
	.long 0x8ffff
	.long 0x0
	.long DBG391
	.long 0x2e
	.long 0xd
	.long 0x8ffff
	.long 0x0
	.long DBG392
	.long 0x30
	.long 0xd
	.long 0x8ffff
	.long 0x0
	.long DBG393
	.long 0x32
	.long 0xc
	.long 0x8ffff
	.long 0x65786966
	.long 0x4d575064
	.long 0x34
	.long 0x5
	.long 0x8ffff
	.long 0x6d7573
	.long 0x0
	.long 0x38
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG394
	.long 0x3c
	.long 0x5
	.long 0x8ffff
	.long 0x0
	.long DBG395
	.long 0x40
	.long 0x5
	.long 0x8ffff
	.long 0x72657450
	.long 0x6d
	.long 0x44
	.long 0x5
	.long 0x8ffff
	.long 0x72657449
	.long 0x6d
	.long 0x48
	.long 0x5
	.long 0x8ffff
	.long 0x706d6574
	.long 0x0
	.long 0x4c
	.long 0x3
	.long 0x8ffff
	.long 0x736f652e
	.long 0x0
	.long 0x4e
	.long 0x0
	.long 0x166ffff
	.long DBG378
	.long 0x4e0000
	.long 0x0
	.long 0x0
	.long 0x0
DBG300:
DBG342:
DBG295:
DBG382:
	.long 0x7073
	.long 0x0
	.long 0x1
	.long 0x0
	.long 0x16cfffe
	.long 0x0
	.long 0x100001
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x52
	.long 0x0
	.long 0x2
	.long 0x0
	.long 0x16cfffe
	.long 0x0
	.long 0x100010
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x6c6f6f62
	.long 0x6e6165
	.long 0x0
	.long 0xa
	.long 0x10dfffe
	.long .0fake_7
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x67736d75
	.long 0x3233
	.long 0x0
	.long 0x6c
	.long 0x10dfffe
	.long 0x0
	.long 0x400f3
	.long 0x4
	.long 0x0
	.long 0x0
	.long 0x0
	.long DBG396
	.long 0x0
	.long 0x8
	.long 0x10dfffe
	.long parserInstance_10
	.long 0xa
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long DBG397
	.long 0x0
	.long 0x4
	.long 0xdfffe
	.long 0x67736d75
	.long 0x3631
	.long 0x0
	.long 0x6c
	.long 0x10dfffe
	.long 0x0
	.long 0x200f3
	.long 0x2
	.long 0x0
	.long 0x0
	.long 0x38746e69
	.long 0x0
	.long 0x0
	.long 0x2
	.long 0xdfffe
	.long 0x0
	.long DBG398
	.long 0x0
	.long 0x1520
	.long 0xdfffe
	.long 0x6f666966
	.long 0x0
	.long 0x0
	.long 0x8
	.long 0x10dfffe
	.long .9fake_9
	.long 0x6
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long DBG399
	.long 0x0
	.long 0x6c
	.long 0x10dfffe
	.long 0x0
	.long 0x300f3
	.long 0x3
	.long 0x0
	.long 0x0
	.long 0x746e6975
	.long 0x3233
	.long 0x0
	.long 0xf
	.long 0xdfffe
	.long 0x64696f76
	.long 0x6e46
	.long 0x0
	.long 0x40
	.long 0xdfffe
	.long 0x746e6975
	.long 0x3631
	.long 0x0
	.long 0xd
	.long 0xdfffe
	.long 0x0
	.long DBG400
	.long 0x0
	.long 0xa
	.long 0x10dfffe
	.long .10fake_11
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x61686377
	.long 0x745f72
	.long 0x0
	.long 0x4
	.long 0xdfffe
	.long 0x0
	.long DBG401
	.long 0x0
	.long 0x8
	.long 0x10dfffe
	.long .2fake_12
	.long 0xa
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long DBG402
	.long 0x0
	.long 0x8
	.long 0x10dfffe
	.long .7fake_6
	.long 0x70
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x70617274
	.long 0x6e46
	.long 0x0
	.long 0x40
	.long 0xdfffe
	.long 0x3167736d
	.long 0x44495036
	.long 0x0
	.long 0x6c
	.long 0x10dfffe
