000 @SCRATCH 001 @SCRATCH 001 _RETURN_ 002 @SCRATCH 003 @SCRATCH 004 @SCRATCH 005 @INTERRUPT_AREA 006 @INTERRUPT_AREA 007 @INTERRUPT_AREA 008 @INTERRUPT_AREA 009 @INTERRUPT_AREA 00A @INTERRUPT_AREA 00B @INTERRUPT_AREA 00C @INTERRUPT_AREA 00D @INTERRUPT_AREA 00E @INTERRUPT_AREA 00F @INTERRUPT_AREA 010 @INTERRUPT_AREA 011 @INTERRUPT_AREA 012 @INTERRUPT_AREA 013 @INTERRUPT_AREA 014 @INTERRUPT_AREA 015 @INTERRUPT_AREA 016 @INTERRUPT_AREA 017 @INTERRUPT_AREA 018-022 IRt 023-02D IRr 02E-031 RBtPMready 032-03C URBhb 03D-047 URBStackRcv 048 URBErrorCode 049 URBRecvOverflowCounter 04A URBRecvCounter 04B RB_NODEID 04C RB_IRID 04D-04E RB_RXCONFIG_0 04F-050 RB_RXCONFIG_1 05E-089 RBtPM 08A-0B5 RBrPM 0B6-0C0 URBTxSDO 0C1-0C2 RB_RXCONFIG_2 0C3-0C4 RB_RXCONFIG_3 0C5-0C6 RB_TXCONFIG_0 0C7-0C8 RB_TXCONFIG_1 0C9-0CA RB_TXCONFIG_2 0CB-0CC RB_TXCONFIG_3 0CD-0CE feed_freq 0CF-0D0 actualPos 0D1-0D2 servoPosCommand 0D3 servoSpeed 0D4 calMode 0D5-0D6 feed_mult 0D7-0D8 feed_int 0D9-0DA raw_adc 0DB currentSense 0DC temp_nodeid 0DD-0FA spi_temp 0FB-0FC spi 0FD _ServoID 0FE _ServoVersion 0FF _ServoPosH 100 _ServoPosL 101-103 _RxData 104-105 _RxLastData 106 _RxCounter 107.0 _RxComplete 108 _CheckSum 109 _ServoPW 10A _ServoVoltage 10B-10C _Start_time 10D-10E _Reset_interval 10F-112 commandScaleFactor 113-114 commandCenter 115-116 tmpAmplitude 117-118 tmps 119-11A tmp 11B s 11C-11D TAngle 11E-11F CAngle 120-121 TargetPos 122 TargetPosH 123 TargetPosL 124-125 TargetAngle 126-127 Timer_100 128 MAIN.counter 129 MAIN.spiFreqCounter 12A HSR_WriteMemory_v2.addr 12A RB_Send_PM.myBufNum 12A init_ir_ports.i 12A-12D @SFTOI.P1 12A HSR_SetPosition.PosH 12A-12B @DIVS1616.P1 12A RB_ProcessStack.ret_val 12A HSR_Release_v2.@SCRATCH1 12A HSR_ReadPosition.@SCRATCH1 12A WaitRxDataReady.@SCRATCH1 12A initiate_pulse.@SCRATCH1 12A ReadPos.@SCRATCH1 12A MAIN.@SCRATCH1 12B RB_ProcessStack.RcvMessageFlags 12B numMappings 12B HSR_WriteMemory_v2.Data 12B HSR_SetPosition.PosL 12B init_ir_ports.@SCRATCH1 12B WaitRxDataReady.@SCRATCH2 12B initiate_pulse.@SCRATCH2 12B ReadPos.@SCRATCH2 12B MAIN.