;--------------------------------------------------------
; File Created by SDCC : free open source ANSI-C Compiler
; Version 3.0.0 #6037 (Oct 31 2010) (Linux)
; This file was generated Wed Apr 25 01:32:10 2012
;--------------------------------------------------------
	.module test_UM6_spi
	.optsdcc -mmcs51 --model-medium
	
;--------------------------------------------------------
; Public variables in this module
;--------------------------------------------------------
	.globl _param_report_period_ms
	.globl _param_bar_graph
	.globl _param_input_mode
	.globl _main
	.globl _sendReportIfNeeded
	.globl _updateLeds
	.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 _read_UM6config
	.globl _spi_UM6_init
	.globl _IMU_rxdata
	.globl _IMU_txdata
	.globl _report
	.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 _reportBytesSent
	.globl _reportLength
	.globl _putchar
;--------------------------------------------------------
; special function registers
;--------------------------------------------------------
	.area RSEG    (ABS,DATA)
	.org 0x0000
Ftest_UM6_spi$P0$0$0 == 0x0080
_P0	=	0x0080
Ftest_UM6_spi$SP$0$0 == 0x0081
_SP	=	0x0081
Ftest_UM6_spi$DPL0$0$0 == 0x0082
_DPL0	=	0x0082
Ftest_UM6_spi$DPH0$0$0 == 0x0083
_DPH0	=	0x0083
Ftest_UM6_spi$DPL1$0$0 == 0x0084
_DPL1	=	0x0084
Ftest_UM6_spi$DPH1$0$0 == 0x0085
_DPH1	=	0x0085
Ftest_UM6_spi$U0CSR$0$0 == 0x0086
_U0CSR	=	0x0086
Ftest_UM6_spi$PCON$0$0 == 0x0087
_PCON	=	0x0087
Ftest_UM6_spi$TCON$0$0 == 0x0088
_TCON	=	0x0088
Ftest_UM6_spi$P0IFG$0$0 == 0x0089
_P0IFG	=	0x0089
Ftest_UM6_spi$P1IFG$0$0 == 0x008a
_P1IFG	=	0x008a
Ftest_UM6_spi$P2IFG$0$0 == 0x008b
_P2IFG	=	0x008b
Ftest_UM6_spi$PICTL$0$0 == 0x008c
_PICTL	=	0x008c
Ftest_UM6_spi$P1IEN$0$0 == 0x008d
_P1IEN	=	0x008d
Ftest_UM6_spi$P0INP$0$0 == 0x008f
_P0INP	=	0x008f
Ftest_UM6_spi$P1$0$0 == 0x0090
_P1	=	0x0090
Ftest_UM6_spi$RFIM$0$0 == 0x0091
_RFIM	=	0x0091
Ftest_UM6_spi$DPS$0$0 == 0x0092
_DPS	=	0x0092
Ftest_UM6_spi$MPAGE$0$0 == 0x0093
_MPAGE	=	0x0093
Ftest_UM6_spi$ENDIAN$0$0 == 0x0095
_ENDIAN	=	0x0095
Ftest_UM6_spi$S0CON$0$0 == 0x0098
_S0CON	=	0x0098
Ftest_UM6_spi$IEN2$0$0 == 0x009a
_IEN2	=	0x009a
Ftest_UM6_spi$S1CON$0$0 == 0x009b
_S1CON	=	0x009b
Ftest_UM6_spi$T2CT$0$0 == 0x009c
_T2CT	=	0x009c
Ftest_UM6_spi$T2PR$0$0 == 0x009d
_T2PR	=	0x009d
Ftest_UM6_spi$T2CTL$0$0 == 0x009e
_T2CTL	=	0x009e
Ftest_UM6_spi$P2$0$0 == 0x00a0
_P2	=	0x00a0
Ftest_UM6_spi$WORIRQ$0$0 == 0x00a1
_WORIRQ	=	0x00a1
Ftest_UM6_spi$WORCTRL$0$0 == 0x00a2
_WORCTRL	=	0x00a2
Ftest_UM6_spi$WOREVT0$0$0 == 0x00a3
_WOREVT0	=	0x00a3
Ftest_UM6_spi$WOREVT1$0$0 == 0x00a4
_WOREVT1	=	0x00a4
Ftest_UM6_spi$WORTIME0$0$0 == 0x00a5
_WORTIME0	=	0x00a5
Ftest_UM6_spi$WORTIME1$0$0 == 0x00a6
_WORTIME1	=	0x00a6
Ftest_UM6_spi$IEN0$0$0 == 0x00a8
_IEN0	=	0x00a8
Ftest_UM6_spi$IP0$0$0 == 0x00a9
_IP0	=	0x00a9
Ftest_UM6_spi$FWT$0$0 == 0x00ab
_FWT	=	0x00ab
Ftest_UM6_spi$FADDRL$0$0 == 0x00ac
_FADDRL	=	0x00ac
Ftest_UM6_spi$FADDRH$0$0 == 0x00ad
_FADDRH	=	0x00ad
Ftest_UM6_spi$FCTL$0$0 == 0x00ae
_FCTL	=	0x00ae
Ftest_UM6_spi$FWDATA$0$0 == 0x00af
_FWDATA	=	0x00af
Ftest_UM6_spi$ENCDI$0$0 == 0x00b1
_ENCDI	=	0x00b1
Ftest_UM6_spi$ENCDO$0$0 == 0x00b2
_ENCDO	=	0x00b2
Ftest_UM6_spi$ENCCS$0$0 == 0x00b3
_ENCCS	=	0x00b3
Ftest_UM6_spi$ADCCON1$0$0 == 0x00b4
_ADCCON1	=	0x00b4
Ftest_UM6_spi$ADCCON2$0$0 == 0x00b5
_ADCCON2	=	0x00b5
Ftest_UM6_spi$ADCCON3$0$0 == 0x00b6
_ADCCON3	=	0x00b6
Ftest_UM6_spi$IEN1$0$0 == 0x00b8
_IEN1	=	0x00b8
Ftest_UM6_spi$IP1$0$0 == 0x00b9
_IP1	=	0x00b9
Ftest_UM6_spi$ADCL$0$0 == 0x00ba
_ADCL	=	0x00ba
Ftest_UM6_spi$ADCH$0$0 == 0x00bb
_ADCH	=	0x00bb
Ftest_UM6_spi$RNDL$0$0 == 0x00bc
_RNDL	=	0x00bc
Ftest_UM6_spi$RNDH$0$0 == 0x00bd
_RNDH	=	0x00bd
Ftest_UM6_spi$SLEEP$0$0 == 0x00be
_SLEEP	=	0x00be
Ftest_UM6_spi$IRCON$0$0 == 0x00c0
_IRCON	=	0x00c0
Ftest_UM6_spi$U0DBUF$0$0 == 0x00c1
_U0DBUF	=	0x00c1
Ftest_UM6_spi$U0BAUD$0$0 == 0x00c2
_U0BAUD	=	0x00c2
Ftest_UM6_spi$U0UCR$0$0 == 0x00c4
_U0UCR	=	0x00c4
Ftest_UM6_spi$U0GCR$0$0 == 0x00c5
_U0GCR	=	0x00c5
Ftest_UM6_spi$CLKCON$0$0 == 0x00c6
_CLKCON	=	0x00c6
Ftest_UM6_spi$MEMCTR$0$0 == 0x00c7
_MEMCTR	=	0x00c7
Ftest_UM6_spi$WDCTL$0$0 == 0x00c9
_WDCTL	=	0x00c9
Ftest_UM6_spi$T3CNT$0$0 == 0x00ca
_T3CNT	=	0x00ca
Ftest_UM6_spi$T3CTL$0$0 == 0x00cb
_T3CTL	=	0x00cb
Ftest_UM6_spi$T3CCTL0$0$0 == 0x00cc
_T3CCTL0	=	0x00cc
Ftest_UM6_spi$T3CC0$0$0 == 0x00cd
_T3CC0	=	0x00cd
Ftest_UM6_spi$T3CCTL1$0$0 == 0x00ce
_T3CCTL1	=	0x00ce
Ftest_UM6_spi$T3CC1$0$0 == 0x00cf
_T3CC1	=	0x00cf
Ftest_UM6_spi$PSW$0$0 == 0x00d0
_PSW	=	0x00d0
Ftest_UM6_spi$DMAIRQ$0$0 == 0x00d1
_DMAIRQ	=	0x00d1
Ftest_UM6_spi$DMA1CFGL$0$0 == 0x00d2
_DMA1CFGL	=	0x00d2
Ftest_UM6_spi$DMA1CFGH$0$0 == 0x00d3
_DMA1CFGH	=	0x00d3
Ftest_UM6_spi$DMA0CFGL$0$0 == 0x00d4
_DMA0CFGL	=	0x00d4
Ftest_UM6_spi$DMA0CFGH$0$0 == 0x00d5
_DMA0CFGH	=	0x00d5