	.long 0x0
	.long 0x600f3
	.long 0x6
	.long 0x0
	.long 0x0
	.long 0x69433249
	.long 0x7273
	.long 0x0
	.long 0x40
	.long 0xdfffe
	.long 0x3367736d
	.long 0x32
	.long 0x0
	.long 0x6c
	.long 0x10dfffe
	.long 0x0
	.long 0x400f3
	.long 0x4
	.long 0x0
	.long 0x0
	.long 0x0
	.long DBG403
	.long 0x0
	.long 0xa
	.long 0x10dfffe
	.long .11fake_13
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x3167736d
	.long 0x36
	.long 0x0
	.long 0x6c
	.long 0x10dfffe
	.long 0x0
	.long 0x200f3
	.long 0x2
	.long 0x0
	.long 0x0
	.long 0x657a6973
	.long 0x745f
	.long 0x0
	.long 0xe
	.long 0xdfffe
	.long 0x31746e69
	.long 0x44495036
	.long 0x0
	.long 0x8
	.long 0x10dfffe
	.long .1fake_5
	.long 0x6
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x33746e69
	.long 0x32
	.long 0x0
	.long 0x5
	.long 0xdfffe
	.long 0x6f666966
	.long 0x79646f42
	.long 0x0
	.long 0x8
	.long 0x10dfffe
	.long .8fake_8
	.long 0x5
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x31746e69
	.long 0x36
	.long 0x0
	.long 0x3
	.long 0xdfffe
	.long 0x65747962
	.long 0x0
	.long 0x0
	.long 0xc
	.long 0xdfffe
	.long 0x0
	.long DBG404
	.long 0x0
	.long 0x8
	.long 0x10dfffe
	.long .3fake_14
	.long 0xc
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x746e6975
	.long 0x38
	.long 0x0
	.long 0xc
	.long 0xdfffe
	.long 0x0
	.long DBG405
	.long 0x0
	.long 0x8
	.long 0x10dfffe
	.long I2CnodeInstance_16
	.long 0xd
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x74616548
	.long 0x7265
	.long 0x0
	.long 0x8
	.long 0x10dfffe
	.long .4fake_17
	.long 0x4e
	.long 0x0
	.long 0x0
	.long 0x0
	.iseg jogServos_istrings_const
jogServos_V1:
	.byte 0xa
	.byte 0x4c
	.byte 0x61
	.byte 0x74
	.byte 0x63
	.byte 0x68
	.byte 0x20
	.byte 0x50
	.byte 0x6f
	.byte 0x73
	.byte 0x20
	.byte 0x25
	.byte 0x6c
	.byte 0x64
	.byte 0x9
	.byte 0x20
	.byte 0x63
	.byte 0x68
	.byte 0x61
	.byte 0x6e
	.byte 0x25
	.byte 0x78
	.byte 0xa
	.byte 0x0
jogServos_V3:
	.byte 0x53
	.byte 0x65
	.byte 0x72
	.byte 0x76
	.byte 0x6f
	.byte 0x20
	.byte 0x73
	.byte 0x74
	.byte 0x61
	.byte 0x74
	.byte 0x75
	.byte 0x73
	.byte 0x20
	.byte 0x25
	.byte 0x78
	.byte 0xa
	.byte 0x0
jogServos_V4:
	.byte 0x49
	.byte 0x6e
	.byte 0x48
	.byte 0x4f
	.byte 0x4d
	.byte 0x45
	.byte 0x44
	.byte 0x2e
	.byte 0x4e
	.byte 0x65
	.byte 0x77
	.byte 0x20
	.byte 0x4d
	.byte 0x6f
	.byte 0x76
	.byte 0x65
	.byte 0x3d
	.byte 0x20
	.byte 0x54
	.byte 0x72
	.byte 0x61
	.byte 0x70
	.byte 0x20
	.byte 0x43
	.byte 0x68
	.byte 0x3d
	.byte 0x30
	.byte 0x0
jogServos_V5:
	.byte 0x49
	.byte 0x6e
	.byte 0x48
	.byte 0x4f
	.byte 0x4d
	.byte 0x45
	.byte 0x44
	.byte 0x2e
	.byte 0x4e
	.byte 0x65
	.byte 0x77
	.byte 0x20
	.byte 0x4d
	.byte 0x6f
	.byte 0x76
	.byte 0x65
	.byte 0x3d
	.byte 0x20
	.byte 0x54
	.byte 0x72
	.byte 0x61
	.byte 0x70
	.byte 0x20
	.byte 0x43
	.byte 0x68
	.byte 0x3d
	.byte 0x31
	.byte 0x0
jogServos_V2:
	.byte 0x47
	.byte 0x6f
	.byte 0x61
	.byte 0x6c
	.byte 0x20
	.byte 0x50
	.byte 0x6f
	.byte 0x73