@SCRATCH2 12C RB_setup_CAN.i 12C-12D @SITOF.P1 12C write_can_to_spi_transmit.i 12C-12D @DIVS1616.P1 12C-12D RB_App_SetFactoryDefaults.tmp 12C RB_PM_SetDefaults.entry_num 12C update_atx_id.i 12C-12D CANReceiveMessage.ID 12C-12D @DIV1616.P1 12C-12D URB_Handle_rPDO.Data 12C mapCount 12C @PUTCHAR_BIU_1.P1 12C RB_Process_Outgoing_PM.i 12C-12D URB_Handle_SDO_Request.Data 12C URBMaintainHeartbeat.@SCRATCH1 12C RB_reset_from_eeprom.@SCRATCH1 12C RB_ProcessStack.@SCRATCH1 12C init_ir_ports.@SCRATCH2 12C HSR_WriteMemory_v2.@SCRATCH1 12C HSR_SetPosition.@SCRATCH1 12C RCservo_init.@SCRATCH1 12C initiate_pulse.@SCRATCH3 12C RB_App_ResetApp.@SCRATCH1 12D-12E RB_PM_SetDefaults.tmpIdent 12D type 12D reset_atx_id.i 12D CANInitialize.SJW 12D URBMaintainHeartbeat.@SCRATCH2 12D RB_Process_Outgoing_PM.@SCRATCH1 12D RB_setup_CAN.@SCRATCH1 12D RB_ProcessStack.@SCRATCH2 12D write_can_to_spi_transmit.@SCRATCH1 12D update_atx_id.@SCRATCH1 12D HSR_WriteMemory_v2.@SCRATCH2 12D HSR_SetPosition.@SCRATCH2 12D RCservo_init.@SCRATCH2 12D initiate_pulse.@SCRATCH4 12E URB_Handle_rPDO.myBuf 12E-12F @DIV1616.P1 12E-12F CANReceiveMessage.Data 12E-12F RB_App_SetFactoryDefaults.tmps 12E transmit_ir_to_can.i 12E CANInitialize.BRP 12E-131 @MULFF.P1 12E URB_Handle_SDO_Request.entry_num 12E RB_Get_Tx_Map_Type.bufNum 12E @delay_ms1.P1 12E RB_Send_PM.@SCRATCH1 12E RB_Process_Outgoing_PM.@SCRATCH2 12E RB_setup_CAN.@SCRATCH2 12E write_can_to_spi_transmit.@SCRATCH2 12E update_atx_id.@SCRATCH2 12E reset_atx_id.@SCRATCH1 12E RCservo_init.@SCRATCH3 12E @DIVS1616.@SCRATCH1 12F RB_Get_Tx_Map_Type.mapCount 12F CANInitialize.PHSEG1 12F URB_Handle_SDO_Request.type 12F-139 URB_Handle_rPDO.myMSG 12F process_ir_ports.send_byte 12F RB_Send_PM.@SCRATCH2 12F RB_Process_Outgoing_PM.@SCRATCH3 12F transmit_ir_to_can.@SCRATCH1 12F write_can_to_spi_transmit.@SCRATCH3 12F reset_atx_id.@SCRATCH2 12F RCservo_init.@SCRATCH4 12F @DIVS1616.@SCRATCH2 130 RB_Get_Tx_Map_Address.bufNum 130 process_ir_ports.receive_byte 130 RB_Get_Tx_Map_Type.tmp 130 CANInitialize.PHSEG2 130-133 @DIVFF.P1 130-131 CANReceiveMessage.DataLen 130 URB_Handle_SDO_Request.len 130 RB_Send_PM.@SCRATCH3 130 RB_Process_Outgoing_PM.@SCRATCH4 130 transmit_ir_to_can.@SCRATCH2 130 @DIV1616.@SCRATCH1 131 RB_Get_Tx_Map_Address.mapCount 131 @SPI_XFER_1.P1 131 URB_Handle_SDO_Request.cmd 131 CANInitialize.PROPSEG 131 RB_Get_Tx_Map_Type.@SCRATCH1 131 process_ir_ports.@SCRATCH1 131 RB_Send_PM.@SCRATCH4 131 RB_Process_Outgoing_PM.