Ftest_UM6_spi$DMAARM$0$0 == 0x00d6
_DMAARM	=	0x00d6
Ftest_UM6_spi$DMAREQ$0$0 == 0x00d7
_DMAREQ	=	0x00d7
Ftest_UM6_spi$TIMIF$0$0 == 0x00d8
_TIMIF	=	0x00d8
Ftest_UM6_spi$RFD$0$0 == 0x00d9
_RFD	=	0x00d9
Ftest_UM6_spi$T1CC0L$0$0 == 0x00da
_T1CC0L	=	0x00da
Ftest_UM6_spi$T1CC0H$0$0 == 0x00db
_T1CC0H	=	0x00db
Ftest_UM6_spi$T1CC1L$0$0 == 0x00dc
_T1CC1L	=	0x00dc
Ftest_UM6_spi$T1CC1H$0$0 == 0x00dd
_T1CC1H	=	0x00dd
Ftest_UM6_spi$T1CC2L$0$0 == 0x00de
_T1CC2L	=	0x00de
Ftest_UM6_spi$T1CC2H$0$0 == 0x00df
_T1CC2H	=	0x00df
Ftest_UM6_spi$ACC$0$0 == 0x00e0
_ACC	=	0x00e0
Ftest_UM6_spi$RFST$0$0 == 0x00e1
_RFST	=	0x00e1
Ftest_UM6_spi$T1CNTL$0$0 == 0x00e2
_T1CNTL	=	0x00e2
Ftest_UM6_spi$T1CNTH$0$0 == 0x00e3
_T1CNTH	=	0x00e3
Ftest_UM6_spi$T1CTL$0$0 == 0x00e4
_T1CTL	=	0x00e4
Ftest_UM6_spi$T1CCTL0$0$0 == 0x00e5
_T1CCTL0	=	0x00e5
Ftest_UM6_spi$T1CCTL1$0$0 == 0x00e6
_T1CCTL1	=	0x00e6
Ftest_UM6_spi$T1CCTL2$0$0 == 0x00e7
_T1CCTL2	=	0x00e7
Ftest_UM6_spi$IRCON2$0$0 == 0x00e8
_IRCON2	=	0x00e8
Ftest_UM6_spi$RFIF$0$0 == 0x00e9
_RFIF	=	0x00e9
Ftest_UM6_spi$T4CNT$0$0 == 0x00ea
_T4CNT	=	0x00ea
Ftest_UM6_spi$T4CTL$0$0 == 0x00eb
_T4CTL	=	0x00eb
Ftest_UM6_spi$T4CCTL0$0$0 == 0x00ec
_T4CCTL0	=	0x00ec
Ftest_UM6_spi$T4CC0$0$0 == 0x00ed
_T4CC0	=	0x00ed
Ftest_UM6_spi$T4CCTL1$0$0 == 0x00ee
_T4CCTL1	=	0x00ee
Ftest_UM6_spi$T4CC1$0$0 == 0x00ef
_T4CC1	=	0x00ef
Ftest_UM6_spi$B$0$0 == 0x00f0
_B	=	0x00f0
Ftest_UM6_spi$PERCFG$0$0 == 0x00f1
_PERCFG	=	0x00f1
Ftest_UM6_spi$ADCCFG$0$0 == 0x00f2
_ADCCFG	=	0x00f2
Ftest_UM6_spi$P0SEL$0$0 == 0x00f3
_P0SEL	=	0x00f3
Ftest_UM6_spi$P1SEL$0$0 == 0x00f4
_P1SEL	=	0x00f4
Ftest_UM6_spi$P2SEL$0$0 == 0x00f5
_P2SEL	=	0x00f5
Ftest_UM6_spi$P1INP$0$0 == 0x00f6
_P1INP	=	0x00f6
Ftest_UM6_spi$P2INP$0$0 == 0x00f7
_P2INP	=	0x00f7
Ftest_UM6_spi$U1CSR$0$0 == 0x00f8
_U1CSR	=	0x00f8
Ftest_UM6_spi$U1DBUF$0$0 == 0x00f9
_U1DBUF	=	0x00f9
Ftest_UM6_spi$U1BAUD$0$0 == 0x00fa
_U1BAUD	=	0x00fa
Ftest_UM6_spi$U1UCR$0$0 == 0x00fb
_U1UCR	=	0x00fb
Ftest_UM6_spi$U1GCR$0$0 == 0x00fc
_U1GCR	=	0x00fc
Ftest_UM6_spi$P0DIR$0$0 == 0x00fd
_P0DIR	=	0x00fd
Ftest_UM6_spi$P1DIR$0$0 == 0x00fe
_P1DIR	=	0x00fe
Ftest_UM6_spi$P2DIR$0$0 == 0x00ff
_P2DIR	=	0x00ff
Ftest_UM6_spi$DMA0CFG$0$0 == 0xffffd5d4
_DMA0CFG	=	0xffffd5d4
Ftest_UM6_spi$DMA1CFG$0$0 == 0xffffd3d2
_DMA1CFG	=	0xffffd3d2
Ftest_UM6_spi$FADDR$0$0 == 0xffffadac
_FADDR	=	0xffffadac
Ftest_UM6_spi$ADC$0$0 == 0xffffbbba
_ADC	=	0xffffbbba
Ftest_UM6_spi$T1CC0$0$0 == 0xffffdbda
_T1CC0	=	0xffffdbda
Ftest_UM6_spi$T1CC1$0$0 == 0xffffdddc
_T1CC1	=	0xffffdddc
Ftest_UM6_spi$T1CC2$0$0 == 0xffffdfde
_T1CC2	=	0xffffdfde
;--------------------------------------------------------
; special function bits
;--------------------------------------------------------
	.area RSEG    (ABS,DATA)
	.org 0x0000
Ftest_UM6_spi$P0_0$0$0 == 0x0080
_P0_0	=	0x0080
Ftest_UM6_spi$P0_1$0$0 == 0x0081
_P0_1	=	0x0081
Ftest_UM6_spi$P0_2$0$0 == 0x0082
_P0_2	=	0x0082
Ftest_UM6_spi$P0_3$0$0 == 0x0083
_P0_3	=	0x0083
Ftest_UM6_spi$P0_4$0$0 == 0x0084
_P0_4	=	0x0084
Ftest_UM6_spi$P0_5$0$0 == 0x0085
_P0_5	=	0x0085
Ftest_UM6_spi$P0_6$0$0 == 0x0086
_P0_6	=	0x0086
Ftest_UM6_spi$P0_7$0$0 == 0x0087
_P0_7	=	0x0087
Ftest_UM6_spi$_TCON_0$0$0 == 0x0088
__TCON_0	=	0x0088
Ftest_UM6_spi$RFTXRXIF$0$0 == 0x0089
_RFTXRXIF	=	0x0089
Ftest_UM6_spi$_TCON_2$0$0 == 0x008a
__TCON_2	=	0x008a
Ftest_UM6_spi$URX0IF$0$0 == 0x008b
_URX0IF	=	0x008b
Ftest_UM6_spi$_TCON_4$0$0 == 0x008c
__TCON_4	=	0x008c
Ftest_UM6_spi$ADCIF$0$0 == 0x008d
_ADCIF	=	0x008d
Ftest_UM6_spi$_TCON_6$0$0 == 0x008e
__TCON_6	=	0x008e
Ftest_UM6_spi$URX1IF$0$0 == 0x008f
_URX1IF	=	0x008f
Ftest_UM6_spi$P1_0$0$0 == 0x0090
_P1_0	=	0x0090
Ftest_UM6_spi$P1_1$0$0 == 0x0091
_P1_1	=	0x0091
Ftest_UM6_spi$P1_2$0$0 == 0x0092
_P1_2	=	0x0092
Ftest_UM6_spi$P1_3$0$0 == 0x0093
_P1_3	=	0x0093
Ftest_UM6_spi$P1_4$0$0 == 0x0094
_P1_4	=	0x0094
Ftest_UM6_spi$P1_5$0$0 == 0x0095
_P1_5	=	0x0095
Ftest_UM6_spi$P1_6$0$0 == 0x0096
_P1_6	=	0x0096
Ftest_UM6_spi$P1_7$0$0 == 0x0097
_P1_7	=	0x0097
Ftest_UM6_spi$ENCIF_0$0$0 == 0x0098
_ENCIF_0	=	0x0098
Ftest_UM6_spi$ENCIF_1$0$0 == 0x0099
_ENCIF_1	=	0x0099
Ftest_UM6_spi$_SOCON2$0$0 == 0x009a
__SOCON2	=	0x009a
Ftest_UM6_spi$_SOCON3$0$0 == 0x009b
__SOCON3	=	0x009b
Ftest_UM6_spi$_SOCON4$0$0 == 0x009c
__SOCON4	=	0x009c
Ftest_UM6_spi$_SOCON5$0$0 == 0x009d
__SOCON5	=	0x009d
Ftest_UM6_spi$_SOCON6$0$0 == 0x009e
__SOCON6	=	0x009e
Ftest_UM6_spi$_SOCON7$0$0 == 0x009f
__SOCON7	=	0x009f
Ftest_UM6_spi$P2_0$0$0 == 0x00a0
_P2_0	=	0x00a0
Ftest_UM6_spi$P2_1$0$0 == 0x00a1
_P2_1	=	0x00a1
Ftest_UM6_spi$P2_2$0$0 == 0x00a2
_P2_2	=	0x00a2
Ftest_UM6_spi$P2_3$0$0 == 0x00a3
_P2_3	=	0x00a3
Ftest_UM6_spi$P2_4$0$0 == 0x00a4
_P2_4	=	0x00a4
Ftest_UM6_spi$P2_5$0$0 == 0x00a5
_P2_5	=	0x00a5
Ftest_UM6_spi$P2_6$0$0 == 0x00a6
_P2_6	=	0x00a6
Ftest_UM6_spi$P2_7$0$0 == 0x00a7
