;--------------------------------------------------------
; File Created by SDCC : free open source ANSI-C Compiler
; Version 3.0.0 #6037 (Oct 31 2010) (Linux)
; This file was generated Sat May 26 21:02:12 2012
;--------------------------------------------------------
	.module debugint
	.optsdcc -mmcs51 --model-medium
	
;--------------------------------------------------------
; Public variables in this module
;--------------------------------------------------------
	.globl _main
	.globl _UM6_flash_commit
	.globl _read_gyro_procXY
	.globl _read_accel_procXY
	.globl _read_gyro_procZ
	.globl _read_accel_procZ
	.globl _read_euler_phi_theta
	.globl _read_euler_psi
	.globl _read_accel_rawZ
	.globl _write_UM6_Miscconfig
	.globl _Zero_Gyros
	.globl _write_UM6comm
	.globl _spi_UM6_init
	.globl _read_rxbuf0
	.globl _load_can_txbuf2
	.globl _load_can_txbuf1
	.globl _load_can_txbuf0
	.globl _IMU_rxdata
	.globl _IMU_txdata
	.globl _txdata
	.globl _rxdata
	.globl _txdata2
	.globl _txpkt
	.globl _gyroprocZ
	.globl _gyroprocX
	.globl _gyroprocY
	.globl _euler_theta
	.globl _euler_phi
	.globl _euler_psi
	.globl _accelrawZ
	.globl _accelrawX
	.globl _accelrawY
	.globl _accelprocZ
	.globl _accelprocX
	.globl _accelprocY
	.globl _write_can_reg_PARM_2
	.globl _msg2
	.globl _Can_init
	.globl _Can_setnormalmode
	.globl _Can_setconfigmode
	.globl _Can_reset
	.globl _read_can_reg
	.globl _write_can_reg
	.globl _buf0ovfbuf1
	.globl _setmask0
	.globl _setrxfil0
	.globl _setrxfil1
	.globl _set_Can_baudrate
	.globl _send_Canmsg_wait
	.globl _get_Canmsg
	.globl _rxbuf0_full
	.globl _testfun
;--------------------------------------------------------
; special function registers
;--------------------------------------------------------
	.area RSEG    (ABS,DATA)
	.org 0x0000
Fdebugint$P0$0$0 == 0x0080
_P0	=	0x0080
Fdebugint$SP$0$0 == 0x0081
_SP	=	0x0081
Fdebugint$DPL0$0$0 == 0x0082
_DPL0	=	0x0082
Fdebugint$DPH0$0$0 == 0x0083
_DPH0	=	0x0083
Fdebugint$DPL1$0$0 == 0x0084
_DPL1	=	0x0084
Fdebugint$DPH1$0$0 == 0x0085
_DPH1	=	0x0085
Fdebugint$U0CSR$0$0 == 0x0086
_U0CSR	=	0x0086
Fdebugint$PCON$0$0 == 0x0087
_PCON	=	0x0087
Fdebugint$TCON$0$0 == 0x0088
_TCON	=	0x0088
Fdebugint$P0IFG$0$0 == 0x0089
_P0IFG	=	0x0089
Fdebugint$P1IFG$0$0 == 0x008a
_P1IFG	=	0x008a
Fdebugint$P2IFG$0$0 == 0x008b
_P2IFG	=	0x008b
Fdebugint$PICTL$0$0 == 0x008c
_PICTL	=	0x008c
Fdebugint$P1IEN$0$0 == 0x008d
_P1IEN	=	0x008d
Fdebugint$P0INP$0$0 == 0x008f
_P0INP	=	0x008f
Fdebugint$P1$0$0 == 0x0090
_P1	=	0x0090
Fdebugint$RFIM$0$0 == 0x0091
_RFIM	=	0x0091
Fdebugint$DPS$0$0 == 0x0092
_DPS	=	0x0092
Fdebugint$MPAGE$0$0 == 0x0093
_MPAGE	=	0x0093
Fdebugint$ENDIAN$0$0 == 0x0095
_ENDIAN	=	0x0095
Fdebugint$S0CON$0$0 == 0x0098
_S0CON	=	0x0098
Fdebugint$IEN2$0$0 == 0x009a
_IEN2	=	0x009a
Fdebugint$S1CON$0$0 == 0x009b
_S1CON	=	0x009b
Fdebugint$T2CT$0$0 == 0x009c
_T2CT	=	0x009c
Fdebugint$T2PR$0$0 == 0x009d
_T2PR	=	0x009d
Fdebugint$T2CTL$0$0 == 0x009e
_T2CTL	=	0x009e
Fdebugint$P2$0$0 == 0x00a0
_P2	=	0x00a0
Fdebugint$WORIRQ$0$0 == 0x00a1
_WORIRQ	=	0x00a1
Fdebugint$WORCTRL$0$0 == 0x00a2
_WORCTRL	=	0x00a2
Fdebugint$WOREVT0$0$0 == 0x00a3
_WOREVT0	=	0x00a3
Fdebugint$WOREVT1$0$0 == 0x00a4
_WOREVT1	=	0x00a4
Fdebugint$WORTIME0$0$0 == 0x00a5
_WORTIME0	=	0x00a5
Fdebugint$WORTIME1$0$0 == 0x00a6
_WORTIME1	=	0x00a6
Fdebugint$IEN0$0$0 == 0x00a8
_IEN0	=	0x00a8
Fdebugint$IP0$0$0 == 0x00a9
_IP0	=	0x00a9
Fdebugint$FWT$0$0 == 0x00ab
_FWT	=	0x00ab
Fdebugint$FADDRL$0$0 == 0x00ac
_FADDRL	=	0x00ac
Fdebugint$FADDRH$0$0 == 0x00ad
_FADDRH	=	0x00ad
Fdebugint$FCTL$0$0 == 0x00ae
_FCTL	=	0x00ae
Fdebugint$FWDATA$0$0 == 0x00af
_FWDATA	=	0x00af
Fdebugint$ENCDI$0$0 == 0x00b1
_ENCDI	=	0x00b1
Fdebugint$ENCDO$0$0 == 0x00b2
_ENCDO	=	0x00b2
Fdebugint$ENCCS$0$0 == 0x00b3
_ENCCS	=	0x00b3
Fdebugint$ADCCON1$0$0 == 0x00b4
_ADCCON1	=	0x00b4
Fdebugint$ADCCON2$0$0 == 0x00b5
_ADCCON2	=	0x00b5
Fdebugint$ADCCON3$0$0 == 0x00b6
_ADCCON3	=	0x00b6
Fdebugint$IEN1$0$0 == 0x00b8
_IEN1	=	0x00b8
Fdebugint$IP1$0$0 == 0x00b9
_IP1	=	0x00b9
Fdebugint$ADCL$0$0 == 0x00ba
_ADCL	=	0x00ba
Fdebugint$ADCH$0$0 == 0x00bb
_ADCH	=	0x00bb
Fdebugint$RNDL$0$0 == 0x00bc
_RNDL	=	0x00bc
Fdebugint$RNDH$0$0 == 0x00bd
_RNDH	=	0x00bd
Fdebugint$SLEEP$0$0 == 0x00be
_SLEEP	=	0x00be
Fdebugint$IRCON$0$0 == 0x00c0
_IRCON	=	0x00c0
Fdebugint$U0DBUF$0$0 == 0x00c1
_U0DBUF	=	0x00c1
Fdebugint$U0BAUD$0$0 == 0x00c2
_U0BAUD	=	0x00c2
Fdebugint$U0UCR$0$0 == 0x00c4
_U0UCR	=	0x00c4
Fdebugint$U0GCR$0$0 == 0x00c5
_U0GCR	=	0x00c5
Fdebugint$CLKCON$0$0 == 0x00c6
_CLKCON	=	0x00c6
Fdebugint$MEMCTR$0$0 == 0x00c7
_MEMCTR	=	0x00c7
Fdebugint$WDCTL$0$0 == 0x00c9
_WDCTL	=	0x00c9
Fdebugint$T3CNT$0$0 == 0x00ca
_T3CNT	=	0x00ca
Fdebugint$T3CTL$0$0 == 0x00cb
_T3CTL	=	0x00cb
Fdebugint$T3CCTL0$0$0 == 0x00cc
_T3CCTL0	=	0x00cc
Fdebugint$T3CC0$0$0 == 0x00cd
_T3CC0	=	0x00cd
Fdebugint$T3CCTL1$0$0 == 0x00ce
_T3CCTL1	=	0x00ce
Fdebugint$T3CC1$0$0 == 0x00cf
_T3CC1	=	0x00cf
Fdebugint$PSW$0$0 == 0x00d0
_PSW	=	0x00d0
Fdebugint$DMAIRQ$0$0 == 0x00d1
_DMAIRQ	=	0x00d1
Fdebugint$DMA1CFGL$0$0 == 0x00d2
_DMA1CFGL	=	0x00d2
Fdebugint$DMA1CFGH$0$0 == 0x00d3
_DMA1CFGH	=	0x00d3
Fdebugint$DMA0CFGL$0$0 == 0x00d4
_DMA0CFGL	=	0x00d4
Fdebugint$DMA0CFGH$0$0 == 0x00d5
_DMA0CFGH	=	0x00d5
Fdebugint$DMAARM$0$0 == 0x00d6
_DMAARM	=	0x00d6
Fdebugint$DMAREQ$0$0 == 0x00d7
_DMAREQ	=	0x00d7
Fdebugint$TIMIF$0$0 == 0x00d8
_TIMIF	=	0x00d8
Fdebugint$RFD$0$0 == 0x00d9
_RFD	=	0x00d9
Fdebugint$T1CC0L$0$0 == 0x00da
_T1CC0L	=	0x00da
Fdebugint$T1CC0H$0$0 == 0x00db
_T1CC0H	=	0x00db
Fdebugint$T1CC1L$0$0 == 0x00dc
_T1CC1L	=	0x00dc
Fdebugint$T1CC1H$0$0 == 0x00dd
_T1CC1H	=	0x00dd
Fdebugint$T1CC2L$0$0 == 0x00de
_T1CC2L	=	0x00de
Fdebugint$T1CC2H$0$0 == 0x00df
_T1CC2H	=	0x00df
Fdebugint$ACC$0$0 == 0x00e0
_ACC	=	0x00e0
Fdebugint$RFST$0$0 == 0x00e1
_RFST	=	0x00e1
Fdebugint$T1CNTL$0$0 == 0x00e2
_T1CNTL	=	0x00e2
Fdebugint$T1CNTH$0$0 == 0x00e3
_T1CNTH	=	0x00e3
Fdebugint$T1CTL$0$0 == 0x00e4
_T1CTL	=	0x00e4
Fdebugint$T1CCTL0$0$0 == 0x00e5
_T1CCTL0	=	0x00e5
Fdebugint$T1CCTL1$0$0 == 0x00e6
_T1CCTL1	=	0x00e6
Fdebugint$T1CCTL2$0$0 == 0x00e7
_T1CCTL2	=	0x00e7
Fdebugint$IRCON2$0$0 == 0x00e8
_IRCON2	=	0x00e8
Fdebugint$RFIF$0$0 == 0x00e9
_RFIF	=	0x00e9
Fdebugint$T4CNT$0$0 == 0x00ea
_T4CNT	=	0x00ea
Fdebugint$T4CTL$0$0 == 0x00eb
_T4CTL	=	0x00eb
Fdebugint$T4CCTL0$0$0 == 0x00ec
_T4CCTL0	=	0x00ec
Fdebugint$T4CC0$0$0 == 0x00ed
_T4CC0	=	0x00ed
Fdebugint$T4CCTL1$0$0 == 0x00ee
_T4CCTL1	=	0x00ee
Fdebugint$T4CC1$0$0 == 0x00ef
_T4CC1	=	0x00ef
Fdebugint$B$0$0 == 0x00f0
_B	=	0x00f0
Fdebugint$PERCFG$0$0 == 0x00f1
_PERCFG	=	0x00f1
Fdebugint$ADCCFG$0$0 == 0x00f2
_ADCCFG	=	0x00f2
Fdebugint$P0SEL$0$0 == 0x00f3
_P0SEL	=	0x00f3
Fdebugint$P1SEL$0$0 == 0x00f4
_P1SEL	=	0x00f4
Fdebugint$P2SEL$0$0 == 0x00f5
_P2SEL	=	0x00f5
Fdebugint$P1INP$0$0 == 0x00f6
_P1INP	=	0x00f6
Fdebugint$P2INP$0$0 == 0x00f7
_P2INP	=	0x00f7
Fdebugint$U1CSR$0$0 == 0x00f8
_U1CSR	=	0x00f8
Fdebugint$U1DBUF$0$0 == 0x00f9
_U1DBUF	=	0x00f9
Fdebugint$U1BAUD$0$0 == 0x00fa
_U1BAUD	=	0x00fa
Fdebugint$U1UCR$0$0 == 0x00fb
_U1UCR	=	0x00fb
Fdebugint$U1GCR$0$0 == 0x00fc
_U1GCR	=	0x00fc
Fdebugint$P0DIR$0$0 == 0x00fd
_P0DIR	=	0x00fd
Fdebugint$P1DIR$0$0 == 0x00fe
_P1DIR	=	0x00fe
Fdebugint$P2DIR$0$0 == 0x00ff
_P2DIR	=	0x00ff
Fdebugint$DMA0CFG$0$0 == 0xffffd5d4
_DMA0CFG	=	0xffffd5d4
Fdebugint$DMA1CFG$0$0 == 0xffffd3d2
_DMA1CFG	=	0xffffd3d2
Fdebugint$FADDR$0$0 == 0xffffadac
_FADDR	=	0xffffadac
Fdebugint$ADC$0$0 == 0xffffbbba
_ADC	=	0xffffbbba
Fdebugint$T1CC0$0$0 == 0xffffdbda
_T1CC0	=	0xffffdbda
Fdebugint$T1CC1$0$0 == 0xffffdddc
_T1CC1	=	0xffffdddc
Fdebugint$T1CC2$0$0 == 0xffffdfde
_T1CC2	=	0xffffdfde
;--------------------------------------------------------
; special function bits
;--------------------------------------------------------
	.area RSEG    (ABS,DATA)
	.org 0x0000
Fdebugint$P0_0$0$0 == 0x0080
_P0_0	=	0x0080
Fdebugint$P0_1$0$0 == 0x0081
_P0_1	=	0x0081
Fdebugint$P0_2$0$0 == 0x0082
_P0_2	=	0x0082
Fdebugint$P0_3$0$0 == 0x0083
_P0_3	=	0x0083
Fdebugint$P0_4$0$0 == 0x0084
_P0_4	=	0x0084
Fdebugint$P0_5$0$0 == 0x0085
_P0_5	=	0x0085