@SCRATCH5 131 transmit_ir_to_can.@SCRATCH3 132-133 CANReceiveMessage.MsgFlags 132 @SPI_XFER_1.P1 132-133 RB_Get_Tx_Map_Address.tmp 132 URB_Handle_SDO_Request.permissions 132-135 @MULFF.P1 132 CANInitialize.config 132 RB_Get_Tx_Map_Type.@SCRATCH2 132 process_ir_ports.@SCRATCH2 132 RB_Send_PM.@SCRATCH5 132 RB_Process_Outgoing_PM.@SCRATCH6 133 URB_Handle_SDO_Request.subindex 133 CANInitialize.FilterConfig1 133 @SPI_XFER_1.@SCRATCH1 133 RB_Process_Outgoing_PM.@SCRATCH7 134-137 @DIVFF.P1 134 CANReceiveMessage.i 134 CANInitialize.FilterConfig2 134-135 URB_Handle_SDO_Request.index 134 @SPI_XFER_1.@SCRATCH2 134 RB_Get_Tx_Map_Address.@SCRATCH1 135 CANSetMask.code 135 CANSetBaudRate.SJW 135.0 CANReceiveMessage.lbIsItBuffer0 135 CANSetOperationMode.mode 135 CANSetFilter.code 135 CANInitialize.@SCRATCH1 135 RB_Get_Tx_Map_Address.@SCRATCH2 136 CANSetBaudRate.BRP 136 i 136-139 CANSetFilter.val 136-139 CANSetMask.val 136 CANSetOperationMode.@SCRATCH1 136 CANReceiveMessage.@SCRATCH1 136 @MULFF.@SCRATCH1 137 s 137 CANSetBaudRate.PHSEG1 137 CANReceiveMessage.@SCRATCH2 137 @MULFF.@SCRATCH2 138-139 OD_read_data.dest 138-139 OD_lookup.index 138 CANSetBaudRate.PHSEG2 138-139 RB_Handle_Mapping_Request.index 138 CANReceiveMessage.@SCRATCH3 138 URB_Handle_SDO_Request.@SCRATCH1 138 @DIVFF.@SCRATCH1 138 @MULFF.@SCRATCH3 139 CANSetBaudRate.PROPSEG 139 CANReceiveMessage.@SCRATCH4 139 URB_Handle_SDO_Request.@SCRATCH2 139 @DIVFF.@SCRATCH2 13A OD_read_data.num 13A-13B OD_lookup.temp_index 13A CANSetBaudRate.flags 13A CANSetMask.type 13A RB_Handle_Mapping_Request.subindex 13A URB_Handle_rPDO.numMappings 13A-13B OD_write_data.source 13A CANSetFilter.type 13A CANReceiveMessage.@SCRATCH5 13A URB_Handle_SDO_Request.@SCRATCH3 13A @DIVFF.@SCRATCH3 13B-13C CANSetFilter.ptr 13B-13C CANSetMask.ptr 13B OD_read_data.type 13B URB_Handle_rPDO.mapCount 13B RB_Handle_Mapping_Request.myBufNum 13B CANReceiveMessage.@SCRATCH6 13B URB_Handle_SDO_Request.@SCRATCH4 13B @DIVFF.@SCRATCH4 13C-13D OD_read_data.source 13C-13D RB_Handle_Mapping_Request.tmpIndex 13C OD_write_data.num 13C OD_lookup.index_found 13C URB_Handle_rPDO.bufCount 13C @DIVFF.@SCRATCH5 13D URB_Handle_rPDO.type 13D OD_write_data.type 13D OD_lookup.@SCRATCH1 13D @DIVFF.