_P2_7	=	0x00a7
Ftest_UM6_spi$RFTXRXIE$0$0 == 0x00a8
_RFTXRXIE	=	0x00a8
Ftest_UM6_spi$ADCIE$0$0 == 0x00a9
_ADCIE	=	0x00a9
Ftest_UM6_spi$URX0IE$0$0 == 0x00aa
_URX0IE	=	0x00aa
Ftest_UM6_spi$URX1IE$0$0 == 0x00ab
_URX1IE	=	0x00ab
Ftest_UM6_spi$ENCIE$0$0 == 0x00ac
_ENCIE	=	0x00ac
Ftest_UM6_spi$STIE$0$0 == 0x00ad
_STIE	=	0x00ad
Ftest_UM6_spi$_IEN06$0$0 == 0x00ae
__IEN06	=	0x00ae
Ftest_UM6_spi$EA$0$0 == 0x00af
_EA	=	0x00af
Ftest_UM6_spi$DMAIE$0$0 == 0x00b8
_DMAIE	=	0x00b8
Ftest_UM6_spi$T1IE$0$0 == 0x00b9
_T1IE	=	0x00b9
Ftest_UM6_spi$T2IE$0$0 == 0x00ba
_T2IE	=	0x00ba
Ftest_UM6_spi$T3IE$0$0 == 0x00bb
_T3IE	=	0x00bb
Ftest_UM6_spi$T4IE$0$0 == 0x00bc
_T4IE	=	0x00bc
Ftest_UM6_spi$P0IE$0$0 == 0x00bd
_P0IE	=	0x00bd
Ftest_UM6_spi$_IEN16$0$0 == 0x00be
__IEN16	=	0x00be
Ftest_UM6_spi$_IEN17$0$0 == 0x00bf
__IEN17	=	0x00bf
Ftest_UM6_spi$DMAIF$0$0 == 0x00c0
_DMAIF	=	0x00c0
Ftest_UM6_spi$T1IF$0$0 == 0x00c1
_T1IF	=	0x00c1
Ftest_UM6_spi$T2IF$0$0 == 0x00c2
_T2IF	=	0x00c2
Ftest_UM6_spi$T3IF$0$0 == 0x00c3
_T3IF	=	0x00c3
Ftest_UM6_spi$T4IF$0$0 == 0x00c4
_T4IF	=	0x00c4
Ftest_UM6_spi$P0IF$0$0 == 0x00c5
_P0IF	=	0x00c5
Ftest_UM6_spi$_IRCON6$0$0 == 0x00c6
__IRCON6	=	0x00c6
Ftest_UM6_spi$STIF$0$0 == 0x00c7
_STIF	=	0x00c7
Ftest_UM6_spi$P$0$0 == 0x00d0
_P	=	0x00d0
Ftest_UM6_spi$F1$0$0 == 0x00d1
_F1	=	0x00d1
Ftest_UM6_spi$OV$0$0 == 0x00d2
_OV	=	0x00d2
Ftest_UM6_spi$RS0$0$0 == 0x00d3
_RS0	=	0x00d3
Ftest_UM6_spi$RS1$0$0 == 0x00d4
_RS1	=	0x00d4
Ftest_UM6_spi$F0$0$0 == 0x00d5
_F0	=	0x00d5
Ftest_UM6_spi$AC$0$0 == 0x00d6
_AC	=	0x00d6
Ftest_UM6_spi$CY$0$0 == 0x00d7
_CY	=	0x00d7
Ftest_UM6_spi$T3OVFIF$0$0 == 0x00d8
_T3OVFIF	=	0x00d8
Ftest_UM6_spi$T3CH0IF$0$0 == 0x00d9
_T3CH0IF	=	0x00d9
Ftest_UM6_spi$T3CH1IF$0$0 == 0x00da
_T3CH1IF	=	0x00da
Ftest_UM6_spi$T4OVFIF$0$0 == 0x00db
_T4OVFIF	=	0x00db
Ftest_UM6_spi$T4CH0IF$0$0 == 0x00dc
_T4CH0IF	=	0x00dc
Ftest_UM6_spi$T4CH1IF$0$0 == 0x00dd
_T4CH1IF	=	0x00dd
Ftest_UM6_spi$OVFIM$0$0 == 0x00de
_OVFIM	=	0x00de
Ftest_UM6_spi$_TIMIF7$0$0 == 0x00df
__TIMIF7	=	0x00df
Ftest_UM6_spi$ACC_0$0$0 == 0x00e0
_ACC_0	=	0x00e0
Ftest_UM6_spi$ACC_1$0$0 == 0x00e1
_ACC_1	=	0x00e1
Ftest_UM6_spi$ACC_2$0$0 == 0x00e2
_ACC_2	=	0x00e2
Ftest_UM6_spi$ACC_3$0$0 == 0x00e3
_ACC_3	=	0x00e3
Ftest_UM6_spi$ACC_4$0$0 == 0x00e4
_ACC_4	=	0x00e4
Ftest_UM6_spi$ACC_5$0$0 == 0x00e5
_ACC_5	=	0x00e5
Ftest_UM6_spi$ACC_6$0$0 == 0x00e6
_ACC_6	=	0x00e6
Ftest_UM6_spi$ACC_7$0$0 == 0x00e7
_ACC_7	=	0x00e7
Ftest_UM6_spi$P2IF$0$0 == 0x00e8
_P2IF	=	0x00e8
Ftest_UM6_spi$UTX0IF$0$0 == 0x00e9
_UTX0IF	=	0x00e9
Ftest_UM6_spi$UTX1IF$0$0 == 0x00ea
_UTX1IF	=	0x00ea
Ftest_UM6_spi$P1IF$0$0 == 0x00eb
_P1IF	=	0x00eb
Ftest_UM6_spi$WDTIF$0$0 == 0x00ec
_WDTIF	=	0x00ec
Ftest_UM6_spi$_IRCON25$0$0 == 0x00ed
__IRCON25	=	0x00ed
Ftest_UM6_spi$_IRCON26$0$0 == 0x00ee
__IRCON26	=	0x00ee
Ftest_UM6_spi$_IRCON27$0$0 == 0x00ef
__IRCON27	=	0x00ef
Ftest_UM6_spi$B_0$0$0 == 0x00f0
_B_0	=	0x00f0
Ftest_UM6_spi$B_1$0$0 == 0x00f1
_B_1	=	0x00f1
Ftest_UM6_spi$B_2$0$0 == 0x00f2
_B_2	=	0x00f2
Ftest_UM6_spi$B_3$0$0 == 0x00f3
_B_3	=	0x00f3
Ftest_UM6_spi$B_4$0$0 == 0x00f4
_B_4	=	0x00f4
Ftest_UM6_spi$B_5$0$0 == 0x00f5
_B_5	=	0x00f5
Ftest_UM6_spi$B_6$0$0 == 0x00f6
_B_6	=	0x00f6
Ftest_UM6_spi$B_7$0$0 == 0x00f7
_B_7	=	0x00f7
Ftest_UM6_spi$U1ACTIVE$0$0 == 0x00f8
_U1ACTIVE	=	0x00f8
Ftest_UM6_spi$U1TX_BYTE$0$0 == 0x00f9
_U1TX_BYTE	=	0x00f9
Ftest_UM6_spi$U1RX_BYTE$0$0 == 0x00fa
_U1RX_BYTE	=	0x00fa
Ftest_UM6_spi$U1ERR$0$0 == 0x00fb
_U1ERR	=	0x00fb
Ftest_UM6_spi$U1FE$0$0 == 0x00fc
_U1FE	=	0x00fc
Ftest_UM6_spi$U1SLAVE$0$0 == 0x00fd
_U1SLAVE	=	0x00fd
Ftest_UM6_spi$U1RE$0$0 == 0x00fe
_U1RE	=	0x00fe
Ftest_UM6_spi$U1MODE$0$0 == 0x00ff
_U1MODE	=	0x00ff
;--------------------------------------------------------
; overlayable register banks
;--------------------------------------------------------
	.area REG_BANK_0	(REL,OVR,DATA)
	.ds 8
;--------------------------------------------------------
; overlayable bit register bank
;--------------------------------------------------------
	.area BIT_BANK	(REL,OVR,DATA)
bits:
	.ds 1
	b0 = bits[0]
	b1 = bits[1]
	b2 = bits[2]
	b3 = bits[3]
	b4 = bits[4]
	b5 = bits[5]
	b6 = bits[6]
	b7 = bits[7]
;--------------------------------------------------------
; internal ram data
;--------------------------------------------------------
	.area DSEG    (DATA)
G$reportLength$0$0==.
_reportLength::
	.ds 2
G$reportBytesSent$0$0==.
_reportBytesSent::
	.ds 2
LsendReportIfNeeded$sloc0$1$0==.
_sendReportIfNeeded_sloc0_1_0:
	.ds 4
;--------------------------------------------------------
; 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)
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$0==.
_gyroprocZ::
	.ds 2
LsendReportIfNeeded$lastReport$1$1==.
_sendReportIfNeeded_lastReport_1_1:
	.ds 4
LsendReportIfNeeded$count$1$1==.