Fdebugint$P0_6$0$0 == 0x0086
_P0_6	=	0x0086
Fdebugint$P0_7$0$0 == 0x0087
_P0_7	=	0x0087
Fdebugint$_TCON_0$0$0 == 0x0088
__TCON_0	=	0x0088
Fdebugint$RFTXRXIF$0$0 == 0x0089
_RFTXRXIF	=	0x0089
Fdebugint$_TCON_2$0$0 == 0x008a
__TCON_2	=	0x008a
Fdebugint$URX0IF$0$0 == 0x008b
_URX0IF	=	0x008b
Fdebugint$_TCON_4$0$0 == 0x008c
__TCON_4	=	0x008c
Fdebugint$ADCIF$0$0 == 0x008d
_ADCIF	=	0x008d
Fdebugint$_TCON_6$0$0 == 0x008e
__TCON_6	=	0x008e
Fdebugint$URX1IF$0$0 == 0x008f
_URX1IF	=	0x008f
Fdebugint$P1_0$0$0 == 0x0090
_P1_0	=	0x0090
Fdebugint$P1_1$0$0 == 0x0091
_P1_1	=	0x0091
Fdebugint$P1_2$0$0 == 0x0092
_P1_2	=	0x0092
Fdebugint$P1_3$0$0 == 0x0093
_P1_3	=	0x0093
Fdebugint$P1_4$0$0 == 0x0094
_P1_4	=	0x0094
Fdebugint$P1_5$0$0 == 0x0095
_P1_5	=	0x0095
Fdebugint$P1_6$0$0 == 0x0096
_P1_6	=	0x0096
Fdebugint$P1_7$0$0 == 0x0097
_P1_7	=	0x0097
Fdebugint$ENCIF_0$0$0 == 0x0098
_ENCIF_0	=	0x0098
Fdebugint$ENCIF_1$0$0 == 0x0099
_ENCIF_1	=	0x0099
Fdebugint$_SOCON2$0$0 == 0x009a
__SOCON2	=	0x009a
Fdebugint$_SOCON3$0$0 == 0x009b
__SOCON3	=	0x009b
Fdebugint$_SOCON4$0$0 == 0x009c
__SOCON4	=	0x009c
Fdebugint$_SOCON5$0$0 == 0x009d
__SOCON5	=	0x009d
Fdebugint$_SOCON6$0$0 == 0x009e
__SOCON6	=	0x009e
Fdebugint$_SOCON7$0$0 == 0x009f
__SOCON7	=	0x009f
Fdebugint$P2_0$0$0 == 0x00a0
_P2_0	=	0x00a0
Fdebugint$P2_1$0$0 == 0x00a1
_P2_1	=	0x00a1
Fdebugint$P2_2$0$0 == 0x00a2
_P2_2	=	0x00a2
Fdebugint$P2_3$0$0 == 0x00a3
_P2_3	=	0x00a3
Fdebugint$P2_4$0$0 == 0x00a4
_P2_4	=	0x00a4
Fdebugint$P2_5$0$0 == 0x00a5
_P2_5	=	0x00a5
Fdebugint$P2_6$0$0 == 0x00a6
_P2_6	=	0x00a6
Fdebugint$P2_7$0$0 == 0x00a7
_P2_7	=	0x00a7
Fdebugint$RFTXRXIE$0$0 == 0x00a8
_RFTXRXIE	=	0x00a8
Fdebugint$ADCIE$0$0 == 0x00a9
_ADCIE	=	0x00a9
Fdebugint$URX0IE$0$0 == 0x00aa
_URX0IE	=	0x00aa
Fdebugint$URX1IE$0$0 == 0x00ab
_URX1IE	=	0x00ab
Fdebugint$ENCIE$0$0 == 0x00ac
_ENCIE	=	0x00ac
Fdebugint$STIE$0$0 == 0x00ad
_STIE	=	0x00ad
Fdebugint$_IEN06$0$0 == 0x00ae
__IEN06	=	0x00ae
Fdebugint$EA$0$0 == 0x00af
_EA	=	0x00af
Fdebugint$DMAIE$0$0 == 0x00b8
_DMAIE	=	0x00b8
Fdebugint$T1IE$0$0 == 0x00b9
_T1IE	=	0x00b9
Fdebugint$T2IE$0$0 == 0x00ba
_T2IE	=	0x00ba
Fdebugint$T3IE$0$0 == 0x00bb
_T3IE	=	0x00bb
Fdebugint$T4IE$0$0 == 0x00bc
_T4IE	=	0x00bc
Fdebugint$P0IE$0$0 == 0x00bd
_P0IE	=	0x00bd
Fdebugint$_IEN16$0$0 == 0x00be
__IEN16	=	0x00be
Fdebugint$_IEN17$0$0 == 0x00bf
__IEN17	=	0x00bf
Fdebugint$DMAIF$0$0 == 0x00c0
_DMAIF	=	0x00c0
Fdebugint$T1IF$0$0 == 0x00c1
_T1IF	=	0x00c1
Fdebugint$T2IF$0$0 == 0x00c2
_T2IF	=	0x00c2
Fdebugint$T3IF$0$0 == 0x00c3
_T3IF	=	0x00c3
Fdebugint$T4IF$0$0 == 0x00c4
_T4IF	=	0x00c4
Fdebugint$P0IF$0$0 == 0x00c5
_P0IF	=	0x00c5
Fdebugint$_IRCON6$0$0 == 0x00c6
__IRCON6	=	0x00c6
Fdebugint$STIF$0$0 == 0x00c7
_STIF	=	0x00c7
Fdebugint$P$0$0 == 0x00d0
_P	=	0x00d0
Fdebugint$F1$0$0 == 0x00d1
_F1	=	0x00d1
Fdebugint$OV$0$0 == 0x00d2
_OV	=	0x00d2
Fdebugint$RS0$0$0 == 0x00d3
_RS0	=	0x00d3
Fdebugint$RS1$0$0 == 0x00d4
_RS1	=	0x00d4
Fdebugint$F0$0$0 == 0x00d5
_F0	=	0x00d5
Fdebugint$AC$0$0 == 0x00d6
_AC	=	0x00d6
Fdebugint$CY$0$0 == 0x00d7
_CY	=	0x00d7
Fdebugint$T3OVFIF$0$0 == 0x00d8
_T3OVFIF	=	0x00d8
Fdebugint$T3CH0IF$0$0 == 0x00d9
_T3CH0IF	=	0x00d9
Fdebugint$T3CH1IF$0$0 == 0x00da
_T3CH1IF	=	0x00da
Fdebugint$T4OVFIF$0$0 == 0x00db
_T4OVFIF	=	0x00db
Fdebugint$T4CH0IF$0$0 == 0x00dc
_T4CH0IF	=	0x00dc
Fdebugint$T4CH1IF$0$0 == 0x00dd
_T4CH1IF	=	0x00dd
Fdebugint$OVFIM$0$0 == 0x00de
_OVFIM	=	0x00de
Fdebugint$_TIMIF7$0$0 == 0x00df
__TIMIF7	=	0x00df
Fdebugint$ACC_0$0$0 == 0x00e0
_ACC_0	=	0x00e0
Fdebugint$ACC_1$0$0 == 0x00e1
_ACC_1	=	0x00e1
Fdebugint$ACC_2$0$0 == 0x00e2
_ACC_2	=	0x00e2
Fdebugint$ACC_3$0$0 == 0x00e3
_ACC_3	=	0x00e3
Fdebugint$ACC_4$0$0 == 0x00e4
_ACC_4	=	0x00e4
Fdebugint$ACC_5$0$0 == 0x00e5
_ACC_5	=	0x00e5
Fdebugint$ACC_6$0$0 == 0x00e6
_ACC_6	=	0x00e6
Fdebugint$ACC_7$0$0 == 0x00e7
_ACC_7	=	0x00e7
Fdebugint$P2IF$0$0 == 0x00e8
_P2IF	=	0x00e8
Fdebugint$UTX0IF$0$0 == 0x00e9
_UTX0IF	=	0x00e9
Fdebugint$UTX1IF$0$0 == 0x00ea
_UTX1IF	=	0x00ea
Fdebugint$P1IF$0$0 == 0x00eb
_P1IF	=	0x00eb
Fdebugint$WDTIF$0$0 == 0x00ec
_WDTIF	=	0x00ec
Fdebugint$_IRCON25$0$0 == 0x00ed
__IRCON25	=	0x00ed
Fdebugint$_IRCON26$0$0 == 0x00ee
__IRCON26	=	0x00ee
Fdebugint$_IRCON27$0$0 == 0x00ef
__IRCON27	=	0x00ef
Fdebugint$B_0$0$0 == 0x00f0
_B_0	=	0x00f0
Fdebugint$B_1$0$0 == 0x00f1
_B_1	=	0x00f1
Fdebugint$B_2$0$0 == 0x00f2
_B_2	=	0x00f2
Fdebugint$B_3$0$0 == 0x00f3
_B_3	=	0x00f3
Fdebugint$B_4$0$0 == 0x00f4
_B_4	=	0x00f4
Fdebugint$B_5$0$0 == 0x00f5
_B_5	=	0x00f5
Fdebugint$B_6$0$0 == 0x00f6
_B_6	=	0x00f6
Fdebugint$B_7$0$0 == 0x00f7
_B_7	=	0x00f7
Fdebugint$U1ACTIVE$0$0 == 0x00f8
_U1ACTIVE	=	0x00f8
Fdebugint$U1TX_BYTE$0$0 == 0x00f9
_U1TX_BYTE	=	0x00f9
Fdebugint$U1RX_BYTE$0$0 == 0x00fa
_U1RX_BYTE	=	0x00fa
Fdebugint$U1ERR$0$0 == 0x00fb
_U1ERR	=	0x00fb
Fdebugint$U1FE$0$0 == 0x00fc
_U1FE	=	0x00fc
Fdebugint$U1SLAVE$0$0 == 0x00fd
_U1SLAVE	=	0x00fd
Fdebugint$U1RE$0$0 == 0x00fe
_U1RE	=	0x00fe
Fdebugint$U1MODE$0$0 == 0x00ff
_U1MODE	=	0x00ff
;--------------------------------------------------------
; overlayable register banks
;--------------------------------------------------------
	.area REG_BANK_0	(REL,OVR,DATA)
	.ds 8
;--------------------------------------------------------
; overlayable bit register bank
;--------------------------------------------------------
	.area BIT_BANK	(REL,OVR,DATA)
bits:
	.ds 1
	b0 = bits[0]
	b1 = bits[1]
	b2 = bits[2]
	b3 = bits[3]
	b4 = bits[4]
	b5 = bits[5]
	b6 = bits[6]
	b7 = bits[7]
;--------------------------------------------------------
; internal ram data
;--------------------------------------------------------
	.area DSEG    (DATA)
Lsend_Canmsg_wait$sloc0$1$0==.
_send_Canmsg_wait_sloc0_1_0:
	.ds 2
Lget_Canmsg$sloc0$1$0==.
_get_Canmsg_sloc0_1_0:
	.ds 3
Lget_Canmsg$sloc1$1$0==.
_get_Canmsg_sloc1_1_0:
	.ds 1
Lget_Canmsg$sloc2$1$0==.
_get_Canmsg_sloc2_1_0:
	.ds 1
Lget_Canmsg$sloc3$1$0==.
_get_Canmsg_sloc3_1_0:
	.ds 1
Lget_Canmsg$sloc4$1$0==.
_get_Canmsg_sloc4_1_0:
	.ds 2
Lget_Canmsg$sloc5$1$0==.
_get_Canmsg_sloc5_1_0:
	.ds 3
G$msg2$0$0==.
_msg2::
	.ds 11
Lmain$sloc0$1$0==.
_main_sloc0_1_0:
	.ds 1
Lmain$sloc1$1$0==.
_main_sloc1_1_0:
	.ds 4
Lmain$sloc2$1$0==.
_main_sloc2_1_0:
	.ds 2
;--------------------------------------------------------
; overlayable items in internal ram 
;--------------------------------------------------------
	.area OSEG    (OVR,DATA)
;--------------------------------------------------------
; Stack segment in internal ram 
;--------------------------------------------------------
	.area	SSEG	(DATA)
__start__stack:
	.ds	1

;--------------------------------------------------------
; indirectly addressable internal ram data
;--------------------------------------------------------
	.area ISEG    (DATA)
;--------------------------------------------------------
; absolute internal ram data
;--------------------------------------------------------
	.area IABS    (ABS,DATA)
	.area IABS    (ABS,DATA)
;--------------------------------------------------------
; bit data
;--------------------------------------------------------
	.area BSEG    (BIT)
;--------------------------------------------------------
; paged external ram data
;--------------------------------------------------------
	.area PSEG    (PAG,XDATA)
Lwrite_can_reg$val$1$1==.
_write_can_reg_PARM_2:
	.ds 1
Lsend_Canmsg_wait$msg$1$1==.
_send_Canmsg_wait_msg_1_1:
	.ds 3
Lsend_Canmsg_wait$i$1$1==.
_send_Canmsg_wait_i_1_1:
	.ds 2
Lsend_Canmsg_wait$sent$1$1==.
_send_Canmsg_wait_sent_1_1:
	.ds 1
Lget_Canmsg$msg$1$1==.
_get_Canmsg_msg_1_1:
	.ds 3
G$accelprocY$0$0==.
_accelprocY::
	.ds 2
G$accelprocX$0$0==.
_accelprocX::
	.ds 2
G$accelprocZ$0$0==.
_accelprocZ::
	.ds 2
G$accelrawY$0$0==.
_accelrawY::
	.ds 2
G$accelrawX$0$0==.
_accelrawX::
	.ds 2
G$accelrawZ$0$0==.
_accelrawZ::
	.ds 2
G$euler_psi$0$0==.
_euler_psi::
	.ds 2
G$euler_phi$0$0==.
_euler_phi::
	.ds 2
G$euler_theta$0$0==.
_euler_theta::
	.ds 2
G$gyroprocY$0$0==.
_gyroprocY::
	.ds 2
G$gyroprocX$0$0==.
_gyroprocX::
	.ds 2
G$gyroprocZ$0$0==.
_gyroprocZ::
	.ds 2
G$txpkt$0$0==.