@SCRATCH6 13E URB_Handle_rPDO.index 13E-13F CANSendMessage.val 13E OD_read_data.address 13E RB_Get_Tx_Mapping_Length.myBuf 13E-13F OD_write_data.dest 13E RB_Handle_Mapping_Request.@SCRATCH1 13E OD_lookup.@SCRATCH2 13F RB_Get_Rx_Mapping_Length.myBuf 13F RB_Get_Rx_Map_Address.bufNum 13F OD_read_data.size 13F RB_Get_Tx_Mapping_Length.tmp 13F RB_Get_Rx_Map_Type.bufNum 13F RB_Get_Tx_Map_Index.bufNum 13F RB_Get_Rx_Map_Index.bufNum 13F URB_Handle_rPDO.@SCRATCH1 140 RB_Get_Rx_Map_Index.mapCount 140 CANSendMessage.buffSelect 140 OD_write_data.size 140-141 URB_translate_microchip_to_ieee.Value 140 RB_Get_Rx_Map_Type.mapCount 140 RB_Get_Rx_Mapping_Length.tmp 140 RB_Get_Rx_Map_Address.mapCount 140 RB_Get_Tx_Map_Index.mapCount 140 OD_read_data.@SCRATCH1 140 URB_Handle_rPDO.@SCRATCH2 141-142 RB_Get_Rx_Map_Address.tmp 141 RB_Get_Rx_Map_Type.tmp 141-142 RB_Get_Rx_Map_Index.tmp 141-142 RBReadEEPROM.Data 141-142 CANSendMessage.Data 141 OD_write_data.address 141-142 RB_Get_Tx_Map_Index.tmp 141 OD_read_data.@SCRATCH2 141 URB_Handle_rPDO.@SCRATCH3 142-143 URB_translate_ieee_to_microchip.Value 142 URB_translate_microchip_to_ieee.temp 142-143 @MUL1616.P1 142 OD_write_data.@SCRATCH1 142 RB_Get_Rx_Map_Type.@SCRATCH1 142 URB_Handle_rPDO.@SCRATCH4 143 RBReadEEPROM.addr 143-144 RBSetEEPROM.Data 143 URB_Sizeof.type 143 CANSendMessage.DataLen 143 URB_translate_microchip_to_ieee.@SCRATCH1 143 OD_write_data.@SCRATCH2 143 RB_Get_Tx_Map_Index.@SCRATCH1 143 RB_Get_Rx_Map_Index.@SCRATCH1 143 RB_Get_Rx_Map_Type.@SCRATCH2 143 RB_Get_Rx_Map_Address.@SCRATCH1 143 URB_Handle_rPDO.@SCRATCH5 144 RBReadEEPROM.len 144-145 @MUL1616.P1 144 CANSendMessage.MsgFlags 144 URB_translate_ieee_to_microchip.temp 144 URB_translate_microchip_to_ieee.@SCRATCH2 144 RB_Get_Tx_Map_Index.@SCRATCH2 144 RB_Get_Rx_Map_Index.@SCRATCH2 144 RB_Get_Rx_Map_Address.@SCRATCH2 145 CANSendMessage.i 145 RBSetEEPROM.addr 145 RBReadEEPROM.i 145 URB_translate_microchip_to_ieee.@SCRATCH3 145 URB_translate_ieee_to_microchip.@SCRATCH1 146 RBSetEEPROM.len 146-147 CANIDToRegs.regaddress 146 CANSendMessage.@SCRATCH1 146 RBReadEEPROM.@SCRATCH1 146 URB_translate_ieee_to_microchip.@SCRATCH2 146 @MUL1616.@SCRATCH1 147 RBSetEEPROM.i 147 CANSendMessage.@SCRATCH2 147 RBReadEEPROM.@SCRATCH2 147 URB_translate_ieee_to_microchip.