_sendReportIfNeeded_count_1_1:
	.ds 2
;--------------------------------------------------------
; external ram data
;--------------------------------------------------------
	.area XSEG    (XDATA)
Ftest_UM6_spi$SYNC1$0$0 == 0xdf00
_SYNC1	=	0xdf00
Ftest_UM6_spi$SYNC0$0$0 == 0xdf01
_SYNC0	=	0xdf01
Ftest_UM6_spi$PKTLEN$0$0 == 0xdf02
_PKTLEN	=	0xdf02
Ftest_UM6_spi$PKTCTRL1$0$0 == 0xdf03
_PKTCTRL1	=	0xdf03
Ftest_UM6_spi$PKTCTRL0$0$0 == 0xdf04
_PKTCTRL0	=	0xdf04
Ftest_UM6_spi$ADDR$0$0 == 0xdf05
_ADDR	=	0xdf05
Ftest_UM6_spi$CHANNR$0$0 == 0xdf06
_CHANNR	=	0xdf06
Ftest_UM6_spi$FSCTRL1$0$0 == 0xdf07
_FSCTRL1	=	0xdf07
Ftest_UM6_spi$FSCTRL0$0$0 == 0xdf08
_FSCTRL0	=	0xdf08
Ftest_UM6_spi$FREQ2$0$0 == 0xdf09
_FREQ2	=	0xdf09
Ftest_UM6_spi$FREQ1$0$0 == 0xdf0a
_FREQ1	=	0xdf0a
Ftest_UM6_spi$FREQ0$0$0 == 0xdf0b
_FREQ0	=	0xdf0b
Ftest_UM6_spi$MDMCFG4$0$0 == 0xdf0c
_MDMCFG4	=	0xdf0c
Ftest_UM6_spi$MDMCFG3$0$0 == 0xdf0d
_MDMCFG3	=	0xdf0d
Ftest_UM6_spi$MDMCFG2$0$0 == 0xdf0e
_MDMCFG2	=	0xdf0e
Ftest_UM6_spi$MDMCFG1$0$0 == 0xdf0f
_MDMCFG1	=	0xdf0f
Ftest_UM6_spi$MDMCFG0$0$0 == 0xdf10
_MDMCFG0	=	0xdf10
Ftest_UM6_spi$DEVIATN$0$0 == 0xdf11
_DEVIATN	=	0xdf11
Ftest_UM6_spi$MCSM2$0$0 == 0xdf12
_MCSM2	=	0xdf12
Ftest_UM6_spi$MCSM1$0$0 == 0xdf13
_MCSM1	=	0xdf13
Ftest_UM6_spi$MCSM0$0$0 == 0xdf14
_MCSM0	=	0xdf14
Ftest_UM6_spi$FOCCFG$0$0 == 0xdf15
_FOCCFG	=	0xdf15
Ftest_UM6_spi$BSCFG$0$0 == 0xdf16
_BSCFG	=	0xdf16
Ftest_UM6_spi$AGCCTRL2$0$0 == 0xdf17
_AGCCTRL2	=	0xdf17
Ftest_UM6_spi$AGCCTRL1$0$0 == 0xdf18
_AGCCTRL1	=	0xdf18
Ftest_UM6_spi$AGCCTRL0$0$0 == 0xdf19
_AGCCTRL0	=	0xdf19
Ftest_UM6_spi$FREND1$0$0 == 0xdf1a
_FREND1	=	0xdf1a
Ftest_UM6_spi$FREND0$0$0 == 0xdf1b
_FREND0	=	0xdf1b
Ftest_UM6_spi$FSCAL3$0$0 == 0xdf1c
_FSCAL3	=	0xdf1c
Ftest_UM6_spi$FSCAL2$0$0 == 0xdf1d
_FSCAL2	=	0xdf1d
Ftest_UM6_spi$FSCAL1$0$0 == 0xdf1e
_FSCAL1	=	0xdf1e
Ftest_UM6_spi$FSCAL0$0$0 == 0xdf1f
_FSCAL0	=	0xdf1f
Ftest_UM6_spi$TEST2$0$0 == 0xdf23
_TEST2	=	0xdf23
Ftest_UM6_spi$TEST1$0$0 == 0xdf24
_TEST1	=	0xdf24
Ftest_UM6_spi$TEST0$0$0 == 0xdf25
_TEST0	=	0xdf25
Ftest_UM6_spi$PA_TABLE0$0$0 == 0xdf2e
_PA_TABLE0	=	0xdf2e
Ftest_UM6_spi$IOCFG2$0$0 == 0xdf2f
_IOCFG2	=	0xdf2f
Ftest_UM6_spi$IOCFG1$0$0 == 0xdf30
_IOCFG1	=	0xdf30
Ftest_UM6_spi$IOCFG0$0$0 == 0xdf31
_IOCFG0	=	0xdf31
Ftest_UM6_spi$PARTNUM$0$0 == 0xdf36
_PARTNUM	=	0xdf36
Ftest_UM6_spi$VERSION$0$0 == 0xdf37
_VERSION	=	0xdf37
Ftest_UM6_spi$FREQEST$0$0 == 0xdf38
_FREQEST	=	0xdf38
Ftest_UM6_spi$LQI$0$0 == 0xdf39
_LQI	=	0xdf39
Ftest_UM6_spi$RSSI$0$0 == 0xdf3a
_RSSI	=	0xdf3a
Ftest_UM6_spi$MARCSTATE$0$0 == 0xdf3b
_MARCSTATE	=	0xdf3b
Ftest_UM6_spi$PKTSTATUS$0$0 == 0xdf3c
_PKTSTATUS	=	0xdf3c
Ftest_UM6_spi$VCO_VC_DAC$0$0 == 0xdf3d
_VCO_VC_DAC	=	0xdf3d
Ftest_UM6_spi$I2SCFG0$0$0 == 0xdf40
_I2SCFG0	=	0xdf40
Ftest_UM6_spi$I2SCFG1$0$0 == 0xdf41
_I2SCFG1	=	0xdf41
Ftest_UM6_spi$I2SDATL$0$0 == 0xdf42
_I2SDATL	=	0xdf42
Ftest_UM6_spi$I2SDATH$0$0 == 0xdf43
_I2SDATH	=	0xdf43
Ftest_UM6_spi$I2SWCNT$0$0 == 0xdf44
_I2SWCNT	=	0xdf44
Ftest_UM6_spi$I2SSTAT$0$0 == 0xdf45
_I2SSTAT	=	0xdf45
Ftest_UM6_spi$I2SCLKF0$0$0 == 0xdf46
_I2SCLKF0	=	0xdf46
Ftest_UM6_spi$I2SCLKF1$0$0 == 0xdf47
_I2SCLKF1	=	0xdf47
Ftest_UM6_spi$I2SCLKF2$0$0 == 0xdf48
_I2SCLKF2	=	0xdf48
Ftest_UM6_spi$USBADDR$0$0 == 0xde00
_USBADDR	=	0xde00
Ftest_UM6_spi$USBPOW$0$0 == 0xde01
_USBPOW	=	0xde01
Ftest_UM6_spi$USBIIF$0$0 == 0xde02
_USBIIF	=	0xde02
Ftest_UM6_spi$USBOIF$0$0 == 0xde04
_USBOIF	=	0xde04
Ftest_UM6_spi$USBCIF$0$0 == 0xde06
_USBCIF	=	0xde06
Ftest_UM6_spi$USBIIE$0$0 == 0xde07
_USBIIE	=	0xde07
Ftest_UM6_spi$USBOIE$0$0 == 0xde09
_USBOIE	=	0xde09
Ftest_UM6_spi$USBCIE$0$0 == 0xde0b
_USBCIE	=	0xde0b
Ftest_UM6_spi$USBFRML$0$0 == 0xde0c
_USBFRML	=	0xde0c
Ftest_UM6_spi$USBFRMH$0$0 == 0xde0d
_USBFRMH	=	0xde0d
Ftest_UM6_spi$USBINDEX$0$0 == 0xde0e
_USBINDEX	=	0xde0e
Ftest_UM6_spi$USBMAXI$0$0 == 0xde10
_USBMAXI	=	0xde10
Ftest_UM6_spi$USBCSIL$0$0 == 0xde11
_USBCSIL	=	0xde11
Ftest_UM6_spi$USBCSIH$0$0 == 0xde12
_USBCSIH	=	0xde12
Ftest_UM6_spi$USBMAXO$0$0 == 0xde13
_USBMAXO	=	0xde13
Ftest_UM6_spi$USBCSOL$0$0 == 0xde14
_USBCSOL	=	0xde14
Ftest_UM6_spi$USBCSOH$0$0 == 0xde15
_USBCSOH	=	0xde15
Ftest_UM6_spi$USBCNTL$0$0 == 0xde16
_USBCNTL	=	0xde16
Ftest_UM6_spi$USBCNTH$0$0 == 0xde17
_USBCNTH	=	0xde17
Ftest_UM6_spi$USBF0$0$0 == 0xde20
_USBF0	=	0xde20
Ftest_UM6_spi$USBF1$0$0 == 0xde22
_USBF1	=	0xde22
Ftest_UM6_spi$USBF2$0$0 == 0xde24
_USBF2	=	0xde24
Ftest_UM6_spi$USBF3$0$0 == 0xde26
_USBF3	=	0xde26
Ftest_UM6_spi$USBF4$0$0 == 0xde28
_USBF4	=	0xde28
Ftest_UM6_spi$USBF5$0$0 == 0xde2a
_USBF5	=	0xde2a
G$report$0$0==.
_report::
	.ds 612
;--------------------------------------------------------
; absolute external ram data
;--------------------------------------------------------
	.area XABS    (ABS,XDATA)
;--------------------------------------------------------
; external initialized ram data
;--------------------------------------------------------
	.area XISEG   (XDATA)
G$IMU_txdata$0$0==.
_IMU_txdata::
	.ds 8
G$IMU_rxdata$0$0==.
_IMU_rxdata::
	.ds 8
	.area HOME    (CODE)
	.area GSINIT0 (CODE)
	.area GSINIT1 (CODE)
	.area GSINIT2 (CODE)
	.area GSINIT3 (CODE)
	.area GSINIT4 (CODE)
	.area GSINIT5 (CODE)
	.area GSINIT  (CODE)
	.area GSFINAL (CODE)
	.area CSEG    (CODE)
;--------------------------------------------------------
; interrupt vector 
;--------------------------------------------------------
	.area HOME    (CODE)
__interrupt_vect:
	ljmp	__sdcc_gsinit_startup
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	ljmp	_ISR_URX1
	.ds	5
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	reti
	.ds	7
	ljmp	_ISR_T4
;--------------------------------------------------------
; global & static initialisations
;--------------------------------------------------------
	.area HOME    (CODE)
	.area GSINIT  (CODE)
	.area GSFINAL (CODE)
	.area GSINIT  (CODE)
	.globl __sdcc_gsinit_startup
	.globl __sdcc_program_startup
	.globl __start__stack
	.globl __mcs51_genXINIT
	.globl __mcs51_genXRAMCLEAR
	.globl __mcs51_genRAMCLEAR
;------------------------------------------------------------
;Allocation info for local variables in function 'sendReportIfNeeded'
;------------------------------------------------------------
;sloc0                     Allocated with name '_sendReportIfNeeded_sloc0_1_0'
;------------------------------------------------------------
	G$sendReportIfNeeded$0$0 ==.
	C$test_UM6_spi.c$76$2$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:76: static count = 0;
	mov	r0,#_sendReportIfNeeded_count_1_1
	clr	a
	movx	@r0,a
	inc	r0
	movx	@r0,a
	G$main$0$0 ==.
	C$test_UM6_spi.c$45$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:45: uint16 DATA reportLength = 0;
	clr	a
	mov	_reportLength,a
	mov	(_reportLength + 1),a
	G$main$0$0 ==.
	C$test_UM6_spi.c$49$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:49: uint16 DATA reportBytesSent = 0;
	clr	a
	mov	_reportBytesSent,a
	mov	(_reportBytesSent + 1),a
	.area GSFINAL (CODE)
	ljmp	__sdcc_program_startup
;--------------------------------------------------------
; Home
;--------------------------------------------------------
	.area HOME    (CODE)
	.area HOME    (CODE)
__sdcc_program_startup:
	lcall	_main
;	return from main will lock up
	sjmp .
;--------------------------------------------------------
; code
;--------------------------------------------------------
	.area CSEG    (CODE)
;------------------------------------------------------------
;Allocation info for local variables in function 'spi_UM6_init'
;------------------------------------------------------------
;------------------------------------------------------------
	G$spi_UM6_init$0$0 ==.
	C$UM6.c$108$0$0 ==.