_txpkt::
	.ds 2
;--------------------------------------------------------
; external ram data
;--------------------------------------------------------
	.area XSEG    (XDATA)
Fdebugint$SYNC1$0$0 == 0xdf00
_SYNC1	=	0xdf00
Fdebugint$SYNC0$0$0 == 0xdf01
_SYNC0	=	0xdf01
Fdebugint$PKTLEN$0$0 == 0xdf02
_PKTLEN	=	0xdf02
Fdebugint$PKTCTRL1$0$0 == 0xdf03
_PKTCTRL1	=	0xdf03
Fdebugint$PKTCTRL0$0$0 == 0xdf04
_PKTCTRL0	=	0xdf04
Fdebugint$ADDR$0$0 == 0xdf05
_ADDR	=	0xdf05
Fdebugint$CHANNR$0$0 == 0xdf06
_CHANNR	=	0xdf06
Fdebugint$FSCTRL1$0$0 == 0xdf07
_FSCTRL1	=	0xdf07
Fdebugint$FSCTRL0$0$0 == 0xdf08
_FSCTRL0	=	0xdf08
Fdebugint$FREQ2$0$0 == 0xdf09
_FREQ2	=	0xdf09
Fdebugint$FREQ1$0$0 == 0xdf0a
_FREQ1	=	0xdf0a
Fdebugint$FREQ0$0$0 == 0xdf0b
_FREQ0	=	0xdf0b
Fdebugint$MDMCFG4$0$0 == 0xdf0c
_MDMCFG4	=	0xdf0c
Fdebugint$MDMCFG3$0$0 == 0xdf0d
_MDMCFG3	=	0xdf0d
Fdebugint$MDMCFG2$0$0 == 0xdf0e
_MDMCFG2	=	0xdf0e
Fdebugint$MDMCFG1$0$0 == 0xdf0f
_MDMCFG1	=	0xdf0f
Fdebugint$MDMCFG0$0$0 == 0xdf10
_MDMCFG0	=	0xdf10
Fdebugint$DEVIATN$0$0 == 0xdf11
_DEVIATN	=	0xdf11
Fdebugint$MCSM2$0$0 == 0xdf12
_MCSM2	=	0xdf12
Fdebugint$MCSM1$0$0 == 0xdf13
_MCSM1	=	0xdf13
Fdebugint$MCSM0$0$0 == 0xdf14
_MCSM0	=	0xdf14
Fdebugint$FOCCFG$0$0 == 0xdf15
_FOCCFG	=	0xdf15
Fdebugint$BSCFG$0$0 == 0xdf16
_BSCFG	=	0xdf16
Fdebugint$AGCCTRL2$0$0 == 0xdf17
_AGCCTRL2	=	0xdf17
Fdebugint$AGCCTRL1$0$0 == 0xdf18
_AGCCTRL1	=	0xdf18
Fdebugint$AGCCTRL0$0$0 == 0xdf19
_AGCCTRL0	=	0xdf19
Fdebugint$FREND1$0$0 == 0xdf1a
_FREND1	=	0xdf1a
Fdebugint$FREND0$0$0 == 0xdf1b
_FREND0	=	0xdf1b
Fdebugint$FSCAL3$0$0 == 0xdf1c
_FSCAL3	=	0xdf1c
Fdebugint$FSCAL2$0$0 == 0xdf1d
_FSCAL2	=	0xdf1d
Fdebugint$FSCAL1$0$0 == 0xdf1e
_FSCAL1	=	0xdf1e
Fdebugint$FSCAL0$0$0 == 0xdf1f
_FSCAL0	=	0xdf1f
Fdebugint$TEST2$0$0 == 0xdf23
_TEST2	=	0xdf23
Fdebugint$TEST1$0$0 == 0xdf24
_TEST1	=	0xdf24
Fdebugint$TEST0$0$0 == 0xdf25
_TEST0	=	0xdf25
Fdebugint$PA_TABLE0$0$0 == 0xdf2e
_PA_TABLE0	=	0xdf2e
Fdebugint$IOCFG2$0$0 == 0xdf2f
_IOCFG2	=	0xdf2f
Fdebugint$IOCFG1$0$0 == 0xdf30
_IOCFG1	=	0xdf30
Fdebugint$IOCFG0$0$0 == 0xdf31
_IOCFG0	=	0xdf31
Fdebugint$PARTNUM$0$0 == 0xdf36
_PARTNUM	=	0xdf36
Fdebugint$VERSION$0$0 == 0xdf37
_VERSION	=	0xdf37
Fdebugint$FREQEST$0$0 == 0xdf38
_FREQEST	=	0xdf38
Fdebugint$LQI$0$0 == 0xdf39
_LQI	=	0xdf39
Fdebugint$RSSI$0$0 == 0xdf3a
_RSSI	=	0xdf3a
Fdebugint$MARCSTATE$0$0 == 0xdf3b
_MARCSTATE	=	0xdf3b
Fdebugint$PKTSTATUS$0$0 == 0xdf3c
_PKTSTATUS	=	0xdf3c
Fdebugint$VCO_VC_DAC$0$0 == 0xdf3d
_VCO_VC_DAC	=	0xdf3d
Fdebugint$I2SCFG0$0$0 == 0xdf40
_I2SCFG0	=	0xdf40
Fdebugint$I2SCFG1$0$0 == 0xdf41
_I2SCFG1	=	0xdf41
Fdebugint$I2SDATL$0$0 == 0xdf42
_I2SDATL	=	0xdf42
Fdebugint$I2SDATH$0$0 == 0xdf43
_I2SDATH	=	0xdf43
Fdebugint$I2SWCNT$0$0 == 0xdf44
_I2SWCNT	=	0xdf44
Fdebugint$I2SSTAT$0$0 == 0xdf45
_I2SSTAT	=	0xdf45
Fdebugint$I2SCLKF0$0$0 == 0xdf46
_I2SCLKF0	=	0xdf46
Fdebugint$I2SCLKF1$0$0 == 0xdf47
_I2SCLKF1	=	0xdf47
Fdebugint$I2SCLKF2$0$0 == 0xdf48
_I2SCLKF2	=	0xdf48
Fdebugint$USBADDR$0$0 == 0xde00
_USBADDR	=	0xde00
Fdebugint$USBPOW$0$0 == 0xde01
_USBPOW	=	0xde01
Fdebugint$USBIIF$0$0 == 0xde02
_USBIIF	=	0xde02
Fdebugint$USBOIF$0$0 == 0xde04
_USBOIF	=	0xde04
Fdebugint$USBCIF$0$0 == 0xde06
_USBCIF	=	0xde06
Fdebugint$USBIIE$0$0 == 0xde07
_USBIIE	=	0xde07
Fdebugint$USBOIE$0$0 == 0xde09
_USBOIE	=	0xde09
Fdebugint$USBCIE$0$0 == 0xde0b
_USBCIE	=	0xde0b
Fdebugint$USBFRML$0$0 == 0xde0c
_USBFRML	=	0xde0c
Fdebugint$USBFRMH$0$0 == 0xde0d
_USBFRMH	=	0xde0d
Fdebugint$USBINDEX$0$0 == 0xde0e
_USBINDEX	=	0xde0e
Fdebugint$USBMAXI$0$0 == 0xde10
_USBMAXI	=	0xde10
Fdebugint$USBCSIL$0$0 == 0xde11
_USBCSIL	=	0xde11
Fdebugint$USBCSIH$0$0 == 0xde12
_USBCSIH	=	0xde12
Fdebugint$USBMAXO$0$0 == 0xde13
_USBMAXO	=	0xde13
Fdebugint$USBCSOL$0$0 == 0xde14
_USBCSOL	=	0xde14
Fdebugint$USBCSOH$0$0 == 0xde15
_USBCSOH	=	0xde15
Fdebugint$USBCNTL$0$0 == 0xde16
_USBCNTL	=	0xde16
Fdebugint$USBCNTH$0$0 == 0xde17
_USBCNTH	=	0xde17
Fdebugint$USBF0$0$0 == 0xde20
_USBF0	=	0xde20
Fdebugint$USBF1$0$0 == 0xde22
_USBF1	=	0xde22
Fdebugint$USBF2$0$0 == 0xde24
_USBF2	=	0xde24
Fdebugint$USBF3$0$0 == 0xde26
_USBF3	=	0xde26
Fdebugint$USBF4$0$0 == 0xde28
_USBF4	=	0xde28
Fdebugint$USBF5$0$0 == 0xde2a
_USBF5	=	0xde2a
;--------------------------------------------------------
; absolute external ram data
;--------------------------------------------------------
	.area XABS    (ABS,XDATA)
;--------------------------------------------------------
; external initialized ram data
;--------------------------------------------------------
	.area XISEG   (XDATA)
G$txdata2$0$0==.
_txdata2::
	.ds 14
G$rxdata$0$0==.
_rxdata::
	.ds 14
G$txdata$0$0==.
_txdata::
	.ds 14
G$IMU_txdata$0$0==.
_IMU_txdata::
	.ds 8
G$IMU_rxdata$0$0==.
_IMU_rxdata::
	.ds 8
	.area HOME    (CODE)
	.area GSINIT0 (CODE)
	.area GSINIT1 (CODE)
	.area GSINIT2 (CODE)
	.area GSINIT3 (CODE)
	.area GSINIT4 (CODE)
	.area GSINIT5 (CODE)
	.area GSINIT  (CODE)
	.area GSFINAL (CODE)
	.area CSEG    (CODE)
;--------------------------------------------------------
; interrupt vector 
;--------------------------------------------------------
	.area HOME    (CODE)
__interrupt_vect:
	ljmp	__sdcc_gsinit_startup
	reti
	.ds	7
	reti
	.ds	7
	ljmp	_ISR_URX0
	.ds	5
	ljmp	_ISR_URX1
	.ds	5
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	ljmp	_ISR_T4
	.ds	5
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	ljmp	_ISR_RF
;--------------------------------------------------------
; global & static initialisations
;--------------------------------------------------------
	.area HOME    (CODE)
	.area GSINIT  (CODE)
	.area GSFINAL (CODE)
	.area GSINIT  (CODE)
	.globl __sdcc_gsinit_startup
	.globl __sdcc_program_startup
	.globl __start__stack
	.globl __mcs51_genXINIT
	.globl __mcs51_genXRAMCLEAR
	.globl __mcs51_genRAMCLEAR
	G$main$0$0 ==.
	C$debugint.c$13$1$1 ==.
;	apps/debugint/debugint.c:13: uint8 XDATA *txpkt = 0;
	mov	r0,#_txpkt
	clr	a
	movx	@r0,a
	inc	r0
	movx	@r0,a
	.area GSFINAL (CODE)
	ljmp	__sdcc_program_startup
;--------------------------------------------------------
; Home
;--------------------------------------------------------
	.area HOME    (CODE)
	.area HOME    (CODE)
__sdcc_program_startup:
	lcall	_main
;	return from main will lock up
	sjmp .
;--------------------------------------------------------
; code
;--------------------------------------------------------
	.area CSEG    (CODE)
;------------------------------------------------------------
;Allocation info for local variables in function 'Can_init'
;------------------------------------------------------------
;------------------------------------------------------------
	G$Can_init$0$0 ==.
	C$CAN.c$38$0$0 ==.
;	apps/debugint/../CAN.c:38: void Can_init(uint8 baudrate){
;	-----------------------------------------
;	 function Can_init
;	-----------------------------------------
_Can_init:
	ar2 = 0x02
	ar3 = 0x03
	ar4 = 0x04
	ar5 = 0x05
	ar6 = 0x06
	ar7 = 0x07
	ar0 = 0x00
	ar1 = 0x01
	mov	r2,dpl
	C$CAN.c$43$1$1 ==.
;	apps/debugint/../CAN.c:43: spiCANMasterInit();
	push	ar2
	lcall	_spi0MasterInit
	C$CAN.c$44$1$1 ==.
;	apps/debugint/../CAN.c:44: spiCANMasterSetFrequency(230400);
	mov	dptr,#0x8400
	mov	b,#0x03
	clr	a
	lcall	_spi0MasterSetFrequency
	C$CAN.c$45$1$1 ==.
;	apps/debugint/../CAN.c:45: spiCANMasterSetClockPolarity(SPI_POLARITY_IDLE_HIGH); // idle when high
	setb	_spi0MasterSetClockPolarity_PARM_1
	lcall	_spi0MasterSetClockPolarity
	C$CAN.c$46$1$1 ==.
;	apps/debugint/../CAN.c:46: spiCANMasterSetClockPhase(SPI_PHASE_EDGE_TRAILING);  // data sampled when clock goes from active to idle
	setb	_spi0MasterSetClockPhase_PARM_1
	lcall	_spi0MasterSetClockPhase
	C$CAN.c$47$1$1 ==.
;	apps/debugint/../CAN.c:47: spiCANMasterSetBitOrder(SPI_BIT_ORDER_MSB_FIRST);
	clr	_spi0MasterSetBitOrder_PARM_1
	lcall	_spi0MasterSetBitOrder
	pop	ar2
	C$CAN.c$48$1$1 ==.
;	apps/debugint/../CAN.c:48: for (i=1;i<10000;i++){
	mov	r3,#0x01
	mov	r4,#0x0F
	mov	r5,#0x27
00103$:
	C$CAN.c$49$2$2 ==.
;	apps/debugint/../CAN.c:49: a = a+1;
	inc	r3
	dec	r4
	cjne	r4,#0xff,00109$
	dec	r5
00109$:
	C$CAN.c$48$2$2 ==.
;	apps/debugint/../CAN.c:48: for (i=1;i<10000;i++){
	mov	a,r4
	orl	a,r5
	jnz	00103$
	C$CAN.c$51$1$1 ==.
;	apps/debugint/../CAN.c:51: Can_reset(); //Reset CAN Controller & bring to CONFIG mode
	push	ar2
	lcall	_Can_reset
	pop	ar2
	C$CAN.c$52$1$1 ==.
;	apps/debugint/../CAN.c:52: set_Can_baudrate(baudrate);
	mov	dpl,r2
	lcall	_set_Can_baudrate
	C$CAN.c$53$1$1 ==.
;	apps/debugint/../CAN.c:53: write_can_reg(0x0F,0x03);// set CAN CTRL in normal mode
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x03
	movx	@r0,a
	mov	dpl,#0x0F
	C$CAN.c$56$1$1 ==.
	XG$Can_init$0$0 ==.
	ljmp	_write_can_reg
;------------------------------------------------------------
;Allocation info for local variables in function 'Can_setnormalmode'
;------------------------------------------------------------
;------------------------------------------------------------
	G$Can_setnormalmode$0$0 ==.
	C$CAN.c$59$1$1 ==.
;	apps/debugint/../CAN.c:59: void Can_setnormalmode(){
;	-----------------------------------------
;	 function Can_setnormalmode
;	-----------------------------------------
_Can_setnormalmode:
	C$CAN.c$60$1$1 ==.
;	apps/debugint/../CAN.c:60: uint8 val = read_can_reg(0x0F);
	mov	dpl,#0x0F
	lcall	_read_can_reg
	mov	r2,dpl
	C$CAN.c$61$1$1 ==.
;	apps/debugint/../CAN.c:61: val = val & 0x1F; 
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x1F
	anl	a,r2
	movx	@r0,a
	C$CAN.c$62$1$1 ==.
;	apps/debugint/../CAN.c:62: write_can_reg(0x0F,val); // set CAN CTRL in normal mode
	mov	dpl,#0x0F
	C$CAN.c$63$1$1 ==.
	XG$Can_setnormalmode$0$0 ==.
	ljmp	_write_can_reg
;------------------------------------------------------------
;Allocation info for local variables in function 'Can_setconfigmode'
;------------------------------------------------------------
;------------------------------------------------------------
	G$Can_setconfigmode$0$0 ==.
	C$CAN.c$65$1$1 ==.