	.byte 0x20
	.byte 0x25
	.byte 0x6c
	.byte 0x64
	.byte 0xa
	.byte 0x0
	.dbgseg dbg_syms
	.long 0x666f652e
	.long 0x0
	.long 0x0
	.long 0x0
	.long 0x67fffe
	.dbgseg dbg_strs
	.align 0x2
	.long 0x6d4
DBG383:
	.long 0x2e346661
	.long 0x6b655f31
	.long 0x37000000
DBG372:
	.long 0x4932436e
	.long 0x6f646545
	.long 0x72727300
DBG154:
	.long 0x74616753
	.long 0x74617475
	.long 0x73000000
DBG365:
	.long 0x4932436e
	.long 0x6f64654e
	.long 0x41434b00
DBG349:
	.long 0x6b69636b
	.long 0x73746172
	.long 0x744f7574
	.long 0x70757400
DBG176:
	.long 0x6c617463
	.long 0x68506f73
	.long 0x6974696f
	.long 0x6e000000
DBG397:
	.long 0x70747264
	.long 0x6966665f
	.long 0x74000000
DBG396:
	.long 0x70617273
	.long 0x6572496e
	.long 0x7374616e
	.long 0x63650000
DBG347:
	.long 0x70617273
	.long 0x6572496e
	.long 0x7374616e
	.long 0x63655f31
	.long 0x30000000
DBG177:
	.long 0x73657276
	.long 0x6f546963
	.long 0x73000000
DBG174:
	.long 0x6c696d69
	.long 0x74656446
	.long 0x6c616700
DBG126:
	.long 0x73657276
	.long 0x6f4f7074
	.long 0x696f6e54
	.long 0x68726573
	.long 0x506f6c61
	.long 0x72697479
	.long 0x0
DBG381:
	.long 0x68696768
	.long 0x50657269
	.long 0x6f640000
DBG371:
	.long 0x4932436e
	.long 0x6f646552
	.long 0x65747279
	.long 0x45727200
DBG353:
	.long 0x4932436e
	.long 0x6f646543
	.long 0x52436d73
	.long 0x67000000
DBG352:
	.long 0x6e6f4932
	.long 0x436e6f64
	.long 0x65457665
	.long 0x6e740000
DBG399:
	.long 0x73657276
	.long 0x6f506f73
	.long 0x6974696f
	.long 0x6e000000
DBG398:
	.long 0x49324376
	.long 0x6563746f
	.long 0x72730000
DBG161:
	.long 0x6d617850
	.long 0x6f736974
	.long 0x696f6e45
	.long 0x72720000
DBG143:
	.long 0x73657276
	.long 0x6f4f7665
	.long 0x72707265
	.long 0x73737572
	.long 0x65000000
DBG391:
	.long 0x74656d70
	.long 0x53656e73
	.long 0x65310000
DBG151:
	.long 0x6f707469
	.long 0x6f6e4d61
	.long 0x736b0000
DBG128:
	.long 0x73657276
	.long 0x6f4f7074
	.long 0x696f6e48
	.long 0x6f6d6550
	.long 0x6f6c6172
	.long 0x69747900
DBG393:
	.long 0x74656d70
	.long 0x53656e73
	.long 0x65537769
	.long 0x74636800
DBG392:
	.long 0x74656d70
	.long 0x53656e73
	.long 0x65320000
DBG148:
	.long 0x73657276
	.long 0x6f537461
	.long 0x7475735f
	.long 0x34000000
DBG369:
	.long 0x4932436e
	.long 0x6f646541
	.long 0x72674572
	.long 0x72000000
DBG351:
	.long 0x2e313066
	.long 0x616b655f
	.long 0x31310000
DBG348:
	.long 0x706f6c6c
	.long 0x496e7075
	.long 0x74000000
DBG181:
	.long 0x74656d70
	.long 0x53706565
	.long 0x64000000
DBG158:
	.long 0x6c617374
	.long 0x44657269
	.long 0x76617469
	.long 0x76650000
DBG400:
	.long 0x4932436e
	.long 0x6f646545
	.long 0x76656e74
	.long 0x54797065
	.long 0x0
DBG370:
	.long 0x4932436e
	.long 0x6f646549
	.long 0x6e557365
	.long 0x0
DBG130:
	.long 0x73657276
	.long 0x6f4f7074
	.long 0x696f6e4a
	.long 0x6f670000
DBG401:
	.long 0x74686572
	.long 0x6d616c53
	.long 0x74657000
DBG376:
	.long 0x4932436e
	.long 0x6f64655f
	.long 0x31350000
DBG357:
	.long 0x4932436e