;	apps/test_UM6_spi/../UM6.c:108: void spi_UM6_init(){
;	-----------------------------------------
;	 function spi_UM6_init
;	-----------------------------------------
_spi_UM6_init:
	ar2 = 0x02
	ar3 = 0x03
	ar4 = 0x04
	ar5 = 0x05
	ar6 = 0x06
	ar7 = 0x07
	ar0 = 0x00
	ar1 = 0x01
	C$UM6.c$109$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:109: spi_UM6MasterInit();
	lcall	_spi1MasterInit
	C$UM6.c$110$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:110: spi_UM6MasterSetFrequency(230400);
	mov	dptr,#0x8400
	mov	b,#0x03
	clr	a
	lcall	_spi1MasterSetFrequency
	C$UM6.c$111$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:111: spi_UM6MasterSetClockPolarity(SPI_POLARITY_IDLE_LOW); // SCK LOW when no data is being transmitted
	clr	_spi1MasterSetClockPolarity_PARM_1
	lcall	_spi1MasterSetClockPolarity
	C$UM6.c$112$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:112: spi_UM6MasterSetClockPhase(SPI_PHASE_EDGE_LEADING);  // data sampled when clock goes from active to idle
	clr	_spi1MasterSetClockPhase_PARM_1
	lcall	_spi1MasterSetClockPhase
	C$UM6.c$113$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:113: spi_UM6MasterSetBitOrder(SPI_BIT_ORDER_MSB_FIRST);
	clr	_spi1MasterSetBitOrder_PARM_1
	C$UM6.c$114$1$1 ==.
	XG$spi_UM6_init$0$0 ==.
	ljmp	_spi1MasterSetBitOrder
;------------------------------------------------------------
;Allocation info for local variables in function 'read_UM6config'
;------------------------------------------------------------
;------------------------------------------------------------
	G$read_UM6config$0$0 ==.
	C$UM6.c$122$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:122: void read_UM6config(){
;	-----------------------------------------
;	 function read_UM6config
;	-----------------------------------------
_read_UM6config:
	C$UM6.c$127$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:127: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	C$UM6.c$128$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:128: IMU_txdata[1] = 0x00; // address = comm register
	clr	a
	movx	@dptr,a
	mov	dptr,#(_IMU_txdata + 0x0001)
	movx	@dptr,a
	C$UM6.c$129$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:129: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$130$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:130: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$131$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:131: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$132$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:132: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$134$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:134: if(IMU_rxdata[2] & (1<<6)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.6,00105$
	C$UM6.c$135$2$3 ==.
;	apps/test_UM6_spi/../UM6.c:135: printf("Broadcast mode ENABLED \n");
	mov	a,#__str_0
	push	acc
	mov	a,#(__str_0 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00106$
00105$:
	C$UM6.c$136$2$4 ==.
;	apps/test_UM6_spi/../UM6.c:136: }else{ printf("Broadcast mode DISABLED \n");}
	mov	a,#__str_1
	push	acc
	mov	a,#(__str_1 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00106$:
	C$UM6.c$137$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:137: if(IMU_rxdata[2] & (1<<5)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.5,00108$
	C$UM6.c$138$2$5 ==.
;	apps/test_UM6_spi/../UM6.c:138: printf("Raw Gyro data transmission ENABLED \n");
	mov	a,#__str_2
	push	acc
	mov	a,#(__str_2 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00109$
00108$:
	C$UM6.c$139$2$6 ==.
;	apps/test_UM6_spi/../UM6.c:139: }else{ printf("Raw Gyro data transmission DISABLED \n");}
	mov	a,#__str_3
	push	acc
	mov	a,#(__str_3 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00109$:
	C$UM6.c$140$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:140: if(IMU_rxdata[2] & (1<<4)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.4,00111$
	C$UM6.c$141$2$7 ==.
;	apps/test_UM6_spi/../UM6.c:141: printf("Raw accelerometer data transmission ENABLED \n");
	mov	a,#__str_4
	push	acc
	mov	a,#(__str_4 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00112$
00111$:
	C$UM6.c$142$2$8 ==.
;	apps/test_UM6_spi/../UM6.c:142: }else{ printf("Raw accelerometer data transmission DISABLED \n");}
	mov	a,#__str_5
	push	acc
	mov	a,#(__str_5 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00112$:
	C$UM6.c$143$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:143: if(IMU_rxdata[2] & (1<<3)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.3,00114$
	C$UM6.c$144$2$9 ==.
;	apps/test_UM6_spi/../UM6.c:144: printf("Raw magnetometer data transmission ENABLED \n");
	mov	a,#__str_6
	push	acc
	mov	a,#(__str_6 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00115$
00114$:
	C$UM6.c$145$2$10 ==.
;	apps/test_UM6_spi/../UM6.c:145: }else{ printf("Raw magnetometer data transmission DISABLED \n");}
	mov	a,#__str_7
	push	acc
	mov	a,#(__str_7 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00115$:
	C$UM6.c$146$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:146: if(IMU_rxdata[2] & (1<<2)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.2,00117$
	C$UM6.c$147$2$11 ==.
;	apps/test_UM6_spi/../UM6.c:147: printf("Processed Gyro data transmission ENABLED \n");
	mov	a,#__str_8
	push	acc
	mov	a,#(__str_8 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00118$
00117$:
	C$UM6.c$148$2$12 ==.
;	apps/test_UM6_spi/../UM6.c:148: }else{ printf("Processed Gyro data transmission DISABLED \n");}
	mov	a,#__str_9
	push	acc
	mov	a,#(__str_9 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00118$:
	C$UM6.c$149$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:149: if(IMU_rxdata[2] & (1)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.0,00120$
	C$UM6.c$150$2$13 ==.
;	apps/test_UM6_spi/../UM6.c:150: printf("Processed accelerometer data transmission ENABLED \n");
	mov	a,#__str_10
	push	acc
	mov	a,#(__str_10 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00121$
00120$:
	C$UM6.c$151$2$14 ==.
;	apps/test_UM6_spi/../UM6.c:151: }else{ printf("Processed accelerometer data transmission DISABLED \n");}
	mov	a,#__str_11
	push	acc
	mov	a,#(__str_11 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00121$:
	C$UM6.c$152$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:152: if(IMU_rxdata[3] & (1<<7)){
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.7,00123$
	C$UM6.c$153$2$15 ==.
;	apps/test_UM6_spi/../UM6.c:153: printf("Processed magnetometer data transmission ENABLED \n");
	mov	a,#__str_12
	push	acc
	mov	a,#(__str_12 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00124$
00123$:
	C$UM6.c$154$2$16 ==.
;	apps/test_UM6_spi/../UM6.c:154: }else{ printf("Processed magnetometer data transmission DISABLED \n");}
	mov	a,#__str_13
	push	acc
	mov	a,#(__str_13 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00124$:
	C$UM6.c$155$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:155: if(IMU_rxdata[3] & (1<<6)){
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.6,00126$
	C$UM6.c$156$2$17 ==.
;	apps/test_UM6_spi/../UM6.c:156: printf("Quat transmission ENABLED \n");
	mov	a,#__str_14
	push	acc
	mov	a,#(__str_14 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00127$
00126$:
	C$UM6.c$157$2$18 ==.
;	apps/test_UM6_spi/../UM6.c:157: }else{ printf("Quat transmission  DISABLED \n");}
	mov	a,#__str_15
	push	acc
	mov	a,#(__str_15 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00127$:
	C$UM6.c$158$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:158: if(IMU_rxdata[3] & (1<<5)){
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.5,00129$
	C$UM6.c$159$2$19 ==.
;	apps/test_UM6_spi/../UM6.c:159: printf("Euler angle transmission ENABLED \n");
	mov	a,#__str_16
	push	acc
	mov	a,#(__str_16 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00130$
00129$:
	C$UM6.c$160$2$20 ==.
;	apps/test_UM6_spi/../UM6.c:160: }else{ printf("Euler angle transmission DISABLED \n");}
	mov	a,#__str_17
	push	acc
	mov	a,#(__str_17 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00130$:
	C$UM6.c$161$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:161: if(IMU_rxdata[3] & (1<<4)){
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.4,00132$
	C$UM6.c$162$2$21 ==.
;	apps/test_UM6_spi/../UM6.c:162: printf("COV mat transmission ENABLED \n");
	mov	a,#__str_18
	push	acc
	mov	a,#(__str_18 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00133$
00132$:
	C$UM6.c$163$2$22 ==.
;	apps/test_UM6_spi/../UM6.c:163: }else{ printf("COV mat transmission DISABLED \n");}
	mov	a,#__str_19
	push	acc
	mov	a,#(__str_19 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00133$:
	C$UM6.c$165$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:165: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$166$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:166: IMU_txdata[1] = 0x01; // address = misc_config register
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$167$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:167: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$168$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:168: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$169$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:169: while(spi_UM6MasterBusy()){ }
00134$:
	lcall	_spi1MasterBusy
	jc	00134$
	C$UM6.c$170$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:170: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$171$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:171: if(IMU_rxdata[2] & (1<<7)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.7,00138$
	C$UM6.c$172$2$24 ==.
;	apps/test_UM6_spi/../UM6.c:172: printf("EKF magnetometer updates (yaw correction) ENABLED \n");
	mov	a,#__str_20
	push	acc
	mov	a,#(__str_20 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00139$
00138$:
	C$UM6.c$173$2$25 ==.
;	apps/test_UM6_spi/../UM6.c:173: }else { printf("EKF magnetometer updates (yaw correction) DISABLED \n");}
	mov	a,#__str_21
	push	acc
	mov	a,#(__str_21 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00139$:
	C$UM6.c$174$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:174: if(IMU_rxdata[2] & (1<<6)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.6,00141$
	C$UM6.c$175$2$26 ==.
;	apps/test_UM6_spi/../UM6.c:175: printf("EKF accelerometer updates (roll & pitch correction) ENABLED \n");
	mov	a,#__str_22
	push	acc
	mov	a,#(__str_22 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00142$
00141$:
	C$UM6.c$176$2$27 ==.
;	apps/test_UM6_spi/../UM6.c:176: }else { printf("EKF accelerometer updates (roll & pitch correction) DISABLED \n");}
	mov	a,#__str_23
	push	acc
	mov	a,#(__str_23 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00142$:
	C$UM6.c$177$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:177: if(IMU_rxdata[2] & (1<<5)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.5,00144$
	C$UM6.c$178$2$28 ==.
;	apps/test_UM6_spi/../UM6.c:178: printf("Startup Gyro Calibration ENABLED \n");
	mov	a,#__str_24
	push	acc
	mov	a,#(__str_24 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	sjmp	00145$
00144$:
	C$UM6.c$179$2$29 ==.