;	apps/debugint/../CAN.c:65: void Can_setconfigmode(){
;	-----------------------------------------
;	 function Can_setconfigmode
;	-----------------------------------------
_Can_setconfigmode:
	C$CAN.c$66$1$1 ==.
;	apps/debugint/../CAN.c:66: uint8 val = read_can_reg(0x0F);
	mov	dpl,#0x0F
	lcall	_read_can_reg
	mov	r2,dpl
	C$CAN.c$67$1$1 ==.
;	apps/debugint/../CAN.c:67: val = val | 0x80;
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x80
	orl	a,r2
	movx	@r0,a
	C$CAN.c$68$1$1 ==.
;	apps/debugint/../CAN.c:68: write_can_reg(0x0F,val); // set CAN CTRL in config mode
	mov	dpl,#0x0F
	C$CAN.c$69$1$1 ==.
	XG$Can_setconfigmode$0$0 ==.
	ljmp	_write_can_reg
;------------------------------------------------------------
;Allocation info for local variables in function 'Can_reset'
;------------------------------------------------------------
;------------------------------------------------------------
	G$Can_reset$0$0 ==.
	C$CAN.c$74$1$1 ==.
;	apps/debugint/../CAN.c:74: void Can_reset(){
;	-----------------------------------------
;	 function Can_reset
;	-----------------------------------------
_Can_reset:
	C$CAN.c$75$1$1 ==.
;	apps/debugint/../CAN.c:75: txdata[0] = 0xC0;
	mov	dptr,#_txdata
	mov	a,#0xC0
	movx	@dptr,a
	C$CAN.c$76$1$1 ==.
;	apps/debugint/../CAN.c:76: CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x04
	lcall	_setDigitalOutput
	C$CAN.c$77$1$1 ==.
;	apps/debugint/../CAN.c:77: spiCANMasterTransfer(txdata,rxdata,1);
	mov	r0,#_spi0MasterTransfer_PARM_2
	mov	a,#_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi0MasterTransfer_PARM_3
	mov	a,#0x01
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_txdata
	lcall	_spi0MasterTransfer
	C$CAN.c$78$1$1 ==.
;	apps/debugint/../CAN.c:78: while(spiCANMasterBusy()){ }
00101$:
	lcall	_spi0MasterBusy
	jc	00101$
	C$CAN.c$79$1$1 ==.
;	apps/debugint/../CAN.c:79: CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x04
	C$CAN.c$80$1$1 ==.
	XG$Can_reset$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'read_can_reg'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_can_reg$0$0 ==.
	C$CAN.c$82$1$1 ==.
;	apps/debugint/../CAN.c:82: uint8 read_can_reg(uint8 addr){
;	-----------------------------------------
;	 function read_can_reg
;	-----------------------------------------
_read_can_reg:
	mov	r2,dpl
	C$CAN.c$84$1$1 ==.
;	apps/debugint/../CAN.c:84: txdata[0] = 0x03; // read instruction
	mov	dptr,#_txdata
	mov	a,#0x03
	movx	@dptr,a
	C$CAN.c$85$1$1 ==.
;	apps/debugint/../CAN.c:85: txdata[1] = addr; // read reg at address
	mov	dptr,#(_txdata + 0x0001)
	mov	a,r2
	movx	@dptr,a
	C$CAN.c$86$1$1 ==.
;	apps/debugint/../CAN.c:86: CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x04
	lcall	_setDigitalOutput
	C$CAN.c$87$1$1 ==.
;	apps/debugint/../CAN.c:87: spiCANMasterTransfer(txdata,rxdata,3);
	mov	r0,#_spi0MasterTransfer_PARM_2
	mov	a,#_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi0MasterTransfer_PARM_3
	mov	a,#0x03
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_txdata
	lcall	_spi0MasterTransfer
	C$CAN.c$88$1$1 ==.
;	apps/debugint/../CAN.c:88: while(spiCANMasterBusy()){ }
00101$:
	lcall	_spi0MasterBusy
	jc	00101$
	C$CAN.c$89$1$1 ==.
;	apps/debugint/../CAN.c:89: CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x04
	lcall	_setDigitalOutput
	C$CAN.c$90$1$1 ==.
;	apps/debugint/../CAN.c:90: return rxdata[2];
	mov	dptr,#(_rxdata + 0x0002)
	movx	a,@dptr
	C$CAN.c$91$1$1 ==.
	XG$read_can_reg$0$0 ==.
	mov	dpl,a
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'write_can_reg'
;------------------------------------------------------------
;------------------------------------------------------------
	G$write_can_reg$0$0 ==.
	C$CAN.c$93$1$1 ==.
;	apps/debugint/../CAN.c:93: void write_can_reg(uint8 addr,uint8 val){
;	-----------------------------------------
;	 function write_can_reg
;	-----------------------------------------
_write_can_reg:
	mov	r2,dpl
	C$CAN.c$94$1$1 ==.
;	apps/debugint/../CAN.c:94: txdata[0] = 0x02; // write instruction
	mov	dptr,#_txdata
	mov	a,#0x02
	movx	@dptr,a
	C$CAN.c$95$1$1 ==.
;	apps/debugint/../CAN.c:95: txdata[1] = addr; // write to addr
	mov	dptr,#(_txdata + 0x0001)
	mov	a,r2
	movx	@dptr,a
	C$CAN.c$96$1$1 ==.
;	apps/debugint/../CAN.c:96: txdata[2] = val; //  write val
	mov	dptr,#(_txdata + 0x0002)
	mov	r0,#_write_can_reg_PARM_2
	movx	a,@r0
	movx	@dptr,a
	C$CAN.c$97$1$1 ==.
;	apps/debugint/../CAN.c:97: CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x04
	lcall	_setDigitalOutput
	C$CAN.c$98$1$1 ==.
;	apps/debugint/../CAN.c:98: spiCANMasterTransfer(txdata,rxdata,3);
	mov	r0,#_spi0MasterTransfer_PARM_2
	mov	a,#_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi0MasterTransfer_PARM_3
	mov	a,#0x03
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_txdata
	lcall	_spi0MasterTransfer
	C$CAN.c$99$1$1 ==.
;	apps/debugint/../CAN.c:99: while(spiCANMasterBusy()){ }
00101$:
	lcall	_spi0MasterBusy
	jc	00101$
	C$CAN.c$100$1$1 ==.
;	apps/debugint/../CAN.c:100: CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x04
	C$CAN.c$101$1$1 ==.
	XG$write_can_reg$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'buf0ovfbuf1'
;------------------------------------------------------------
;------------------------------------------------------------
	G$buf0ovfbuf1$0$0 ==.
	C$CAN.c$105$1$1 ==.
;	apps/debugint/../CAN.c:105: void buf0ovfbuf1(uint8 stat){
;	-----------------------------------------
;	 function buf0ovfbuf1
;	-----------------------------------------
_buf0ovfbuf1:
	mov	r2,dpl
	C$CAN.c$106$1$1 ==.
;	apps/debugint/../CAN.c:106: uint8 val = read_can_reg(0x60);
	mov	dpl,#0x60
	push	ar2
	lcall	_read_can_reg
	mov	r3,dpl
	pop	ar2
	C$CAN.c$107$1$1 ==.
;	apps/debugint/../CAN.c:107: if(stat){
	mov	a,r2
	jz	00102$
	C$CAN.c$108$2$2 ==.
;	apps/debugint/../CAN.c:108: val = val | (1<<2); // Write to BUKT		
	orl	ar3,#0x04
	C$CAN.c$109$2$2 ==.
;	apps/debugint/../CAN.c:109: write_can_reg(0x60,val);
	mov	r0,#_write_can_reg_PARM_2
	mov	a,r3
	movx	@r0,a
	mov	dpl,#0x60
	ljmp	_write_can_reg
00102$:
	C$CAN.c$111$2$3 ==.
;	apps/debugint/../CAN.c:111: val = val & (0xFB); // Write to BUKT		
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0xFB
	anl	a,r3
	movx	@r0,a
	C$CAN.c$112$2$3 ==.
;	apps/debugint/../CAN.c:112: write_can_reg(0x60,val);
	mov	dpl,#0x60
	C$CAN.c$114$1$1 ==.
	XG$buf0ovfbuf1$0$0 ==.
	ljmp	_write_can_reg
;------------------------------------------------------------
;Allocation info for local variables in function 'setmask0'
;------------------------------------------------------------
;------------------------------------------------------------
	G$setmask0$0$0 ==.
	C$CAN.c$116$1$1 ==.
;	apps/debugint/../CAN.c:116: void setmask0(uint16 mask){
;	-----------------------------------------
;	 function setmask0
;	-----------------------------------------
_setmask0:
	mov	r2,dpl
	mov	r3,dph
	C$CAN.c$117$1$1 ==.
;	apps/debugint/../CAN.c:117: write_can_reg(0x20,(uint8) (mask>>3));
	mov	ar4,r2
	mov	a,r3
	swap	a
	rl	a
	xch	a,r4
	swap	a
	rl	a
	anl	a,#0x1f
	xrl	a,r4
	xch	a,r4
	anl	a,#0x1f
	xch	a,r4
	xrl	a,r4
	xch	a,r4
	mov	r0,#_write_can_reg_PARM_2
	mov	a,r4
	movx	@r0,a
	mov	dpl,#0x20
	push	ar2
	push	ar3
	lcall	_write_can_reg
	pop	ar3
	pop	ar2
	C$CAN.c$118$1$1 ==.
;	apps/debugint/../CAN.c:118: write_can_reg(0x21,(uint8) (mask<<5));
	mov	r0,#_write_can_reg_PARM_2
	mov	a,r2
	swap	a
	rl	a
	anl	a,#0xe0
	movx	@r0,a
	mov	dpl,#0x21
	C$CAN.c$119$1$1 ==.
	XG$setmask0$0$0 ==.
	ljmp	_write_can_reg
;------------------------------------------------------------
;Allocation info for local variables in function 'setrxfil0'
;------------------------------------------------------------
;------------------------------------------------------------
	G$setrxfil0$0$0 ==.
	C$CAN.c$121$1$1 ==.
;	apps/debugint/../CAN.c:121: void setrxfil0(uint16 fil){
;	-----------------------------------------
;	 function setrxfil0
;	-----------------------------------------
_setrxfil0:
	mov	r2,dpl
	mov	r3,dph
	C$CAN.c$122$1$1 ==.
;	apps/debugint/../CAN.c:122: write_can_reg(0x00,(uint8) (fil>>3));
	mov	ar4,r2
	mov	a,r3
	swap	a
	rl	a
	xch	a,r4
	swap	a
	rl	a
	anl	a,#0x1f
	xrl	a,r4
	xch	a,r4
	anl	a,#0x1f
	xch	a,r4
	xrl	a,r4
	xch	a,r4
	mov	r0,#_write_can_reg_PARM_2
	mov	a,r4
	movx	@r0,a
	mov	dpl,#0x00
	push	ar2
	push	ar3
	lcall	_write_can_reg
	pop	ar3
	pop	ar2
	C$CAN.c$123$1$1 ==.
;	apps/debugint/../CAN.c:123: write_can_reg(0x01,(uint8) (fil<<5));
	mov	r0,#_write_can_reg_PARM_2
	mov	a,r2
	swap	a
	rl	a
	anl	a,#0xe0
	movx	@r0,a
	mov	dpl,#0x01
	C$CAN.c$124$1$1 ==.
	XG$setrxfil0$0$0 ==.
	ljmp	_write_can_reg
;------------------------------------------------------------
;Allocation info for local variables in function 'setrxfil1'
;------------------------------------------------------------
;------------------------------------------------------------
	G$setrxfil1$0$0 ==.
	C$CAN.c$126$1$1 ==.
;	apps/debugint/../CAN.c:126: void setrxfil1(uint16 fil){
;	-----------------------------------------
;	 function setrxfil1
;	-----------------------------------------
_setrxfil1:
	mov	r2,dpl
	mov	r3,dph
	C$CAN.c$127$1$1 ==.
;	apps/debugint/../CAN.c:127: write_can_reg(0x04,(uint8) (fil>>3));
	mov	ar4,r2
	mov	a,r3
	swap	a
	rl	a
	xch	a,r4
	swap	a
	rl	a
	anl	a,#0x1f
	xrl	a,r4
	xch	a,r4
	anl	a,#0x1f
	xch	a,r4
	xrl	a,r4
	xch	a,r4
	mov	r0,#_write_can_reg_PARM_2
	mov	a,r4
	movx	@r0,a
	mov	dpl,#0x04
	push	ar2
	push	ar3
	lcall	_write_can_reg
	pop	ar3
	pop	ar2
	C$CAN.c$128$1$1 ==.
;	apps/debugint/../CAN.c:128: write_can_reg(0x05,(uint8) (fil<<5));
	mov	r0,#_write_can_reg_PARM_2
	mov	a,r2
	swap	a
	rl	a
	anl	a,#0xe0
	movx	@r0,a
	mov	dpl,#0x05
	C$CAN.c$129$1$1 ==.
	XG$setrxfil1$0$0 ==.
	ljmp	_write_can_reg
;------------------------------------------------------------
;Allocation info for local variables in function 'set_Can_baudrate'
;------------------------------------------------------------
;------------------------------------------------------------
	G$set_Can_baudrate$0$0 ==.
	C$CAN.c$134$1$1 ==.
;	apps/debugint/../CAN.c:134: void set_Can_baudrate(uint8 A){
;	-----------------------------------------
;	 function set_Can_baudrate
;	-----------------------------------------
_set_Can_baudrate:
	mov	r2,dpl
	C$CAN.c$135$1$1 ==.
;	apps/debugint/../CAN.c:135: switch(A){
	cjne	r2,#0x01,00109$
	sjmp	00101$
00109$:
	C$CAN.c$136$2$2 ==.
;	apps/debugint/../CAN.c:136: case 1: //125kbit/s BRP = 04h
	cjne	r2,#0x02,00103$
	sjmp	00102$
00101$:
	C$CAN.c$138$2$2 ==.
;	apps/debugint/../CAN.c:138: write_can_reg(0x2A,0x04); // write to CNF1
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x04
	movx	@r0,a
	mov	dpl,#0x2A
	lcall	_write_can_reg
	C$CAN.c$139$2$2 ==.
;	apps/debugint/../CAN.c:139: write_can_reg(0x29,0xB1); // write to CNF2
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0xB1
	movx	@r0,a
	mov	dpl,#0x29
	lcall	_write_can_reg
	C$CAN.c$140$2$2 ==.
;	apps/debugint/../CAN.c:140: write_can_reg(0x28,0x05); // write to CNF3
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x05
	movx	@r0,a
	mov	dpl,#0x28
	C$CAN.c$141$2$2 ==.
;	apps/debugint/../CAN.c:141: break;
	C$CAN.c$142$2$2 ==.
;	apps/debugint/../CAN.c:142: case 2:
	ljmp	_write_can_reg
00102$:
	C$CAN.c$145$2$2 ==.