	.long 0x6f646552
	.long 0x65616452
	.long 0x65717565
	.long 0x73740000
DBG175:
	.long 0x70726573
	.long 0x73757265
	.long 0x53656e73
	.long 0x65537769
	.long 0x74636800
DBG173:
	.long 0x6d617843
	.long 0x75727265
	.long 0x6e740000
DBG168:
	.long 0x6d617850
	.long 0x72657373
	.long 0x75726544
	.long 0x656c7461
	.long 0x0
DBG155:
	.long 0x6c617374
	.long 0x506f7369
	.long 0x74696f6e
	.long 0x0
DBG137:
	.long 0x73657276
	.long 0x6f526561
	.long 0x736f6e5f
	.long 0x33000000
DBG402:
	.long 0x4d6f746f
	.long 0x72436861
	.long 0x6e6e656c
	.long 0x0
DBG363:
	.long 0x2e313166
	.long 0x616b655f
	.long 0x31330000
DBG162:
	.long 0x70726573
	.long 0x73757265
	.long 0x31000000
DBG146:
	.long 0x73657276
	.long 0x6f537065
	.long 0x65644572
	.long 0x726f7200
DBG127:
	.long 0x73657276
	.long 0x6f4f7074
	.long 0x696f6e48
	.long 0x6f6d6550
	.long 0x77720000
DBG387:
	.long 0x68656174
	.long 0x6572536c
	.long 0x6f70655f
	.long 0x6e756d00
DBG368:
	.long 0x4932436e
	.long 0x6f646554
	.long 0x696d654f
	.long 0x75740000
DBG361:
	.long 0x65727248
	.long 0x6f6c646f
	.long 0x66660000
DBG299:
	.long 0x6c696d69
	.long 0x74526561
	.long 0x63686564
	.long 0x0
DBG163:
	.long 0x70726573
	.long 0x73757265
	.long 0x32000000
DBG403:
	.long 0x4932436e
	.long 0x6f646545
	.long 0x72720000
DBG389:
	.long 0x68656174
	.long 0x65725057
	.long 0x4d000000
DBG355:
	.long 0x4932436e
	.long 0x6f646547
	.long 0x43435243
	.long 0x6d736700
DBG178:
	.long 0x72657065
	.long 0x61745261
	.long 0x74650000
DBG145:
	.long 0x73657276
	.long 0x6f506f73
	.long 0x6974696f
	.long 0x6e457272
	.long 0x0
DBG354:
	.long 0x4932436e
	.long 0x6f64654e
	.long 0x6f6e4352
	.long 0x436d7367
	.long 0x0
DBG183:
	.long 0x74656d70
	.long 0x41636365
	.long 0x6c000000
DBG142:
	.long 0x73657276
	.long 0x6f4f7665
	.long 0x72637572
	.long 0x72656e74
	.long 0x0
DBG157:
	.long 0x6c617374
	.long 0x496e7465
	.long 0x726d6564
	.long 0x69617465
	.long 0x0
DBG139:
	.long 0x696e7661
	.long 0x6c696453
	.long 0x6572766f
	.long 0x4368616e
	.long 0x6e656c00
DBG123:
	.long 0x73657276
	.long 0x6f4f7074
	.long 0x696f6e45
	.long 0x6e61626c
	.long 0x65000000
DBG152:
	.long 0x73746174
	.long 0x75734d61
	.long 0x736b0000
DBG141:
	.long 0x73657276
	.long 0x6f41626f
	.long 0x72746564
	.long 0x0
DBG129:
	.long 0x73657276
	.long 0x6f4f7074
	.long 0x696f6e48
	.long 0x6f6d6544
	.long 0x69720000
DBG386:
	.long 0x656c6170
	.long 0x73656454
	.long 0x69637300
DBG384:
	.long 0x63757272
	.long 0x656e7454
	.long 0x656d7065
	.long 0x72617475
	.long 0x72650000
DBG388:
	.long 0x68656174
	.long 0x6572536c
	.long 0x6f70655f
	.long 0x64656e00
DBG165:
	.long 0x70726576
	.long 0x696f7573
	.long 0x53756d00
DBG134:
	.long 0x73657276
	.long 0x6f486f6d
	.long 0x65466c61
	.long 0x67000000
DBG124:
	.long 0x73657276
	.long 0x6f4f7074
	.long 0x696f6e45
	.long 0x6e63506f
	.long 0x6c617269
	.long 0x74790000
DBG377:
	.long 0x68656164
	.long 0x4576656e
	.long 0x74000000
DBG171:
	.long 0x6d696e49