;	apps/test_UM6_spi/../UM6.c:179: }else { printf("Startup Gyro Calibration DISABLED \n");}
	mov	a,#__str_25
	push	acc
	mov	a,#(__str_25 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
00145$:
	C$UM6.c$180$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:180: if(IMU_rxdata[2] & (1<<4)){
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	jnb	acc.4,00147$
	C$UM6.c$181$2$30 ==.
;	apps/test_UM6_spi/../UM6.c:181: printf("Quaternion state estimation ENABLED \n");
	mov	a,#__str_26
	push	acc
	mov	a,#(__str_26 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	ret
00147$:
	C$UM6.c$182$2$31 ==.
;	apps/test_UM6_spi/../UM6.c:182: }else { printf("Quaternion state estimation DISABLED \n");}
	mov	a,#__str_27
	push	acc
	mov	a,#(__str_27 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	C$UM6.c$183$1$1 ==.
	XG$read_UM6config$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'write_UM6comm'
;------------------------------------------------------------
;------------------------------------------------------------
	G$write_UM6comm$0$0 ==.
	C$UM6.c$187$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:187: void write_UM6comm(){
;	-----------------------------------------
;	 function write_UM6comm
;	-----------------------------------------
_write_UM6comm:
	C$UM6.c$188$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:188: IMU_txdata[0] =0x01; // write command
	mov	dptr,#_IMU_txdata
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$189$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:189: IMU_txdata[1]=0x00; // address of the UM6_Comm register
	mov	dptr,#(_IMU_txdata + 0x0001)
	clr	a
	movx	@dptr,a
	C$UM6.c$190$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:190: IMU_txdata[2] = 0x38; //Byte4
	mov	dptr,#(_IMU_txdata + 0x0002)
	mov	a,#0x38
	movx	@dptr,a
	C$UM6.c$191$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:191: IMU_txdata[3] = 0x40; // Byte3
	mov	dptr,#(_IMU_txdata + 0x0003)
	mov	a,#0x40
	movx	@dptr,a
	C$UM6.c$192$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:192: IMU_txdata[4]= 0x05; //Byte2
	mov	dptr,#(_IMU_txdata + 0x0004)
	mov	a,#0x05
	movx	@dptr,a
	C$UM6.c$193$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:193: IMU_txdata[5] = 0x00; //Byte1
	mov	dptr,#(_IMU_txdata + 0x0005)
	clr	a
	movx	@dptr,a
	C$UM6.c$194$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:194: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$195$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:195: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$196$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:196: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$197$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:197: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:203: void Zero_Gyros(){
;	-----------------------------------------
;	 function Zero_Gyros
;	-----------------------------------------
_Zero_Gyros:
	C$UM6.c$204$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:204: IMU_rxdata[0] =0x01; // write command
	mov	dptr,#_IMU_rxdata
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$205$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:205: IMU_rxdata[1]=0xAC; // command byte to determine gyro biases
	mov	dptr,#(_IMU_rxdata + 0x0001)
	mov	a,#0xAC
	movx	@dptr,a
	C$UM6.c$206$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:206: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$207$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:207: spi_UM6MasterTransfer(IMU_rxdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_rxdata
	lcall	_spi1MasterTransfer
	C$UM6.c$208$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:208: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$209$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:209: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:214: void write_UM6_Miscconfig(){
;	-----------------------------------------
;	 function write_UM6_Miscconfig
;	-----------------------------------------
_write_UM6_Miscconfig:
	C$UM6.c$215$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:215: IMU_rxdata[0] =0x01; // write command
	mov	dptr,#_IMU_rxdata
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$216$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:216: IMU_rxdata[1]=0x01; // Address of MISC_CONFIG register
	mov	dptr,#(_IMU_rxdata + 0x0001)
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$217$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:217: IMU_rxdata[2] = 0x50;
	mov	dptr,#(_IMU_rxdata + 0x0002)
	mov	a,#0x50
	movx	@dptr,a
	C$UM6.c$218$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:218: IMU_rxdata[3] = 0x0;
	mov	dptr,#(_IMU_rxdata + 0x0003)
	C$UM6.c$219$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:219: IMU_rxdata[4]= 0x0;
	C$UM6.c$220$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:220: IMU_rxdata[5] = 0x0;
	clr	a
	movx	@dptr,a
	mov	dptr,#(_IMU_rxdata + 0x0004)
	movx	@dptr,a
	mov	dptr,#(_IMU_rxdata + 0x0005)
	movx	@dptr,a
	C$UM6.c$221$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:221: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$222$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:222: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$223$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:223: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$224$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:224: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:229: void read_accel_rawZ(){
;	-----------------------------------------
;	 function read_accel_rawZ
;	-----------------------------------------
_read_accel_rawZ:
	C$UM6.c$230$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:230: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$231$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:231: IMU_txdata[1] = 0x5b; // address of accelrawZ
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5B
	movx	@dptr,a
	C$UM6.c$232$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:232: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$233$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:233: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$234$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:234: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$235$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:235: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$236$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:236: accelrawZ.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_accelrawZ
	mov	a,r2
	movx	@r0,a
	C$UM6.c$237$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:237: accelrawZ.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_accelrawZ + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:243: void read_euler_psi(){
;	-----------------------------------------
;	 function read_euler_psi
;	-----------------------------------------
_read_euler_psi:
	C$UM6.c$244$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:244: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$245$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:245: IMU_txdata[1] = 0x63; // address = accelrawz
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x63
	movx	@dptr,a
	C$UM6.c$246$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:246: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$247$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:247: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$248$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:248: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$249$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:249: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$250$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:250: euler_psi.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_euler_psi
	mov	a,r2
	movx	@r0,a
	C$UM6.c$251$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:251: euler_psi.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_euler_psi + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:258: void read_euler_phi_theta(){
;	-----------------------------------------
;	 function read_euler_phi_theta
;	-----------------------------------------
_read_euler_phi_theta:
	C$UM6.c$259$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:259: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$260$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:260: IMU_txdata[1] = 0x62; // address = accelrawz
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x62
	movx	@dptr,a
	C$UM6.c$261$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:261: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$262$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:262: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$263$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:263: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$264$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:264: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$265$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:265: euler_phi.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_euler_phi
	mov	a,r2
	movx	@r0,a
	C$UM6.c$266$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:266: euler_phi.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_euler_phi + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$267$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:267: euler_theta.temp[0] = IMU_rxdata[5];
	mov	dptr,#(_IMU_rxdata + 0x0005)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_euler_theta
	mov	a,r2
	movx	@r0,a
	C$UM6.c$268$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:268: euler_theta.temp[1] = IMU_rxdata[4];
	mov	dptr,#(_IMU_rxdata + 0x0004)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_euler_theta + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:274: void read_accel_procZ(){
;	-----------------------------------------
;	 function read_accel_procZ
;	-----------------------------------------
_read_accel_procZ:
	C$UM6.c$275$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:275: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$276$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:276: IMU_txdata[1] = 0x5f; // address of processed accelZ register
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5F
	movx	@dptr,a
	C$UM6.c$277$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:277: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$278$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:278: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$279$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:279: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$280$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:280: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$282$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:282: accelprocZ.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_accelprocZ
	mov	a,r2
	movx	@r0,a
	C$UM6.c$283$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:283: accelprocZ.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_accelprocZ + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:289: void read_gyro_procZ(){
;	-----------------------------------------
;	 function read_gyro_procZ
;	-----------------------------------------
_read_gyro_procZ:
	C$UM6.c$290$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:290: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$291$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:291: IMU_txdata[1] = 0x5d; // address of processed gyroZ register
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5D
	movx	@dptr,a
	C$UM6.c$292$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:292: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$293$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:293: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$294$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:294: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$295$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:295: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$297$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:297: gyroprocZ.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_gyroprocZ
	mov	a,r2
	movx	@r0,a
	C$UM6.c$298$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:298: gyroprocZ.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_gyroprocZ + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:304: void read_accel_procXY(){
;	-----------------------------------------
;	 function read_accel_procXY
;	-----------------------------------------
_read_accel_procXY:
	C$UM6.c$305$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:305: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$306$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:306: IMU_txdata[1] = 0x5E; // address = accelprocxy
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5E
	movx	@dptr,a
	C$UM6.c$307$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:307: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$308$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:308: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$309$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:309: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$310$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:310: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$312$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:312: accelprocX.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_accelprocX
	mov	a,r2
	movx	@r0,a
	C$UM6.c$313$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:313: accelprocX.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_accelprocX + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$314$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:314: accelprocY.temp[0] = IMU_rxdata[5];
	mov	dptr,#(_IMU_rxdata + 0x0005)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_accelprocY
	mov	a,r2
	movx	@r0,a
	C$UM6.c$315$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:315: accelprocY.temp[1] = IMU_rxdata[4];
	mov	dptr,#(_IMU_rxdata + 0x0004)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_accelprocY + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:322: void read_gyro_procXY(){
;	-----------------------------------------
;	 function read_gyro_procXY
;	-----------------------------------------
_read_gyro_procXY:
	C$UM6.c$323$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:323: IMU_txdata[0] = 0; //read command
	mov	dptr,#_IMU_txdata
	clr	a
	movx	@dptr,a
	C$UM6.c$324$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:324: IMU_txdata[1] = 0x5C; // address = accelprocxy
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0x5C
	movx	@dptr,a
	C$UM6.c$325$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:325: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$326$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:326: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$327$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:327: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$328$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:328: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$330$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:330: gyroprocX.temp[0] = IMU_rxdata[3];
	mov	dptr,#(_IMU_rxdata + 0x0003)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_gyroprocX
	mov	a,r2
	movx	@r0,a
	C$UM6.c$331$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:331: gyroprocX.temp[1] = IMU_rxdata[2];
	mov	dptr,#(_IMU_rxdata + 0x0002)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_gyroprocX + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$UM6.c$332$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:332: gyroprocY.temp[0] = IMU_rxdata[5];
	mov	dptr,#(_IMU_rxdata + 0x0005)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#_gyroprocY
	mov	a,r2
	movx	@r0,a
	C$UM6.c$333$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:333: gyroprocY.temp[1] = IMU_rxdata[4];
	mov	dptr,#(_IMU_rxdata + 0x0004)
	movx	a,@dptr
	mov	r2,a
	mov	r0,#(_gyroprocY + 0x0001)
	mov	a,r2
	movx	@r0,a
	C$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$1 ==.