;	apps/debugint/../CAN.c:145: write_can_reg(0x2A,0x03); // write to CNF1
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x03
	movx	@r0,a
	mov	dpl,#0x2A
	lcall	_write_can_reg
	C$CAN.c$146$2$2 ==.
;	apps/debugint/../CAN.c:146: write_can_reg(0x29,0x91); // write to CNF2
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x91
	movx	@r0,a
	mov	dpl,#0x29
	lcall	_write_can_reg
	C$CAN.c$147$2$2 ==.
;	apps/debugint/../CAN.c:147: write_can_reg(0x28,0x03); // write to CNF3
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x03
	movx	@r0,a
	mov	dpl,#0x28
	C$CAN.c$148$2$2 ==.
;	apps/debugint/../CAN.c:148: break;
	C$CAN.c$149$2$2 ==.
;	apps/debugint/../CAN.c:149: default:
	ljmp	_write_can_reg
00103$:
	C$CAN.c$152$2$2 ==.
;	apps/debugint/../CAN.c:152: write_can_reg(0x2A,0x03); // write to CNF1
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x03
	movx	@r0,a
	mov	dpl,#0x2A
	lcall	_write_can_reg
	C$CAN.c$153$2$2 ==.
;	apps/debugint/../CAN.c:153: write_can_reg(0x29,0x91); // write to CNF2
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x91
	movx	@r0,a
	mov	dpl,#0x29
	lcall	_write_can_reg
	C$CAN.c$154$2$2 ==.
;	apps/debugint/../CAN.c:154: write_can_reg(0x28,0x03); // write to CNF3
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x03
	movx	@r0,a
	mov	dpl,#0x28
	C$CAN.c$156$1$1 ==.
;	apps/debugint/../CAN.c:156: }
	C$CAN.c$157$1$1 ==.
	XG$set_Can_baudrate$0$0 ==.
	ljmp	_write_can_reg
;------------------------------------------------------------
;Allocation info for local variables in function 'load_can_txbuf0'
;------------------------------------------------------------
;------------------------------------------------------------
	G$load_can_txbuf0$0$0 ==.
	C$CAN.c$161$1$1 ==.
;	apps/debugint/../CAN.c:161: void load_can_txbuf0(){
;	-----------------------------------------
;	 function load_can_txbuf0
;	-----------------------------------------
_load_can_txbuf0:
	C$CAN.c$162$1$1 ==.
;	apps/debugint/../CAN.c:162: CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x04
	lcall	_setDigitalOutput
	C$CAN.c$163$1$1 ==.
;	apps/debugint/../CAN.c:163: txdata[0] = 0x40; //tx buffer0 SIDH 
	mov	dptr,#_txdata
	mov	a,#0x40
	movx	@dptr,a
	C$CAN.c$165$1$1 ==.
;	apps/debugint/../CAN.c:165: spiCANMasterTransfer(txdata2,rxdata,14);
	mov	r0,#_spi0MasterTransfer_PARM_2
	mov	a,#_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi0MasterTransfer_PARM_3
	mov	a,#0x0E
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_txdata2
	lcall	_spi0MasterTransfer
	C$CAN.c$166$1$1 ==.
;	apps/debugint/../CAN.c:166: while(spiCANMasterBusy()){ }
00101$:
	lcall	_spi0MasterBusy
	jc	00101$
	C$CAN.c$167$1$1 ==.
;	apps/debugint/../CAN.c:167: CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x04
	C$CAN.c$168$1$1 ==.
	XG$load_can_txbuf0$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'load_can_txbuf1'
;------------------------------------------------------------
;------------------------------------------------------------
	G$load_can_txbuf1$0$0 ==.
	C$CAN.c$170$1$1 ==.
;	apps/debugint/../CAN.c:170: void load_can_txbuf1(){
;	-----------------------------------------
;	 function load_can_txbuf1
;	-----------------------------------------
_load_can_txbuf1:
	C$CAN.c$171$1$1 ==.
;	apps/debugint/../CAN.c:171: CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x04
	lcall	_setDigitalOutput
	C$CAN.c$172$1$1 ==.
;	apps/debugint/../CAN.c:172: txdata2[0] = 0x42; //tx buffer1 SIDH 
	mov	dptr,#_txdata2
	mov	a,#0x42
	movx	@dptr,a
	C$CAN.c$173$1$1 ==.
;	apps/debugint/../CAN.c:173: spiCANMasterTransfer(txdata2,rxdata,14);
	mov	r0,#_spi0MasterTransfer_PARM_2
	mov	a,#_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi0MasterTransfer_PARM_3
	mov	a,#0x0E
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_txdata2
	lcall	_spi0MasterTransfer
	C$CAN.c$174$1$1 ==.
;	apps/debugint/../CAN.c:174: while(spiCANMasterBusy()){ }
00101$:
	lcall	_spi0MasterBusy
	jc	00101$
	C$CAN.c$175$1$1 ==.
;	apps/debugint/../CAN.c:175: CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x04
	C$CAN.c$176$1$1 ==.
	XG$load_can_txbuf1$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'load_can_txbuf2'
;------------------------------------------------------------
;------------------------------------------------------------
	G$load_can_txbuf2$0$0 ==.
	C$CAN.c$178$1$1 ==.
;	apps/debugint/../CAN.c:178: void load_can_txbuf2(){
;	-----------------------------------------
;	 function load_can_txbuf2
;	-----------------------------------------
_load_can_txbuf2:
	C$CAN.c$179$1$1 ==.
;	apps/debugint/../CAN.c:179: CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x04
	lcall	_setDigitalOutput
	C$CAN.c$180$1$1 ==.
;	apps/debugint/../CAN.c:180: txdata2[0] = 0x44; //tx buffer2 SIDH 
	mov	dptr,#_txdata2
	mov	a,#0x44
	movx	@dptr,a
	C$CAN.c$181$1$1 ==.
;	apps/debugint/../CAN.c:181: spiCANMasterTransfer(txdata2,rxdata,14);
	mov	r0,#_spi0MasterTransfer_PARM_2
	mov	a,#_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi0MasterTransfer_PARM_3
	mov	a,#0x0E
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_txdata2
	lcall	_spi0MasterTransfer
	C$CAN.c$182$1$1 ==.
;	apps/debugint/../CAN.c:182: while(spiCANMasterBusy()){ }
00101$:
	lcall	_spi0MasterBusy
	jc	00101$
	C$CAN.c$183$1$1 ==.
;	apps/debugint/../CAN.c:183: CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x04
	C$CAN.c$184$1$1 ==.
	XG$load_can_txbuf2$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'read_rxbuf0'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_rxbuf0$0$0 ==.
	C$CAN.c$186$1$1 ==.
;	apps/debugint/../CAN.c:186: void read_rxbuf0(){
;	-----------------------------------------
;	 function read_rxbuf0
;	-----------------------------------------
_read_rxbuf0:
	C$CAN.c$188$1$1 ==.
;	apps/debugint/../CAN.c:188: txdata2[0] = 0x90; // receive buffer0 starting with SIDH
	mov	dptr,#_txdata2
	mov	a,#0x90
	movx	@dptr,a
	C$CAN.c$189$1$1 ==.
;	apps/debugint/../CAN.c:189: CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x04
	lcall	_setDigitalOutput
	C$CAN.c$190$1$1 ==.
;	apps/debugint/../CAN.c:190: spiCANMasterTransfer(txdata2,rxdata,14);
	mov	r0,#_spi0MasterTransfer_PARM_2
	mov	a,#_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi0MasterTransfer_PARM_3
	mov	a,#0x0E
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_txdata2
	lcall	_spi0MasterTransfer
	C$CAN.c$191$1$1 ==.
;	apps/debugint/../CAN.c:191: while(spiCANMasterBusy()){ }
00101$:
	lcall	_spi0MasterBusy
	jc	00101$
	C$CAN.c$192$1$1 ==.
;	apps/debugint/../CAN.c:192: CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x04
	C$CAN.c$193$1$1 ==.
	XG$read_rxbuf0$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'send_Canmsg_wait'
;------------------------------------------------------------
;sloc0                     Allocated with name '_send_Canmsg_wait_sloc0_1_0'
;------------------------------------------------------------
	G$send_Canmsg_wait$0$0 ==.
	C$CAN.c$199$1$1 ==.
;	apps/debugint/../CAN.c:199: void send_Canmsg_wait(Can_msg *msg){
;	-----------------------------------------
;	 function send_Canmsg_wait
;	-----------------------------------------
_send_Canmsg_wait:
	mov	r2,b
	mov	r3,dph
	mov	a,dpl
	mov	r0,#_send_Canmsg_wait_msg_1_1
	movx	@r0,a
	inc	r0
	mov	a,r3
	movx	@r0,a
	inc	r0
	mov	a,r2
	movx	@r0,a
	C$CAN.c$201$1$1 ==.
;	apps/debugint/../CAN.c:201: uint8 sent=0;
	mov	r0,#_send_Canmsg_wait_sent_1_1
	clr	a
	movx	@r0,a
	C$CAN.c$203$1$1 ==.
;	apps/debugint/../CAN.c:203: txdata2[1] =(uint8) (msg->id >> 3);
	mov	r0,#_send_Canmsg_wait_msg_1_1
	movx	a,@r0
	mov	dpl,a
	inc	r0
	movx	a,@r0
	mov	dph,a
	inc	r0
	movx	a,@r0
	mov	b,a
	lcall	__gptrget
	mov	r6,a
	inc	dptr
	lcall	__gptrget
	mov	r7,a
	mov	ar5,r6
	swap	a
	rl	a
	xch	a,r5
	swap	a
	rl	a
	anl	a,#0x1f
	xrl	a,r5
	xch	a,r5
	anl	a,#0x1f
	xch	a,r5
	xrl	a,r5
	xch	a,r5
	mov	dptr,#(_txdata2 + 0x0001)
	mov	a,r5
	movx	@dptr,a
	C$CAN.c$204$1$1 ==.
;	apps/debugint/../CAN.c:204: txdata2[2] = (uint8) (msg->id << 5);
	mov	a,r6
	swap	a
	rl	a
	anl	a,#0xe0
	mov	r6,a
	mov	dptr,#(_txdata2 + 0x0002)
	movx	@dptr,a
	C$CAN.c$206$1$1 ==.
;	apps/debugint/../CAN.c:206: txdata2[5] = msg->len;// data len
	mov	r0,#_send_Canmsg_wait_msg_1_1
	movx	a,@r0
	add	a,#0x02
	mov	r2,a
	inc	r0
	movx	a,@r0
	addc	a,#0x00
	mov	r3,a
	inc	r0
	movx	a,@r0
	mov	r4,a
	mov	dpl,r2
	mov	dph,r3
	mov	b,r4
	lcall	__gptrget
	mov	r2,a
	mov	dptr,#(_txdata2 + 0x0005)
	movx	@dptr,a
	C$CAN.c$207$2$2 ==.
;	apps/debugint/../CAN.c:207: for(i = 0;i < msg->len; i++){
	mov	r0,#_send_Canmsg_wait_msg_1_1
	movx	a,@r0
	add	a,#0x03
	mov	r3,a
	inc	r0
	movx	a,@r0
	addc	a,#0x00
	mov	r4,a
	inc	r0
	movx	a,@r0
	mov	r5,a
	mov	r0,#_send_Canmsg_wait_i_1_1
	clr	a
	movx	@r0,a
	inc	r0
	movx	@r0,a
00112$:
	push	ar3
	push	ar4
	push	ar5
	mov	ar3,r2
	mov	r4,#0x00
	mov	r0,#_send_Canmsg_wait_i_1_1
	clr	c
	movx	a,@r0
	subb	a,r3
	inc	r0
	movx	a,@r0
	xrl	a,#0x80
	mov	b,r4
	xrl	b,#0x80
	subb	a,b
	pop	ar5
	pop	ar4
	pop	ar3
	jnc	00109$
	C$CAN.c$208$1$1 ==.
;	apps/debugint/../CAN.c:208: txdata2[6+i] = msg->dat[i];
	push	ar2
	mov	r0,#_send_Canmsg_wait_i_1_1
	movx	a,@r0
	add	a,#0x06
	add	a,#_txdata2
	mov	_send_Canmsg_wait_sloc0_1_0,a
	clr	a
	addc	a,#(_txdata2 >> 8)
	mov	(_send_Canmsg_wait_sloc0_1_0 + 1),a
	mov	r0,#_send_Canmsg_wait_i_1_1
	movx	a,@r0
	add	a,r3
	mov	r7,a
	inc	r0
	movx	a,@r0
	addc	a,r4
	mov	r2,a
	mov	ar6,r5
	mov	dpl,r7
	mov	dph,r2
	mov	b,r6
	lcall	__gptrget
	mov	r7,a
	mov	dpl,_send_Canmsg_wait_sloc0_1_0
	mov	dph,(_send_Canmsg_wait_sloc0_1_0 + 1)
	movx	@dptr,a
	C$CAN.c$207$1$1 ==.
;	apps/debugint/../CAN.c:207: for(i = 0;i < msg->len; i++){
	mov	r0,#_send_Canmsg_wait_i_1_1
	movx	a,@r0
	add	a,#0x01
	movx	@r0,a
	inc	r0
	movx	a,@r0
	addc	a,#0x00
	movx	@r0,a
	pop	ar2
	C$CAN.c$211$1$1 ==.
;	apps/debugint/../CAN.c:211: while(!sent){
	sjmp	00112$
00109$:
	mov	r0,#_send_Canmsg_wait_sent_1_1
	movx	a,@r0
	jnz	00116$
	C$CAN.c$212$2$3 ==.
;	apps/debugint/../CAN.c:212: if((read_can_reg(0x30) & (1<<3)) == 0){ // check if message in txbuf0 is pending transmission
	mov	dpl,#0x30
	lcall	_read_can_reg
	mov	a,dpl
	jb	acc.3,00107$
	C$CAN.c$213$3$4 ==.
;	apps/debugint/../CAN.c:213: load_can_txbuf0();
	lcall	_load_can_txbuf0
	C$CAN.c$214$3$4 ==.
;	apps/debugint/../CAN.c:214: write_can_reg(0x30,0x0B);// initiate tx from txbuf0
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x0B
	movx	@r0,a
	mov	dpl,#0x30
	lcall	_write_can_reg
	C$CAN.c$215$2$3 ==.
;	apps/debugint/../CAN.c:215: sent=1;
	sjmp	00108$
00107$:
	C$CAN.c$216$2$3 ==.
;	apps/debugint/../CAN.c:216: }else if((read_can_reg(0x40) & (1<<3)) == 0){ // check if message in txbuf1 is pending transmission
	mov	dpl,#0x40
	lcall	_read_can_reg
	mov	a,dpl
	jb	acc.3,00104$
	C$CAN.c$217$3$5 ==.
;	apps/debugint/../CAN.c:217: load_can_txbuf1();
	lcall	_load_can_txbuf1
	C$CAN.c$218$3$5 ==.