@SCRATCH3 148-14B CANIDToRegs.val 148 CANSendMessage.@SCRATCH3 148 RBSetEEPROM.@SCRATCH1 148 RBReadEEPROM.@SCRATCH3 149 RBSetEEPROM.@SCRATCH2 149 RBReadEEPROM.@SCRATCH4 14C CANIDToRegs.type 14D CANIDToRegs.temp 14E CANIDToRegs.@SCRATCH1 14F CANIDToRegs.@SCRATCH2 150 CANIDToRegs.@SCRATCH3 151 CANIDToRegs.@SCRATCH4 152 CANIDToRegs.@SCRATCH5 153 CANIDToRegs.@SCRATCH6 154 CANIDToRegs.@SCRATCH7 155 CANIDToRegs.@SCRATCH8 156 @DIV88.P1 156 serial_isr.@SCRATCH1 157 @DIV88.P1 157 serial_isr.@SCRATCH2 158 @DIV88.@SCRATCH1 F20 TXB2CON F20.3 TXB2CON_TXREQ F21 TXB2SIDH F22 TXB2SIDL F23 TXB2EIDH F24 TXB2EIDL F25 TXB2DLC F30 TXB1CON F30.3 TXB1CON_TXREQ F31 TXB1SIDH F32 TXB1SIDL F33 TXB1EIDH F34 TXB1EIDL F35 TXB1DLC F40 TXB0CON F40.3 TXB0CON_TXREQ F41 TXB0SIDH F42 TXB0SIDL F43 TXB0EIDH F44 TXB0EIDL F45 TXB0DLC F50.7 RXB1CON_RXFUL F52.3 RXB1SIDL_EXID F55.6 RXB1DLC_RXRTR F60.2 RXB0CON_RXB0DBEN F60.7 RXB0CON_RXFUL F62.3 RXB0SIDL_EXID F65.6 RXB0DLC_RXRTR F6B RCSTA2 F6C TXSTA2 F6D TXREG2 F6E CANSTAT F6E RCREG2 F6F CANCON F6F SPBRG2 F70 BRGCON1 F71 BRGCON2 F71.6 BRGCON2_SAM F71.7 BRGCON2_SEG2PHTS F72 BRGCON3 F72.6 BRGCON3_WAKFIL F73 CIOCON F73.5 ENDRHI F74 COMSTAT F74.6 COMSTAT_RXB1OVFL F74.7 COMSTAT_RXB0OVFL F75 RXERRCNT F76 TXERRCNT F80 PORTA F81 PORTB F82 PORTC F83 PSP_DATA F92 TRISA F93 TRISB_REG F93 TRISB F94 TRISC F9D PIE1 F9D.4 TXIE F9D.5 RCIE F9E PIR1 F9E.4 TXIF F9E.5 RCIF F9F IPR1 F9F.4 TXIP F9F.5 RCIP FA1 PIR2 FA3 PIE3 FA3.1 RXB1IE FA3.2 TXB0IE FA4 PIR3 FA4.0 PIR3_RXB0IF FA4.1 PIR3_RXB1IF FA4.2 PIR3_TXB0IF FA4.3 PIR3_TXB1IF FA4.4 PIR3_TXB2IF FA4.7 PIR3_IRXIF FA5 IPR3 FAB RCSTA FAB.1 OERR FAB.3 ADDEN FAB.4 CREN FAB.5 SREN FAB.7 SPEN FAC TXSTA FAC.1 TRMT FAC.2 BRGH FAC.5 TXEN FAD TXREG FAE RCREG FAF SPBRG FB1 T3CON FB2 TMR3L FB3 TMR3H FB4.6 C1OUT FB4.7 C2OUT FB8 BAUDCON FB8.6 RCIDL FBB CCP_2 FBB CCP_2_LOW FBC CCP_2_HIGH FBE CCP_1 FBE CCP_1_LOW FBF CCP_1_HIGH FC1 ADCON1 FC2 ADCON0 FC5 SSPCON2 FC6 SSPCON1 FC7 SSPSTAT FC8 SSPADD FCA T2CON FCB PR2 FCC TMR2 FCD T1CON FCE TMR1L FCF TMR1H FD0.7 RCON_IPEN FD5 T0CON FD6 TMR0L FD7 TMR0H FD8 STATUS FE9 FSR0L FE9-FEA @READ_PROGRAM_MEMORY.P1 FE9-FEA @WRITE_PROGRAM_MEMORY.P2 FEA FSR0H FF0 INTCON3 FF1 INTCON2 FF2 INTCON FF2.6 PIE FF2.7 GIE FF6-FF8 @WRITE_PROGRAM_MEMORY.P1 FF6-FF8 @READ_PROGRAM_MEMORY.P2 FF9 PCL ROM Allocation: 