	.long 0x6e507265
	.long 0x73737572
	.long 0x65000000
DBG167:
	.long 0x6d6f746f
	.long 0x72437572
	.long 0x72656e74
	.long 0x0
DBG156:
	.long 0x74687265
	.long 0x73686f6c
	.long 0x644f6666
	.long 0x73657400
DBG135:
	.long 0x73657276
	.long 0x6f506173
	.long 0x74546872
	.long 0x6573686f
	.long 0x6c640000
DBG404:
	.long 0x74686572
	.long 0x6d616c43
	.long 0x616c6962
	.long 0x72617469
	.long 0x6f6e0000
DBG380:
	.long 0x6c6f7750
	.long 0x6572696f
	.long 0x64000000
DBG356:
	.long 0x4932436e
	.long 0x6f646547
	.long 0x436d7367
	.long 0x0
DBG172:
	.long 0x6d696e4f
	.long 0x75745072
	.long 0x65737375
	.long 0x72650000
DBG153:
	.long 0x736f7572
	.long 0x63655374
	.long 0x61747573
	.long 0x0
DBG144:
	.long 0x73657276
	.long 0x6f4e6f74
	.long 0x52656164
	.long 0x79000000
DBG125:
	.long 0x73657276
	.long 0x6f4f7074
	.long 0x696f6e54
	.long 0x68726573
	.long 0x686f6c64
	.long 0x0
DBG169:
	.long 0x6d617849
	.long 0x6e507265
	.long 0x73737572
	.long 0x65000000
DBG138:
	.long 0x6e6f5365
	.long 0x72766f45
	.long 0x72726f72
	.long 0x0
DBG132:
	.long 0x73657276
	.long 0x6f537461
	.long 0x74757342
	.long 0x6974735f
	.long 0x32000000
DBG385:
	.long 0x74686572
	.long 0x6d6f436f
	.long 0x75706c65
	.long 0x0
DBG367:
	.long 0x4932436e
	.long 0x6f646542
	.long 0x75734572
	.long 0x72000000
DBG170:
	.long 0x6d61784f
	.long 0x75745072
	.long 0x65737375
	.long 0x72650000
DBG395:
	.long 0x696e744c
	.long 0x696d6974
	.long 0x4e000000
DBG390:
	.long 0x636f6f6c
	.long 0x65725057
	.long 0x4d000000
DBG159:
	.long 0x676f616c
	.long 0x506f7369
	.long 0x74696f6e
	.long 0x0
DBG122:
	.long 0x73657276
	.long 0x6f4f7074
	.long 0x696f6e5f
	.long 0x31000000
DBG405:
	.long 0x4932436e
	.long 0x6f646549
	.long 0x6e737461
	.long 0x6e636500
DBG366:
	.long 0x4932436e
	.long 0x6f646543
	.long 0x52434e41
	.long 0x434b0000
DBG360:
	.long 0x2e326661
	.long 0x6b655f31
	.long 0x32000000
DBG197:
	.long 0x6c617463
	.long 0x68416374
	.long 0x69766531
	.long 0x0
DBG140:
	.long 0x696e7661
	.long 0x6c696453
	.long 0x6572766f
	.long 0x476f616c
	.long 0x0
DBG394:
	.long 0x696e744c
	.long 0x696d6974
	.long 0x50000000
DBG133:
	.long 0x73657276
	.long 0x6f4c6f73
	.long 0x74486f6d
	.long 0x65000000
DBG358:
	.long 0x4932436e
	.long 0x6f646545
	.long 0x76656e74
	.long 0x54797065
	.long 0x73000000
DBG160:
	.long 0x696e7465
	.long 0x726d6564
	.long 0x69617465
	.long 0x0
DBG374:
	.long 0x2e336661
	.long 0x6b655f31
	.long 0x34000000
DBG164:
	.long 0x64656661
	.long 0x756c744d
	.long 0x61785370
	.long 0x65656400
DBG364:
	.long 0x4932436e
	.long 0x6f64654f
	.long 0x4b000000
DBG166:
	.long 0x6c617374
	.long 0x4572726f
	.long 0x72000000
DBG379:
	.long 0x4932436e
	.long 0x6f646549
	.long 0x6e737461
	.long 0x6e63655f
	.long 0x31360000
DBG5:
	.long 0x483a5c45
	.long 0x53505c67
	.long 0x656e325c
	.long 0x736f6674
	.long 0x77617265
	.long 0x5c6d7370
	.long 0x3433305c
	.long 0x64776172
	.long 0x7665735c
	.long 0x6a6f6753
	.long 0x6572766f
	.long 0x732e6300