;	apps/debugint/../CAN.c:218: write_can_reg(0x40,0x0B);// initiate tx from txbuf1
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x0B
	movx	@r0,a
	mov	dpl,#0x40
	lcall	_write_can_reg
	C$CAN.c$219$2$3 ==.
;	apps/debugint/../CAN.c:219: sent=1;
	sjmp	00108$
00104$:
	C$CAN.c$220$2$3 ==.
;	apps/debugint/../CAN.c:220: }else if((read_can_reg(0x50) & (1<<3)) == 0){// check if message in txbuf2 is pending transmission
	mov	dpl,#0x50
	lcall	_read_can_reg
	mov	a,dpl
	jb	acc.3,00108$
	C$CAN.c$221$3$6 ==.
;	apps/debugint/../CAN.c:221: load_can_txbuf2();
	lcall	_load_can_txbuf2
	C$CAN.c$222$3$6 ==.
;	apps/debugint/../CAN.c:222: write_can_reg(0x50,0x0B);// initiate tx from txbuf2
	mov	r0,#_write_can_reg_PARM_2
	mov	a,#0x0B
	movx	@r0,a
	mov	dpl,#0x50
	lcall	_write_can_reg
	C$CAN.c$223$2$3 ==.
;	apps/debugint/../CAN.c:223: sent=1;
00108$:
	C$CAN.c$225$2$3 ==.
;	apps/debugint/../CAN.c:225: sent = 1;
	mov	r0,#_send_Canmsg_wait_sent_1_1
	mov	a,#0x01
	movx	@r0,a
	sjmp	00109$
00116$:
	C$CAN.c$227$1$1 ==.
	XG$send_Canmsg_wait$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'get_Canmsg'
;------------------------------------------------------------
;sloc0                     Allocated with name '_get_Canmsg_sloc0_1_0'
;sloc1                     Allocated with name '_get_Canmsg_sloc1_1_0'
;sloc2                     Allocated with name '_get_Canmsg_sloc2_1_0'
;sloc3                     Allocated with name '_get_Canmsg_sloc3_1_0'
;sloc4                     Allocated with name '_get_Canmsg_sloc4_1_0'
;sloc5                     Allocated with name '_get_Canmsg_sloc5_1_0'
;------------------------------------------------------------
	G$get_Canmsg$0$0 ==.
	C$CAN.c$231$1$1 ==.
;	apps/debugint/../CAN.c:231: uint8 get_Canmsg(Can_msg *msg){
;	-----------------------------------------
;	 function get_Canmsg
;	-----------------------------------------
_get_Canmsg:
	mov	r2,b
	mov	r3,dph
	mov	a,dpl
	mov	r0,#_get_Canmsg_msg_1_1
	movx	@r0,a
	inc	r0
	mov	a,r3
	movx	@r0,a
	inc	r0
	mov	a,r2
	movx	@r0,a
	C$CAN.c$232$1$1 ==.
;	apps/debugint/../CAN.c:232: uint8 nmsg = 0,i;
	mov	r5,#0x00
	C$CAN.c$233$1$1 ==.
;	apps/debugint/../CAN.c:233: if((read_can_reg(0x2c) & 1) == 1){ // rxbuf0 is full
	mov	dpl,#0x2C
	push	ar5
	lcall	_read_can_reg
	mov	a,dpl
	pop	ar5
	anl	a,#0x01
	mov	r6,a
	cjne	r6,#0x01,00113$
	sjmp	00114$
00113$:
	ljmp	00102$
00114$:
	C$CAN.c$234$2$2 ==.
;	apps/debugint/../CAN.c:234: read_rxbuf0(); //takes care of clearing interrupt
	lcall	_read_rxbuf0
	C$CAN.c$235$2$2 ==.
;	apps/debugint/../CAN.c:235: msg->len = rxdata[5] & 0x0F;
	mov	r0,#_get_Canmsg_msg_1_1
	movx	a,@r0
	add	a,#0x02
	mov	_get_Canmsg_sloc0_1_0,a
	inc	r0
	movx	a,@r0
	addc	a,#0x00
	mov	(_get_Canmsg_sloc0_1_0 + 1),a
	inc	r0
	movx	a,@r0
	mov	(_get_Canmsg_sloc0_1_0 + 2),a
	mov	dptr,#(_rxdata + 0x0005)
	movx	a,@dptr
	mov	_get_Canmsg_sloc1_1_0,a
	mov	a,#0x0F
	anl	a,_get_Canmsg_sloc1_1_0
	mov	_get_Canmsg_sloc2_1_0,a
	mov	dpl,_get_Canmsg_sloc0_1_0
	mov	dph,(_get_Canmsg_sloc0_1_0 + 1)
	mov	b,(_get_Canmsg_sloc0_1_0 + 2)
	lcall	__gptrput
	C$CAN.c$236$2$2 ==.
;	apps/debugint/../CAN.c:236: msg->id = (rxdata[1] << 3) + (rxdata[2] >> 5);
	mov	dptr,#(_rxdata + 0x0001)
	movx	a,@dptr
	mov	_get_Canmsg_sloc3_1_0,a
	mov	_get_Canmsg_sloc4_1_0,_get_Canmsg_sloc3_1_0
	mov	(_get_Canmsg_sloc4_1_0 + 1),#0x00
	mov	r3,_get_Canmsg_sloc4_1_0
	mov	a,(_get_Canmsg_sloc4_1_0 + 1)
	swap	a
	rr	a
	anl	a,#0xf8
	xch	a,r3
	swap	a
	rr	a
	xch	a,r3
	xrl	a,r3
	xch	a,r3
	anl	a,#0xf8
	xch	a,r3
	xrl	a,r3
	mov	r4,a
	mov	dptr,#(_rxdata + 0x0002)
	movx	a,@dptr
	swap	a
	rr	a
	anl	a,#0x07
	mov	r6,a
	mov	r7,#0x00
	add	a,r3
	mov	r3,a
	mov	a,r7
	addc	a,r4
	mov	r4,a
	mov	r0,#_get_Canmsg_msg_1_1
	movx	a,@r0
	mov	dpl,a
	inc	r0
	movx	a,@r0
	mov	dph,a
	inc	r0
	movx	a,@r0
	mov	b,a
	mov	a,r3
	lcall	__gptrput
	inc	dptr
	mov	a,r4
	lcall	__gptrput
	C$CAN.c$237$3$3 ==.
;	apps/debugint/../CAN.c:237: for( i = 0;i<msg->len;i++){
	mov	r0,#_get_Canmsg_msg_1_1
	movx	a,@r0
	add	a,#0x03
	mov	_get_Canmsg_sloc5_1_0,a
	inc	r0
	movx	a,@r0
	addc	a,#0x00
	mov	(_get_Canmsg_sloc5_1_0 + 1),a
	inc	r0
	movx	a,@r0
	mov	(_get_Canmsg_sloc5_1_0 + 2),a
	mov	r2,#0x00
00103$:
	mov	dpl,_get_Canmsg_sloc0_1_0
	mov	dph,(_get_Canmsg_sloc0_1_0 + 1)
	mov	b,(_get_Canmsg_sloc0_1_0 + 2)
	lcall	__gptrget
	mov	r3,a
	mov	a,r2
	cjne	a,ar3,00115$
00115$:
	jnc	00106$
	C$CAN.c$238$3$3 ==.
;	apps/debugint/../CAN.c:238: msg->dat[i] = rxdata[6+i];
	mov	a,r2
	add	a,_get_Canmsg_sloc5_1_0
	mov	r7,a
	clr	a
	addc	a,(_get_Canmsg_sloc5_1_0 + 1)
	mov	r3,a
	mov	r4,(_get_Canmsg_sloc5_1_0 + 2)
	mov	a,#0x06
	add	a,r2
	add	a,#_rxdata
	mov	dpl,a
	clr	a
	addc	a,#(_rxdata >> 8)
	mov	dph,a
	movx	a,@dptr
	mov	r6,a
	mov	dpl,r7
	mov	dph,r3
	mov	b,r4
	lcall	__gptrput
	C$CAN.c$237$2$2 ==.
;	apps/debugint/../CAN.c:237: for( i = 0;i<msg->len;i++){
	inc	r2
	sjmp	00103$
00106$:
	C$CAN.c$240$2$2 ==.
;	apps/debugint/../CAN.c:240: nmsg += 1;
	mov	r5,#0x01
00102$:
	C$CAN.c$244$1$1 ==.
;	apps/debugint/../CAN.c:244: return nmsg;
	mov	dpl,r5
	C$CAN.c$245$1$1 ==.
	XG$get_Canmsg$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'rxbuf0_full'
;------------------------------------------------------------
;------------------------------------------------------------
	G$rxbuf0_full$0$0 ==.
	C$CAN.c$247$1$1 ==.
;	apps/debugint/../CAN.c:247: uint8 rxbuf0_full()
;	-----------------------------------------
;	 function rxbuf0_full
;	-----------------------------------------
_rxbuf0_full:
	C$CAN.c$249$1$1 ==.
;	apps/debugint/../CAN.c:249: if((read_can_reg(0x2c) & 1) == 1){
	mov	dpl,#0x2C
	lcall	_read_can_reg
	mov	a,dpl
	anl	a,#0x01
	mov	r2,a
	cjne	r2,#0x01,00102$
	C$CAN.c$250$2$2 ==.
;	apps/debugint/../CAN.c:250: return 1;
	mov	dpl,#0x01
	C$CAN.c$252$1$1 ==.
;	apps/debugint/../CAN.c:252: return 0;
	C$CAN.c$253$1$1 ==.
	XG$rxbuf0_full$0$0 ==.
	ret
00102$:
	mov	dpl,#0x00
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'testfun'
;------------------------------------------------------------
;------------------------------------------------------------
	G$testfun$0$0 ==.
	C$CAN.c$255$1$1 ==.
;	apps/debugint/../CAN.c:255: uint8 testfun(){
;	-----------------------------------------
;	 function testfun
;	-----------------------------------------
_testfun:
	C$CAN.c$256$1$1 ==.
;	apps/debugint/../CAN.c:256: return 88;
	mov	dpl,#0x58
	C$CAN.c$257$1$1 ==.
	XG$testfun$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'spi_UM6_init'
;------------------------------------------------------------
;------------------------------------------------------------
	G$spi_UM6_init$0$0 ==.
	C$UM6.c$108$1$1 ==.
;	apps/debugint/../UM6.c:108: void spi_UM6_init(){
;	-----------------------------------------
;	 function spi_UM6_init
;	-----------------------------------------
_spi_UM6_init:
	C$UM6.c$109$1$1 ==.
;	apps/debugint/../UM6.c:109: spi_UM6MasterInit();
	lcall	_spi1MasterInit
	C$UM6.c$110$1$1 ==.
;	apps/debugint/../UM6.c:110: spi_UM6MasterSetFrequency(230400);
	mov	dptr,#0x8400
	mov	b,#0x03
	clr	a
	lcall	_spi1MasterSetFrequency
	C$UM6.c$111$1$1 ==.
;	apps/debugint/../UM6.c:111: spi_UM6MasterSetClockPolarity(SPI_POLARITY_IDLE_LOW); // SCK LOW when no data is being transmitted
	clr	_spi1MasterSetClockPolarity_PARM_1
	lcall	_spi1MasterSetClockPolarity
	C$UM6.c$112$1$1 ==.
;	apps/debugint/../UM6.c:112: spi_UM6MasterSetClockPhase(SPI_PHASE_EDGE_LEADING);  // data sampled when clock goes from active to idle
	clr	_spi1MasterSetClockPhase_PARM_1
	lcall	_spi1MasterSetClockPhase
	C$UM6.c$113$1$1 ==.
;	apps/debugint/../UM6.c:113: spi_UM6MasterSetBitOrder(SPI_BIT_ORDER_MSB_FIRST);
	clr	_spi1MasterSetBitOrder_PARM_1
	C$UM6.c$114$1$1 ==.
	XG$spi_UM6_init$0$0 ==.
	ljmp	_spi1MasterSetBitOrder
;------------------------------------------------------------
;Allocation info for local variables in function 'write_UM6comm'
;------------------------------------------------------------
;------------------------------------------------------------
	G$write_UM6comm$0$0 ==.
	C$UM6.c$187$1$1 ==.
;	apps/debugint/../UM6.c:187: void write_UM6comm(){
;	-----------------------------------------
;	 function write_UM6comm
;	-----------------------------------------
_write_UM6comm:
	C$UM6.c$188$1$1 ==.
;	apps/debugint/../UM6.c:188: IMU_txdata[0] =0x01; // write command
	mov	dptr,#_IMU_txdata
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$189$1$1 ==.
;	apps/debugint/../UM6.c:189: IMU_txdata[1]=0x00; // address of the UM6_Comm register
	mov	dptr,#(_IMU_txdata + 0x0001)
	clr	a
	movx	@dptr,a
	C$UM6.c$190$1$1 ==.
;	apps/debugint/../UM6.c:190: IMU_txdata[2] = 0x38; //Byte4
	mov	dptr,#(_IMU_txdata + 0x0002)
	mov	a,#0x38
	movx	@dptr,a
	C$UM6.c$191$1$1 ==.
;	apps/debugint/../UM6.c:191: IMU_txdata[3] = 0x40; // Byte3
	mov	dptr,#(_IMU_txdata + 0x0003)
	mov	a,#0x40
	movx	@dptr,a
	C$UM6.c$192$1$1 ==.
;	apps/debugint/../UM6.c:192: IMU_txdata[4]= 0x05; //Byte2
	mov	dptr,#(_IMU_txdata + 0x0004)
	mov	a,#0x05
	movx	@dptr,a
	C$UM6.c$193$1$1 ==.
;	apps/debugint/../UM6.c:193: IMU_txdata[5] = 0x00; //Byte1
	mov	dptr,#(_IMU_txdata + 0x0005)
	clr	a
	movx	@dptr,a
	C$UM6.c$194$1$1 ==.
;	apps/debugint/../UM6.c:194: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$195$1$1 ==.
;	apps/debugint/../UM6.c:195: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$196$1$1 ==.
;	apps/debugint/../UM6.c:196: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$197$1$1 ==.
;	apps/debugint/../UM6.c:197: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	C$UM6.c$198$1$1 ==.
	XG$write_UM6comm$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'Zero_Gyros'
;------------------------------------------------------------
;------------------------------------------------------------
	G$Zero_Gyros$0$0 ==.
	C$UM6.c$203$1$1 ==.
;	apps/debugint/../UM6.c:203: void Zero_Gyros(){
;	-----------------------------------------
;	 function Zero_Gyros
;	-----------------------------------------
_Zero_Gyros:
	C$UM6.c$204$1$1 ==.
;	apps/debugint/../UM6.c:204: IMU_rxdata[0] =0x01; // write command
	mov	dptr,#_IMU_rxdata
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$205$1$1 ==.