;	apps/test_UM6_spi/../UM6.c:341: void UM6_flash_commit(){
;	-----------------------------------------
;	 function UM6_flash_commit
;	-----------------------------------------
_UM6_flash_commit:
	C$UM6.c$342$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:342: IMU_txdata[0] = 1; //write command
	mov	dptr,#_IMU_txdata
	mov	a,#0x01
	movx	@dptr,a
	C$UM6.c$343$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:343: IMU_txdata[1] = 0xAB; // UM6_Flash_commit command (nothing is written to the register)
	mov	dptr,#(_IMU_txdata + 0x0001)
	mov	a,#0xAB
	movx	@dptr,a
	C$UM6.c$344$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:344: IMU_CSlow;
	clr	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	lcall	_setDigitalOutput
	C$UM6.c$345$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:345: spi_UM6MasterTransfer(IMU_txdata,IMU_rxdata,6);
	mov	r0,#_spi1MasterTransfer_PARM_2
	mov	a,#_IMU_rxdata
	movx	@r0,a
	inc	r0
	mov	a,#(_IMU_rxdata >> 8)
	movx	@r0,a
	mov	r0,#_spi1MasterTransfer_PARM_3
	mov	a,#0x06
	movx	@r0,a
	inc	r0
	clr	a
	movx	@r0,a
	mov	dptr,#_IMU_txdata
	lcall	_spi1MasterTransfer
	C$UM6.c$346$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:346: while(spi_UM6MasterBusy()){ }
00101$:
	lcall	_spi1MasterBusy
	jc	00101$
	C$UM6.c$347$1$1 ==.
;	apps/test_UM6_spi/../UM6.c:347: IMU_CShigh;
	setb	b[0]
	mov	bits,b
	mov	dpl,#0x0E
	C$UM6.c$348$1$1 ==.
	XG$UM6_flash_commit$0$0 ==.
	ljmp	_setDigitalOutput
;------------------------------------------------------------
;Allocation info for local variables in function 'updateLeds'
;------------------------------------------------------------
;------------------------------------------------------------
	G$updateLeds$0$0 ==.
	C$test_UM6_spi.c$54$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:54: void updateLeds()
;	-----------------------------------------
;	 function updateLeds
;	-----------------------------------------
_updateLeds:
	C$test_UM6_spi.c$56$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:56: usbShowStatusWithGreenLed();
	C$test_UM6_spi.c$59$1$1 ==.
	XG$updateLeds$0$0 ==.
	ljmp	_usbShowStatusWithGreenLed
;------------------------------------------------------------
;Allocation info for local variables in function 'putchar'
;------------------------------------------------------------
;------------------------------------------------------------
	G$putchar$0$0 ==.
	C$test_UM6_spi.c$63$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:63: void putchar(char c)
;	-----------------------------------------
;	 function putchar
;	-----------------------------------------
_putchar:
	mov	r2,dpl
	C$test_UM6_spi.c$65$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:65: report[reportLength] = c;
	mov	a,_reportLength
	add	a,#_report
	mov	dpl,a
	mov	a,(_reportLength + 1)
	addc	a,#(_report >> 8)
	mov	dph,a
	mov	a,r2
	movx	@dptr,a
	C$test_UM6_spi.c$66$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:66: reportLength++;
	inc	_reportLength
	clr	a
	cjne	a,_reportLength,00103$
	inc	(_reportLength + 1)
00103$:
	C$test_UM6_spi.c$67$1$1 ==.
	XG$putchar$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'sendReportIfNeeded'
;------------------------------------------------------------
;sloc0                     Allocated with name '_sendReportIfNeeded_sloc0_1_0'
;------------------------------------------------------------
	G$sendReportIfNeeded$0$0 ==.
	C$test_UM6_spi.c$71$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:71: void sendReportIfNeeded()
;	-----------------------------------------
;	 function sendReportIfNeeded
;	-----------------------------------------
_sendReportIfNeeded:
	C$test_UM6_spi.c$79$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:79: if (getMs() - lastReport >= param_report_period_ms && reportLength == 0)
	lcall	_getMs
	mov	r2,dpl
	mov	r3,dph
	mov	r4,b
	mov	r5,a
	mov	r0,#_sendReportIfNeeded_lastReport_1_1
	setb	c
	movx	a,@r0
	subb	a,r2
	cpl	a
	cpl	c
	mov	_sendReportIfNeeded_sloc0_1_0,a
	cpl	c
	inc	r0
	movx	a,@r0
	subb	a,r3
	cpl	a
	cpl	c
	mov	(_sendReportIfNeeded_sloc0_1_0 + 1),a
	cpl	c
	inc	r0
	movx	a,@r0
	subb	a,r4
	cpl	a
	cpl	c
	mov	(_sendReportIfNeeded_sloc0_1_0 + 2),a
	cpl	c
	inc	r0
	movx	a,@r0
	subb	a,r5
	cpl	a
	mov	(_sendReportIfNeeded_sloc0_1_0 + 3),a
	mov	dptr,#_param_report_period_ms
	clr	a
	movc	a,@a+dptr
	mov	r6,a
	mov	a,#0x01
	movc	a,@a+dptr
	mov	r7,a
	mov	a,#0x02
	movc	a,@a+dptr
	mov	r2,a
	mov	a,#0x03
	movc	a,@a+dptr
	mov	r3,a
	clr	c
	mov	a,_sendReportIfNeeded_sloc0_1_0
	subb	a,r6
	mov	a,(_sendReportIfNeeded_sloc0_1_0 + 1)
	subb	a,r7
	mov	a,(_sendReportIfNeeded_sloc0_1_0 + 2)
	subb	a,r2
	mov	a,(_sendReportIfNeeded_sloc0_1_0 + 3)
	subb	a,r3
	jnc	00121$
	ljmp	00106$
00121$:
	mov	a,_reportLength
	orl	a,(_reportLength + 1)
	jz	00122$
	ljmp	00106$
00122$:
	C$test_UM6_spi.c$81$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:81: lastReport = getMs();
	lcall	_getMs
	mov	r2,dpl
	mov	r3,dph
	mov	r4,b
	mov	r5,a
	mov	r0,#_sendReportIfNeeded_lastReport_1_1
	mov	a,r2
	movx	@r0,a
	inc	r0
	mov	a,r3
	movx	@r0,a
	inc	r0
	mov	a,r4
	movx	@r0,a
	inc	r0
	mov	a,r5
	movx	@r0,a
	C$test_UM6_spi.c$82$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:82: reportBytesSent = 0;
	clr	a
	mov	_reportBytesSent,a
	mov	(_reportBytesSent + 1),a
	C$test_UM6_spi.c$83$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:83: if(count > 100){
	mov	r0,#_sendReportIfNeeded_count_1_1
	clr	c
	movx	a,@r0
	mov	b,a
	mov	a,#0x64
	subb	a,b
	inc	r0
	movx	a,@r0
	mov	b,a
	mov	a,#(0x00 ^ 0x80)
	xrl	b,#0x80
	subb	a,b
	jnc	00102$
	C$test_UM6_spi.c$86$3$3 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:86: count = 0;
	mov	r0,#_sendReportIfNeeded_count_1_1
	clr	a
	movx	@r0,a
	inc	r0
	movx	@r0,a
00102$:
	C$test_UM6_spi.c$88$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:88: count++;
	mov	r0,#_sendReportIfNeeded_count_1_1
	movx	a,@r0
	add	a,#0x01
	movx	@r0,a
	inc	r0
	movx	a,@r0
	addc	a,#0x00
	movx	@r0,a
	C$test_UM6_spi.c$91$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:91: if (param_bar_graph)
	mov	dptr,#_param_bar_graph
	clr	a
	movc	a,@a+dptr
	mov	r2,a
	mov	a,#0x01
	movc	a,@a+dptr
	mov	r3,a
	mov	a,#0x02
	movc	a,@a+dptr
	mov	r4,a
	mov	a,#0x03
	movc	a,@a+dptr
	mov	r5,a
	mov	a,r2
	orl	a,r3
	orl	a,r4
	orl	a,r5
	jnz	00124$
	ljmp	00104$
00124$:
	C$test_UM6_spi.c$93$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:93: printf("\x1B[0;0H");  // VT100 command for "go to 0,0"
	mov	a,#__str_28
	push	acc
	mov	a,#(__str_28 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	dec	sp
	dec	sp
	dec	sp
	C$test_UM6_spi.c$96$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:96: printf("accelrawZ is : %d \n",accelrawZ.val);
	mov	r0,#_accelrawZ
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_29
	push	acc
	mov	a,#(__str_29 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
	C$test_UM6_spi.c$97$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:97: printf("accelZ is : %d \n",accelprocZ.val);	
	mov	r0,#_accelprocZ
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_30
	push	acc
	mov	a,#(__str_30 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
	C$test_UM6_spi.c$98$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:98: printf("accelX is : %d \n",accelprocX.val);
	mov	r0,#_accelprocX
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_31
	push	acc
	mov	a,#(__str_31 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
	C$test_UM6_spi.c$99$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:99: printf("accelY is : %d \n",accelprocY.val);
	mov	r0,#_accelprocY
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_32
	push	acc
	mov	a,#(__str_32 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
	C$test_UM6_spi.c$100$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:100: printf("gyroZ is : %d \n",gyroprocZ.val);	
	mov	r0,#_gyroprocZ
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_33
	push	acc
	mov	a,#(__str_33 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
	C$test_UM6_spi.c$101$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:101: printf("gyroX is : %d \n",gyroprocX.val);
	mov	r0,#_gyroprocX
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_34
	push	acc
	mov	a,#(__str_34 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
	C$test_UM6_spi.c$102$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:102: printf("gyroY is : %d \n",gyroprocY.val);
	mov	r0,#_gyroprocY
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_35
	push	acc
	mov	a,#(__str_35 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
	C$test_UM6_spi.c$103$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:103: printf("euler_psi is : %d \n",euler_psi.val);
	mov	r0,#_euler_psi
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_36
	push	acc
	mov	a,#(__str_36 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
	C$test_UM6_spi.c$104$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:104: printf("euler_phi is : %d \n",euler_phi.val);
	mov	r0,#_euler_phi
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_37
	push	acc
	mov	a,#(__str_37 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
	C$test_UM6_spi.c$105$3$4 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:105: printf("euler_theta is : %d \n",euler_theta.val);
	mov	r0,#_euler_theta
	movx	a,@r0
	mov	r2,a
	inc	r0
	movx	a,@r0
	mov	r3,a
	push	ar2
	push	ar3
	mov	a,#__str_38
	push	acc
	mov	a,#(__str_38 >> 8)
	push	acc
	mov	a,#0x80
	push	acc
	lcall	_printf
	mov	a,sp
	add	a,#0xfb
	mov	sp,a
00104$:
	C$test_UM6_spi.c$111$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:111: read_accel_procXY();
	lcall	_read_accel_procXY