04E6 @delay_ms1 1D5E @PUTCHAR_BIU_1 0C34 @SPI_XFER_1 009E RB_RXMAPPING_0 00C2 RB_RXMAPPING_1 00E2 RB_TXMAPPING_0 0102 objectDictionary 15F4 CANSetBaudRate 15DC CANSetOperationMode 16F4 CANInitialize 1068 CANSendMessage 0F50 CANIDToRegs 1638 CANSetMask 1672 CANSetFilter 2466 CANReceiveMessage 0B4C RBSetEEPROM 19AE RBReadEEPROM 3A38 URB_Sizeof 35C4 URB_translate_microchip_to_ieee 2AC4 URB_translate_ieee_to_microchip 340A OD_read_data 050E @MUL1616 3234 OD_write_data 278E RB_Get_Rx_Mapping_Length 1E1A RB_Get_Tx_Mapping_Length 28E0 RB_Get_Tx_Map_Index 29C8 @goto10457 27CC RB_Get_Rx_Map_Index 28B4 @goto10470 1E58 RB_Get_Tx_Map_Type 1F34 @goto10483 36D8 RB_Get_Rx_Map_Type 37B4 @goto10496 1F60 RB_Get_Tx_Map_Address 2068 @goto10509 37E0 RB_Get_Rx_Map_Address 38E8 @goto10522 0C7A process_ir_ports 19A4 RB_Initialize 0530 RB_PM_SetDefaults 2094 RB_Send_PM 275E URB_Send_SDO_Reply 29F4 RB_Handle_Mapping_Request 2BFC OD_lookup 2BAA URB_Handle_SDO_Request 3B88 URBMaintainHeartbeat 3C0A RB_Process_Outgoing_PM 3914 URB_Handle_rPDO 14D2 RB_reset_from_eeprom 181C RB_setup_CAN 3CE4 RB_ProcessStack 0486 init_ir_ports 1294 transmit_ir_to_can 3AD0 write_can_to_spi_transmit 141E update_atx_id 139E reset_atx_id 1CFA HSR_SerialInitialization 3F60 HSR_Release_v2 1DBE HSR_ReadPosition 1D78 WaitRxDataReady 3EBC HSR_WriteMemory_v2 3F0E HSR_SetPosition 1B9E @DIV1616 1BE6 RCservo_init 19EE @SITOF 1A3E @DIVFF 40DE initiate_pulse 3E44 @DIVS1616 3FA8 @MULFF 40A0 @SFTOI 0440 serial_isr 0412 @DIV88 0BA4 RB_App_SetFactoryDefaults 1D0A RB_App_ResetApp 2426 ReadPos 42F0 MAIN 42F0 @cinit User Memory space: Project Directory: C:\Documents and Settings\Administrator\Desktop\SAM_CODE\8_10_2010\nodeV1.5_can_to_spi\ Project Files: main.c ..\..\..\..\..\..\Program Files\PICC\Devices\18F4585.h RB.c RB.h RBapp.h canfunctions.c canfunctions.h ODaccess.c ir_ports.c ir_ports.h hsr_serial.c regloc.h hsr_serial.h project.h RCservo.c Units: main.c (main) Compiler Settings: Processor: PIC18F4585 Pointer Size: 16 ADC Range: 0-1023 Opt Level: 9 Short,Int,Long: UNSIGNED: 1,8,16 Float,Double: 32,32 Output Files: Errors: main.err Ext Symbols: main.esym INHX32: main.hex Symbols: main.sym List: main.lst Debug/COFF: main.cof Project: main.PJT Call Tree: main.tre Statistics: main.sta