;	apps/debugint/../UM6.c:205: IMU_rxdata[1]=0xAC; // command byte to determine gyro biases
	mov	dptr,#(_IMU_rxdata + 0x0001)
	mov	a,#0xAC
	movx	@dptr,a
	C$UM6.c$206$1$1 ==.
;	apps/debugint/../UM6.c:206: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$207$1$1 ==.
;	apps/debugint/../UM6.c:207: spi_UM6MasterTransfer(IMU_rxdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_rxdata
	lcall	_spi1MasterTransfer
	C$UM6.c$208$1$1 ==.
;	apps/debugint/../UM6.c:208: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$209$1$1 ==.
;	apps/debugint/../UM6.c:209: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	C$UM6.c$210$1$1 ==.
	XG$Zero_Gyros$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'write_UM6_Miscconfig'
;------------------------------------------------------------
;------------------------------------------------------------
	G$write_UM6_Miscconfig$0$0 ==.
	C$UM6.c$214$1$1 ==.
;	apps/debugint/../UM6.c:214: void write_UM6_Miscconfig(){
;	-----------------------------------------
;	 function write_UM6_Miscconfig
;	-----------------------------------------
_write_UM6_Miscconfig:
	C$UM6.c$215$1$1 ==.
;	apps/debugint/../UM6.c:215: IMU_rxdata[0] =0x01; // write command
	mov	dptr,#_IMU_rxdata
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$216$1$1 ==.
;	apps/debugint/../UM6.c:216: IMU_rxdata[1]=0x01; // Address of MISC_CONFIG register
	mov	dptr,#(_IMU_rxdata + 0x0001)
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$217$1$1 ==.
;	apps/debugint/../UM6.c:217: IMU_rxdata[2] = 0x50;
	mov	dptr,#(_IMU_rxdata + 0x0002)
	mov	a,#0x50
	movx	@dptr,a
	C$UM6.c$218$1$1 ==.
;	apps/debugint/../UM6.c:218: IMU_rxdata[3] = 0x0;
	mov	dptr,#(_IMU_rxdata + 0x0003)
	C$UM6.c$219$1$1 ==.
;	apps/debugint/../UM6.c:219: IMU_rxdata[4]= 0x0;
	C$UM6.c$220$1$1 ==.
;	apps/debugint/../UM6.c:220: IMU_rxdata[5] = 0x0;
	clr	a
	movx	@dptr,a
	mov	dptr,#(_IMU_rxdata + 0x0004)
	movx	@dptr,a
	mov	dptr,#(_IMU_rxdata + 0x0005)
	movx	@dptr,a
	C$UM6.c$221$1$1 ==.
;	apps/debugint/../UM6.c:221: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$222$1$1 ==.
;	apps/debugint/../UM6.c:222: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$223$1$1 ==.
;	apps/debugint/../UM6.c:223: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$224$1$1 ==.
;	apps/debugint/../UM6.c:224: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	C$UM6.c$225$1$1 ==.
	XG$write_UM6_Miscconfig$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'read_accel_rawZ'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_accel_rawZ$0$0 ==.
	C$UM6.c$229$1$1 ==.
;	apps/debugint/../UM6.c:229: void read_accel_rawZ(){
;	-----------------------------------------
;	 function read_accel_rawZ
;	-----------------------------------------
_read_accel_rawZ:
	C$UM6.c$230$1$1 ==.
;	apps/debugint/../UM6.c:230: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$231$1$1 ==.
;	apps/debugint/../UM6.c:231: IMU_txdata[1] = 0x5b; // address of accelrawZ
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5B
	movx	@dptr,a
	C$UM6.c$232$1$1 ==.
;	apps/debugint/../UM6.c:232: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$233$1$1 ==.
;	apps/debugint/../UM6.c:233: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$234$1$1 ==.
;	apps/debugint/../UM6.c:234: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$235$1$1 ==.
;	apps/debugint/../UM6.c:235: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$236$1$1 ==.
;	apps/debugint/../UM6.c:236: accelrawZ.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_accelrawZ
	mov	a,r2
	movx	@r0,a
	C$UM6.c$237$1$1 ==.
;	apps/debugint/../UM6.c:237: accelrawZ.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_accelrawZ + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$239$1$1 ==.
	XG$read_accel_rawZ$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'read_euler_psi'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_euler_psi$0$0 ==.
	C$UM6.c$243$1$1 ==.
;	apps/debugint/../UM6.c:243: void read_euler_psi(){
;	-----------------------------------------
;	 function read_euler_psi
;	-----------------------------------------
_read_euler_psi:
	C$UM6.c$244$1$1 ==.
;	apps/debugint/../UM6.c:244: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$245$1$1 ==.
;	apps/debugint/../UM6.c:245: IMU_txdata[1] = 0x63; // address = accelrawz
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x63
	movx	@dptr,a
	C$UM6.c$246$1$1 ==.
;	apps/debugint/../UM6.c:246: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$247$1$1 ==.
;	apps/debugint/../UM6.c:247: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$248$1$1 ==.
;	apps/debugint/../UM6.c:248: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$249$1$1 ==.
;	apps/debugint/../UM6.c:249: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$250$1$1 ==.
;	apps/debugint/../UM6.c:250: euler_psi.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_euler_psi
	mov	a,r2
	movx	@r0,a
	C$UM6.c$251$1$1 ==.
;	apps/debugint/../UM6.c:251: euler_psi.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_euler_psi + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$253$1$1 ==.
	XG$read_euler_psi$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'read_euler_phi_theta'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_euler_phi_theta$0$0 ==.
	C$UM6.c$258$1$1 ==.
;	apps/debugint/../UM6.c:258: void read_euler_phi_theta(){
;	-----------------------------------------
;	 function read_euler_phi_theta
;	-----------------------------------------
_read_euler_phi_theta:
	C$UM6.c$259$1$1 ==.
;	apps/debugint/../UM6.c:259: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$260$1$1 ==.
;	apps/debugint/../UM6.c:260: IMU_txdata[1] = 0x62; // address = accelrawz
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x62
	movx	@dptr,a
	C$UM6.c$261$1$1 ==.
;	apps/debugint/../UM6.c:261: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$262$1$1 ==.
;	apps/debugint/../UM6.c:262: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$263$1$1 ==.
;	apps/debugint/../UM6.c:263: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$264$1$1 ==.
;	apps/debugint/../UM6.c:264: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$265$1$1 ==.
;	apps/debugint/../UM6.c:265: euler_phi.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_euler_phi
	mov	a,r2
	movx	@r0,a
	C$UM6.c$266$1$1 ==.
;	apps/debugint/../UM6.c:266: euler_phi.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_euler_phi + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$267$1$1 ==.
;	apps/debugint/../UM6.c:267: euler_theta.temp[0] = IMU_rxdata[5];
	mov	dptr,#(_IMU_rxdata + 0x0005)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_euler_theta
	mov	a,r2
	movx	@r0,a
	C$UM6.c$268$1$1 ==.
;	apps/debugint/../UM6.c:268: euler_theta.temp[1] = IMU_rxdata[4];
	mov	dptr,#(_IMU_rxdata + 0x0004)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_euler_theta + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$270$1$1 ==.
	XG$read_euler_phi_theta$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'read_accel_procZ'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_accel_procZ$0$0 ==.
	C$UM6.c$274$1$1 ==.
;	apps/debugint/../UM6.c:274: void read_accel_procZ(){
;	-----------------------------------------
;	 function read_accel_procZ
;	-----------------------------------------
_read_accel_procZ:
	C$UM6.c$275$1$1 ==.
;	apps/debugint/../UM6.c:275: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$276$1$1 ==.
;	apps/debugint/../UM6.c:276: IMU_txdata[1] = 0x5f; // address of processed accelZ register
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5F
	movx	@dptr,a
	C$UM6.c$277$1$1 ==.
;	apps/debugint/../UM6.c:277: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$278$1$1 ==.
;	apps/debugint/../UM6.c:278: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$279$1$1 ==.
;	apps/debugint/../UM6.c:279: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$280$1$1 ==.
;	apps/debugint/../UM6.c:280: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$282$1$1 ==.
;	apps/debugint/../UM6.c:282: accelprocZ.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_accelprocZ
	mov	a,r2
	movx	@r0,a
	C$UM6.c$283$1$1 ==.
;	apps/debugint/../UM6.c:283: accelprocZ.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_accelprocZ + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$285$1$1 ==.
	XG$read_accel_procZ$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'read_gyro_procZ'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_gyro_procZ$0$0 ==.
	C$UM6.c$289$1$1 ==.
;	apps/debugint/../UM6.c:289: void read_gyro_procZ(){
;	-----------------------------------------
;	 function read_gyro_procZ
;	-----------------------------------------
_read_gyro_procZ:
	C$UM6.c$290$1$1 ==.
;	apps/debugint/../UM6.c:290: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$291$1$1 ==.
;	apps/debugint/../UM6.c:291: IMU_txdata[1] = 0x5d; // address of processed gyroZ register
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5D
	movx	@dptr,a
	C$UM6.c$292$1$1 ==.
;	apps/debugint/../UM6.c:292: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$293$1$1 ==.
;	apps/debugint/../UM6.c:293: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$294$1$1 ==.
;	apps/debugint/../UM6.c:294: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$295$1$1 ==.
;	apps/debugint/../UM6.c:295: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$297$1$1 ==.
;	apps/debugint/../UM6.c:297: gyroprocZ.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_gyroprocZ
	mov	a,r2
	movx	@r0,a
	C$UM6.c$298$1$1 ==.
;	apps/debugint/../UM6.c:298: gyroprocZ.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_gyroprocZ + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$300$1$1 ==.
	XG$read_gyro_procZ$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'read_accel_procXY'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_accel_procXY$0$0 ==.
	C$UM6.c$304$1$1 ==.
;	apps/debugint/../UM6.c:304: void read_accel_procXY(){
;	-----------------------------------------
;	 function read_accel_procXY
;	-----------------------------------------
_read_accel_procXY:
	C$UM6.c$305$1$1 ==.
;	apps/debugint/../UM6.c:305: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$306$1$1 ==.
;	apps/debugint/../UM6.c:306: IMU_txdata[1] = 0x5E; // address = accelprocxy
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5E
	movx	@dptr,a
	C$UM6.c$307$1$1 ==.
;	apps/debugint/../UM6.c:307: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$308$1$1 ==.
;	apps/debugint/../UM6.c:308: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$309$1$1 ==.
;	apps/debugint/../UM6.c:309: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$310$1$1 ==.
;	apps/debugint/../UM6.c:310: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$312$1$1 ==.
;	apps/debugint/../UM6.c:312: accelprocX.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_accelprocX
	mov	a,r2
	movx	@r0,a
	C$UM6.c$313$1$1 ==.
;	apps/debugint/../UM6.c:313: accelprocX.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_accelprocX + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$314$1$1 ==.
;	apps/debugint/../UM6.c:314: accelprocY.temp[0] = IMU_rxdata[5];
	mov	dptr,#(_IMU_rxdata + 0x0005)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_accelprocY
	mov	a,r2
	movx	@r0,a
	C$UM6.c$315$1$1 ==.
;	apps/debugint/../UM6.c:315: accelprocY.temp[1] = IMU_rxdata[4];
	mov	dptr,#(_IMU_rxdata + 0x0004)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_accelprocY + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$318$1$1 ==.
	XG$read_accel_procXY$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'read_gyro_procXY'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_gyro_procXY$0$0 ==.
	C$UM6.c$322$1$1 ==.
;	apps/debugint/../UM6.c:322: void read_gyro_procXY(){
;	-----------------------------------------
;	 function read_gyro_procXY
;	-----------------------------------------
_read_gyro_procXY:
	C$UM6.c$323$1$1 ==.
;	apps/debugint/../UM6.c:323: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$324$1$1 ==.
;	apps/debugint/../UM6.c:324: IMU_txdata[1] = 0x5C; // address = accelprocxy
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5C
	movx	@dptr,a
	C$UM6.c$325$1$1 ==.
;	apps/debugint/../UM6.c:325: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$326$1$1 ==.
;	apps/debugint/../UM6.c:326: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$327$1$1 ==.
;	apps/debugint/../UM6.c:327: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$328$1$1 ==.
;	apps/debugint/../UM6.c:328: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$330$1$1 ==.
;	apps/debugint/../UM6.c:330: gyroprocX.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_gyroprocX
	mov	a,r2
	movx	@r0,a
	C$UM6.c$331$1$1 ==.
;	apps/debugint/../UM6.c:331: gyroprocX.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_gyroprocX + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$332$1$1 ==.
;	apps/debugint/../UM6.c:332: gyroprocY.temp[0] = IMU_rxdata[5];
	mov	dptr,#(_IMU_rxdata + 0x0005)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_gyroprocY
	mov	a,r2
	movx	@r0,a
	C$UM6.c$333$1$1 ==.
;	apps/debugint/../UM6.c:333: gyroprocY.temp[1] = IMU_rxdata[4];
	mov	dptr,#(_IMU_rxdata + 0x0004)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_gyroprocY + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$336$1$1 ==.
	XG$read_gyro_procXY$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'UM6_flash_commit'
;------------------------------------------------------------
;------------------------------------------------------------
	G$UM6_flash_commit$0$0 ==.
	C$UM6.c$341$1$1 ==.
;	apps/debugint/../UM6.c:341: void UM6_flash_commit(){
;	-----------------------------------------
;	 function UM6_flash_commit
;	-----------------------------------------
_UM6_flash_commit:
	C$UM6.c$342$1$1 ==.
;	apps/debugint/../UM6.c:342: IMU_txdata[0] = 1; //write command
	mov	dptr,#_IMU_txdata
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$343$1$1 ==.
;	apps/debugint/../UM6.c:343: IMU_txdata[1] = 0xAB; // UM6_Flash_commit command (nothing is written to the register)
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0xAB
	movx	@dptr,a
	C$UM6.c$344$1$1 ==.
;	apps/debugint/../UM6.c:344: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$345$1$1 ==.
;	apps/debugint/../UM6.c:345: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$346$1$1 ==.
;	apps/debugint/../UM6.c:346: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$347$1$1 ==.
;	apps/debugint/../UM6.c:347: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	C$UM6.c$348$1$1 ==.
	XG$UM6_flash_commit$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'main'
;------------------------------------------------------------
;sloc0                     Allocated with name '_main_sloc0_1_0'
;sloc1                     Allocated with name '_main_sloc1_1_0'
;sloc2                     Allocated with name '_main_sloc2_1_0'
;------------------------------------------------------------
	G$main$0$0 ==.
	C$debugint.c$18$1$1 ==.
;	apps/debugint/debugint.c:18: void main(){
;	-----------------------------------------
;	 function main
;	-----------------------------------------
_main:
	C$debugint.c$21$1$1 ==.
;	apps/debugint/debugint.c:21: uint32 lastReport= 0;
	clr	a
	mov	_main_sloc1_1_0,a
	mov	(_main_sloc1_1_0 + 1),a
	mov	(_main_sloc1_1_0 + 2),a
	mov	(_main_sloc1_1_0 + 3),a
	C$debugint.c$22$1$1 ==.