	C$test_UM6_spi.c$112$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:112: read_accel_procZ();
	lcall	_read_accel_procZ
	C$test_UM6_spi.c$113$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:113: read_gyro_procXY();
	lcall	_read_gyro_procXY
	C$test_UM6_spi.c$114$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:114: read_gyro_procZ();
	lcall	_read_gyro_procZ
	C$test_UM6_spi.c$115$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:115: read_accel_rawZ();
	lcall	_read_accel_rawZ
	C$test_UM6_spi.c$116$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:116: read_euler_psi();
	lcall	_read_euler_psi
	C$test_UM6_spi.c$117$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:117: read_euler_phi_theta();
	lcall	_read_euler_phi_theta
00106$:
	C$test_UM6_spi.c$121$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:121: if (reportLength > 0)
	mov	a,_reportLength
	orl	a,(_reportLength + 1)
	jz	00113$
	C$test_UM6_spi.c$123$2$5 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:123: bytesToSend = usbComTxAvailable();
	lcall	_usbComTxAvailable
	mov	r2,dpl
	C$test_UM6_spi.c$124$2$5 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:124: if (bytesToSend > reportLength - reportBytesSent)
	mov	a,_reportLength
	clr	c
	subb	a,_reportBytesSent
	mov	r3,a
	mov	a,(_reportLength + 1)
	subb	a,(_reportBytesSent + 1)
	mov	r4,a
	mov	ar5,r2
	mov	r6,#0x00
	clr	c
	mov	a,r3
	subb	a,r5
	mov	a,r4
	subb	a,r6
	jnc	00109$
	C$test_UM6_spi.c$127$3$6 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:127: usbComTxSend(report+reportBytesSent, reportLength - reportBytesSent);
	mov	a,_reportBytesSent
	add	a,#_report
	mov	dpl,a
	mov	a,(_reportBytesSent + 1)
	addc	a,#(_report >> 8)
	mov	dph,a
	mov	r3,_reportLength
	mov	r4,_reportBytesSent
	mov	a,r3
	clr	c
	subb	a,r4
	mov	r0,#_usbComTxSend_PARM_2
	movx	@r0,a
	lcall	_usbComTxSend
	C$test_UM6_spi.c$128$3$6 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:128: reportLength = 0;
	clr	a
	mov	_reportLength,a
	mov	(_reportLength + 1),a
	ret
00109$:
	C$test_UM6_spi.c$132$3$7 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:132: usbComTxSend(report+reportBytesSent, bytesToSend);
	mov	a,_reportBytesSent
	add	a,#_report
	mov	dpl,a
	mov	a,(_reportBytesSent + 1)
	addc	a,#(_report >> 8)
	mov	dph,a
	mov	r0,#_usbComTxSend_PARM_2
	mov	a,r2
	movx	@r0,a
	push	ar2
	lcall	_usbComTxSend
	pop	ar2
	C$test_UM6_spi.c$133$3$7 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:133: reportBytesSent += bytesToSend;
	mov	r3,#0x00
	mov	a,r2
	add	a,_reportBytesSent
	mov	_reportBytesSent,a
	mov	a,r3
	addc	a,(_reportBytesSent + 1)
	mov	(_reportBytesSent + 1),a
00113$:
	C$test_UM6_spi.c$137$2$1 ==.
	XG$sendReportIfNeeded$0$0 ==.
	ret
;------------------------------------------------------------
;Allocation info for local variables in function 'main'
;------------------------------------------------------------
;------------------------------------------------------------
	G$main$0$0 ==.
	C$test_UM6_spi.c$141$2$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:141: void main()
;	-----------------------------------------
;	 function main
;	-----------------------------------------
_main:
	C$test_UM6_spi.c$143$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:143: systemInit();
	lcall	_systemInit
	C$test_UM6_spi.c$144$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:144: usbInit();
	lcall	_usbInit
	C$test_UM6_spi.c$146$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:146: spi_UM6_init(); // Initialize SPI for communicating with UM6
	lcall	_spi_UM6_init
	C$test_UM6_spi.c$147$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:147: Zero_Gyros();
	lcall	_Zero_Gyros
	C$test_UM6_spi.c$150$1$1 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:150: while(1)
00102$:
	C$test_UM6_spi.c$152$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:152: boardService(); //Checks to see if the yellow LED line (P2_2) is connected to 3V3. If they are connected, then it starts the bootloader by calling boardStartBootloader. This function is called by boardService. If you call this function regularly, then it provides a relatively easy way to get into bootloader mode if you can't do it with a USB command. Currently this function only works while the yellow LED is off.
	lcall	_boardService
	C$test_UM6_spi.c$153$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:153: updateLeds(); 
	lcall	_updateLeds
	C$test_UM6_spi.c$154$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:154: usbComService();
	lcall	_usbComService
	C$test_UM6_spi.c$159$2$2 ==.
;	apps/test_UM6_spi/test_UM6_spi.c:159: sendReportIfNeeded();
	lcall	_sendReportIfNeeded
	C$test_UM6_spi.c$161$1$1 ==.
	XG$main$0$0 ==.
	sjmp	00102$
	.area CSEG    (CODE)
	.area CONST   (CODE)
Ftest_UM6_spi$_str_0$0$0 == .
__str_0:
	.ascii "Broadcast mode ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_1$0$0 == .
__str_1:
	.ascii "Broadcast mode DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_2$0$0 == .
__str_2:
	.ascii "Raw Gyro data transmission ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_3$0$0 == .
__str_3:
	.ascii "Raw Gyro data transmission DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_4$0$0 == .
__str_4:
	.ascii "Raw accelerometer data transmission ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_5$0$0 == .
__str_5:
	.ascii "Raw accelerometer data transmission DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_6$0$0 == .
__str_6:
	.ascii "Raw magnetometer data transmission ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_7$0$0 == .
__str_7:
	.ascii "Raw magnetometer data transmission DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_8$0$0 == .
__str_8:
	.ascii "Processed Gyro data transmission ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_9$0$0 == .
__str_9:
	.ascii "Processed Gyro data transmission DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_10$0$0 == .
__str_10:
	.ascii "Processed accelerometer data transmission ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_11$0$0 == .
__str_11:
	.ascii "Processed accelerometer data transmission DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_12$0$0 == .
__str_12:
	.ascii "Processed magnetometer data transmission ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_13$0$0 == .
__str_13:
	.ascii "Processed magnetometer data transmission DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_14$0$0 == .
__str_14:
	.ascii "Quat transmission ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_15$0$0 == .
__str_15:
	.ascii "Quat transmission  DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_16$0$0 == .
__str_16:
	.ascii "Euler angle transmission ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_17$0$0 == .
__str_17:
	.ascii "Euler angle transmission DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_18$0$0 == .
__str_18:
	.ascii "COV mat transmission ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_19$0$0 == .
__str_19:
	.ascii "COV mat transmission DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_20$0$0 == .
__str_20:
	.ascii "EKF magnetometer updates (yaw correction) ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_21$0$0 == .
__str_21:
	.ascii "EKF magnetometer updates (yaw correction) DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_22$0$0 == .
__str_22:
	.ascii "EKF accelerometer updates (roll & pitch correction) ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_23$0$0 == .
__str_23:
	.ascii "EKF accelerometer updates (roll & pitch correction) DISABLED"
	.ascii " "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_24$0$0 == .
__str_24:
	.ascii "Startup Gyro Calibration ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_25$0$0 == .
__str_25:
	.ascii "Startup Gyro Calibration DISABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_26$0$0 == .
__str_26:
	.ascii "Quaternion state estimation ENABLED "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_27$0$0 == .
__str_27:
	.ascii "Quaternion state estimation DISABLED "
	.db 0x0A
	.db 0x00
G$param_input_mode$0$0 == .
_param_input_mode:
	.byte #0x00,#0x00,#0x00,#0x00	;  0
G$param_bar_graph$0$0 == .
_param_bar_graph:
	.byte #0x01,#0x00,#0x00,#0x00	;  1
G$param_report_period_ms$0$0 == .
_param_report_period_ms:
	.byte #0x28,#0x00,#0x00,#0x00	;  40
Ftest_UM6_spi$_str_28$0$0 == .
__str_28:
	.db 0x1B
	.ascii "[0;0H"
	.db 0x00
Ftest_UM6_spi$_str_29$0$0 == .
__str_29:
	.ascii "accelrawZ is : %d "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_30$0$0 == .
__str_30:
	.ascii "accelZ is : %d "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_31$0$0 == .
__str_31:
	.ascii "accelX is : %d "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_32$0$0 == .
__str_32:
	.ascii "accelY is : %d "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_33$0$0 == .
__str_33:
	.ascii "gyroZ is : %d "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_34$0$0 == .
__str_34:
	.ascii "gyroX is : %d "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_35$0$0 == .
__str_35:
	.ascii "gyroY is : %d "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_36$0$0 == .
__str_36:
	.ascii "euler_psi is : %d "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_37$0$0 == .
__str_37:
	.ascii "euler_phi is : %d "
	.db 0x0A
	.db 0x00
Ftest_UM6_spi$_str_38$0$0 == .
__str_38:
	.ascii "euler_theta is : %d "
	.db 0x0A
	.db 0x00
	.area XINIT   (CODE)
Ftest_UM6_spi$__xinit_IMU_txdata$0$0 == .
__xinit__IMU_txdata:
	.db #0x00	; 0
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
	.db 0x00
Ftest_UM6_spi$__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)