;	apps/debugint/debugint.c:22: msg2.id = 0x222;
	mov	(_msg2 + 0),#0x22
	mov	(_msg2 + 1),#0x02
	C$debugint.c$23$1$1 ==.
;	apps/debugint/debugint.c:23: msg2.len = 2;
	mov	(_msg2 + 0x0002),#0x02
	C$debugint.c$25$1$1 ==.
;	apps/debugint/debugint.c:25: systemInit();
	lcall	_systemInit
	C$debugint.c$26$1$1 ==.
;	apps/debugint/debugint.c:26: usbInit();
	lcall	_usbInit
	C$debugint.c$27$1$1 ==.
;	apps/debugint/debugint.c:27: Can_init(2); // Initialize CAN at 250kbps and set in normal mode
	mov	dpl,#0x02
	lcall	_Can_init
	C$debugint.c$28$1$1 ==.
;	apps/debugint/debugint.c:28: spi_UM6_init(); // Initialize SPI for communicating with UM6
	lcall	_spi_UM6_init
	C$debugint.c$29$1$1 ==.
;	apps/debugint/debugint.c:29: Zero_Gyros(); // zero the gyro readings
	lcall	_Zero_Gyros
	C$debugint.c$31$1$1 ==.
;	apps/debugint/debugint.c:31: radioLinkInit();
	lcall	_radioLinkInit
	C$debugint.c$32$1$1 ==.
;	apps/debugint/debugint.c:32: while(!radioLinkConnected()){
00101$:
	lcall	_radioLinkConnected
	jc	00103$
	C$debugint.c$33$2$2 ==.
;	apps/debugint/debugint.c:33: boardService();
	lcall	_boardService
	C$debugint.c$34$2$2 ==.
;	apps/debugint/debugint.c:34: usbComService();
	lcall	_usbComService
	C$debugint.c$35$3$3 ==.
;	apps/debugint/debugint.c:35: LED_RED(1);
	orl	_P2DIR,#0x02
	sjmp	00101$
00103$:
	C$debugint.c$37$2$4 ==.
;	apps/debugint/debugint.c:37: LED_RED(0);
	anl	_P2DIR,#0xFD
	C$debugint.c$42$1$1 ==.
;	apps/debugint/debugint.c:42: while(1){
00117$:
	C$debugint.c$43$2$5 ==.
;	apps/debugint/debugint.c:43: usbComService();
	lcall	_usbComService
	C$debugint.c$44$2$5 ==.
;	apps/debugint/debugint.c:44: boardService();
	lcall	_boardService
	C$debugint.c$45$2$5 ==.
;	apps/debugint/debugint.c:45: if(rxbuf0_full()){ // check if rxbuf0 has msg
	lcall	_rxbuf0_full
	mov	a,dpl
	jnz	00138$
	ljmp	00109$
00138$:
	C$debugint.c$46$3$6 ==.
;	apps/debugint/debugint.c:46: get_Canmsg(&msg2);
	mov	dptr,#_msg2
	mov	b,#0x40
	lcall	_get_Canmsg
	C$debugint.c$47$3$6 ==.
;	apps/debugint/debugint.c:47: if(radioLinkTxAvailable()){
	lcall	_radioLinkTxAvailable
	mov	a,dpl
	jz	00109$
	C$debugint.c$48$4$7 ==.
;	apps/debugint/debugint.c:48: txpkt = radioLinkTxCurrentPacket();
	lcall	_radioLinkTxCurrentPacket
	mov	r6,dpl
	mov	r7,dph
	mov	r0,#_txpkt
	mov	a,r6
	movx	@r0,a
	inc	r0
	mov	a,r7
	movx	@r0,a
	C$debugint.c$50$4$7 ==.
;	apps/debugint/debugint.c:50: if(txpkt != 0){
	mov	a,r6
	orl	a,r7
	jz	00105$
	C$debugint.c$51$1$1 ==.
;	apps/debugint/debugint.c:51: txpkt[0]=3 + msg2.len;
	mov	_main_sloc0_1_0,(_msg2 + 0x0002)
	mov	a,#0x03
	add	a,_main_sloc0_1_0
	mov	dpl,r6
	mov	dph,r7
	movx	@dptr,a
	C$debugint.c$52$5$8 ==.
;	apps/debugint/debugint.c:52: txpkt[1] = (uint8) msg2.id;
	mov	dpl,r6
	mov	dph,r7
	inc	dptr
	mov	a,_msg2
	movx	@dptr,a
	C$debugint.c$53$5$8 ==.
;	apps/debugint/debugint.c:53: txpkt[2] = (uint8) (msg2.id >> 8);
	mov	dpl,r6
	mov	dph,r7
	inc	dptr
	inc	dptr
	mov	a,(_msg2 + 1)
	mov	r2,a
	movx	@dptr,a
	C$debugint.c$54$5$8 ==.
;	apps/debugint/debugint.c:54: txpkt[3] = msg2.len;
	mov	dpl,r6
	mov	dph,r7
	inc	dptr
	inc	dptr
	inc	dptr
	mov	a,_main_sloc0_1_0
	movx	@dptr,a
	C$debugint.c$87$1$1 ==.
;	apps/debugint/debugint.c:87: LED_RED_TOGGLE();
	C$debugint.c$55$6$9 ==.
;	apps/debugint/debugint.c:55: for(i=0;i<msg2.len;i++){
	mov	r6,#0x00
00119$:
	mov	a,r6
	cjne	a,_main_sloc0_1_0,00141$
00141$:
	jnc	00105$
	C$debugint.c$56$1$1 ==.
;	apps/debugint/debugint.c:56: txpkt[4+i] = msg2.dat[i];
	mov	ar7,r6
	mov	r2,#0x00
	mov	a,#0x04
	add	a,r7
	mov	r7,a
	clr	a
	addc	a,r2
	mov	r2,a
	mov	r0,#_txpkt
	movx	a,@r0
	add	a,r7
	mov	dpl,a
	inc	r0
	movx	a,@r0
	addc	a,r2
	mov	dph,a
	mov	a,r6
	add	a,#(_msg2 + 0x0003)
	mov	r0,a
	mov	a,@r0
	mov	r2,a
	movx	@dptr,a
	C$debugint.c$55$5$8 ==.
;	apps/debugint/debugint.c:55: for(i=0;i<msg2.len;i++){
	inc	r6
	sjmp	00119$
00105$:
	C$debugint.c$61$4$7 ==.
;	apps/debugint/debugint.c:61: radioLinkTxSendPacket(2);	
	mov	dpl,#0x02
	lcall	_radioLinkTxSendPacket
	C$debugint.c$62$5$10 ==.
;	apps/debugint/debugint.c:62: LED_RED_TOGGLE();
	xrl	_P2DIR,#0x02
00109$:
	C$debugint.c$67$2$5 ==.
;	apps/debugint/debugint.c:67: if (getMs() - lastReport >= 100) // read the UM6
	lcall	_getMs
	mov	r6,dpl
	mov	r7,dph
	mov	r2,b
	mov	r3,a
	mov	a,r6
	clr	c
	subb	a,_main_sloc1_1_0
	mov	r6,a
	mov	a,r7
	subb	a,(_main_sloc1_1_0 + 1)
	mov	r7,a
	mov	a,r2
	subb	a,(_main_sloc1_1_0 + 2)
	mov	r2,a
	mov	a,r3
	subb	a,(_main_sloc1_1_0 + 3)
	mov	r3,a
	clr	c
	mov	a,r6
	subb	a,#0x64
	mov	a,r7
	subb	a,#0x00
	mov	a,r2
	subb	a,#0x00
	mov	a,r3
	subb	a,#0x00
	jnc	00143$
	ljmp	00117$
00143$:
	C$debugint.c$69$3$11 ==.
;	apps/debugint/debugint.c:69: lastReport = getMs();
	lcall	_getMs
	mov	_main_sloc1_1_0,dpl
	mov	(_main_sloc1_1_0 + 1),dph
	mov	(_main_sloc1_1_0 + 2),b
	mov	(_main_sloc1_1_0 + 3),a
	C$debugint.c$70$3$11 ==.
;	apps/debugint/debugint.c:70: read_accel_procZ();
	lcall	_read_accel_procZ
	C$debugint.c$71$3$11 ==.
;	apps/debugint/debugint.c:71: read_accel_procXY();
	lcall	_read_accel_procXY
	C$debugint.c$73$3$11 ==.
;	apps/debugint/debugint.c:73: if(radioLinkTxAvailable()){
	lcall	_radioLinkTxAvailable
	mov	a,dpl
	jnz	00144$
	ljmp	00117$
00144$:
	C$debugint.c$74$4$12 ==.
;	apps/debugint/debugint.c:74: txpkt = radioLinkTxCurrentPacket();
	lcall	_radioLinkTxCurrentPacket
	mov	r2,dpl
	mov	r3,dph
	mov	r0,#_txpkt
	mov	a,r2
	movx	@r0,a
	inc	r0
	mov	a,r3
	movx	@r0,a
	C$debugint.c$76$4$12 ==.
;	apps/debugint/debugint.c:76: if(txpkt != 0){
	mov	a,r2
	orl	a,r3
	jnz	00145$
	ljmp	00111$
00145$:
	C$debugint.c$77$5$13 ==.
;	apps/debugint/debugint.c:77: txpkt[0]=6;
	mov	dpl,r2
	mov	dph,r3
	mov	a,#0x06
	movx	@dptr,a
	C$debugint.c$78$5$13 ==.
;	apps/debugint/debugint.c:78: txpkt[1] = (uint8) accelprocX.val; 
	mov	a,#0x01
	add	a,r2
	mov	_main_sloc2_1_0,a
	clr	a
	addc	a,r3
	mov	(_main_sloc2_1_0 + 1),a
	mov	r0,#_accelprocX
	movx	a,@r0
	mov	r6,a
	inc	r0
	movx	a,@r0
	mov	r7,a
	mov	ar4,r6
	mov	dpl,_main_sloc2_1_0
	mov	dph,(_main_sloc2_1_0 + 1)
	mov	a,r4
	movx	@dptr,a
	C$debugint.c$79$5$13 ==.
;	apps/debugint/debugint.c:79: txpkt[2] =  (uint8) (accelprocX.val >> 8);
	mov	a,#0x02
	add	a,r2
	mov	r4,a
	clr	a
	addc	a,r3
	mov	r5,a
	mov	ar6,r7
	mov	dpl,r4
	mov	dph,r5
	mov	a,r6
	movx	@dptr,a
	C$debugint.c$80$5$13 ==.
;	apps/debugint/debugint.c:80: txpkt[3] = (uint8) accelprocY.val; 
	mov	a,#0x03
	add	a,r2
	mov	_main_sloc2_1_0,a
	clr	a
	addc	a,r3
	mov	(_main_sloc2_1_0 + 1),a
	mov	r0,#_accelprocY
	movx	a,@r0
	mov	r6,a
	inc	r0
	movx	a,@r0
	mov	r7,a
	mov	ar4,r6
	mov	dpl,_main_sloc2_1_0
	mov	dph,(_main_sloc2_1_0 + 1)
	mov	a,r4
	movx	@dptr,a
	C$debugint.c$81$5$13 ==.
;	apps/debugint/debugint.c:81: txpkt[4] =  (uint8) (accelprocY.val >> 8);
	mov	a,#0x04
	add	a,r2
	mov	r4,a
	clr	a
	addc	a,r3
	mov	r5,a
	mov	ar6,r7
	mov	dpl,r4
	mov	dph,r5
	mov	a,r6
	movx	@dptr,a
	C$debugint.c$82$5$13 ==.
;	apps/debugint/debugint.c:82: txpkt[5] = (uint8) accelprocZ.val; 
	mov	a,#0x05
	add	a,r2
	mov	_main_sloc2_1_0,a
	clr	a
	addc	a,r3
	mov	(_main_sloc2_1_0 + 1),a
	mov	r0,#_accelprocZ
	movx	a,@r0
	mov	r6,a
	inc	r0
	movx	a,@r0
	mov	r7,a
	mov	ar4,r6
	mov	dpl,_main_sloc2_1_0
	mov	dph,(_main_sloc2_1_0 + 1)
	mov	a,r4
	movx	@dptr,a
	C$debugint.c$83$5$13 ==.
;	apps/debugint/debugint.c:83: txpkt[6] =  (uint8) (accelprocZ.val >> 8);
	mov	a,#0x06
	add	a,r2
	mov	r2,a
	clr	a
	addc	a,r3
	mov	r3,a
	mov	ar6,r7
	mov	dpl,r2
	mov	dph,r3
	mov	a,r6
	movx	@dptr,a
00111$:
	C$debugint.c$86$4$12 ==.
;	apps/debugint/debugint.c:86: radioLinkTxSendPacket(1);	
	mov	dpl,#0x01
	lcall	_radioLinkTxSendPacket
	C$debugint.c$87$5$14 ==.
;	apps/debugint/debugint.c:87: LED_RED_TOGGLE();
	xrl	_P2DIR,#0x02
	C$debugint.c$91$1$1 ==.
	XG$main$0$0 ==.
	ljmp	00117$
	.area CSEG    (CODE)
	.area CONST   (CODE)
	.area XINIT   (CODE)
Fdebugint$__xinit_txdata2$0$0 == .
__xinit__txdata2:
	.db #0x40	; 64
	.db #0x20	; 32
	.db #0x20	; 32
	.db #0x00	; 0
	.db #0x00	; 0
	.db #0x04	; 4
	.db #0x01	; 1
	.db #0x02	; 2
	.db #0x03	; 3
	.db #0x04	; 4
	.db #0x00	; 0
	.db #0x00	; 0
	.db #0x00	; 0
	.db #0x00	; 0
Fdebugint$__xinit_rxdata$0$0 == .
__xinit__rxdata:
	.db #0x00	; 0
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
Fdebugint$__xinit_txdata$0$0 == .
__xinit__txdata:
	.db #0x40	; 64
	.db #0x20	; 32
	.db #0x20	; 32
	.db #0x00	; 0
	.db #0x00	; 0
	.db #0x04	; 4
	.db #0x01	; 1
	.db #0x02	; 2
	.db #0x03	; 3
	.db #0x04	; 4
	.db #0x00	; 0
	.db #0x00	; 0
	.db #0x00	; 0
	.db #0x00	; 0
Fdebugint$__xinit_IMU_txdata$0$0 == .
__xinit__IMU_txdata:
	.db #0x00	; 0
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
Fdebugint$__xinit_IMU_rxdata$0$0 == .
__xinit__IMU_rxdata:
	.db #0x01	; 1
	.db #0x01	; 1
	.db #0x01	; 1
	.db #0x01	; 1
	.db #0x01	; 1
	.db #0x01	; 1
	.db #0x01	; 1
	.db #0x01	; 1
	.area CABS    (ABS,CODE)