                                     typedef
                                     struct
                                     {
                                     int
                                     ADC
                                     [
                                     8
                                     ]
                                     ;
                                     int
                                     DAC
                                     [
                                     8
                                     ]
                                     ;
                                     int
                                     PWM
                                     [
                                     8
                                     ]
                                     ;
                                     int
                                     Enc
                                     [
                                     4
                                     ]
                                     ;
                                     int
                                     BitsDirection
                                     ;
                                     int
                                     BitsState
                                     ;
                                     }
                                     MAIN_STATUS
                                     ;
                                     extern
                                     float
                                     sqrtf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     expf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     logf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     log10f
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     powf
                                     (
                                     float
                                     x
                                     ,
                                     float
                                     y
                                     )
                                     ;
                                     extern
                                     float
                                     sinf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     cosf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     tanf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     asinf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     acosf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     atanf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     atan2f
                                     (
                                     float
                                     y
                                     ,
                                     float
                                     x
                                     )
                                     ;
                                     typedef
                                     struct
                                     {
                                     float
                                     *
                                     bufptr
                                     ;
                                     float
                                     *
                                     endptr
                                     ;
                                     float
                                     Dest
                                     ;
                                     int
                                     Inject
                                     ;
                                     float
                                     *
                                     pf
                                     [
                                     32
                                     ]
                                     ;
                                     }
                                     GATHER
                                     ;
                                     extern
                                     GATHER
                                     gather
                                     ;
                                     extern
                                     float
                                     *
                                     gather_buffer
                                     ;
                                     extern
                                     float
                                     *
                                     input
                                     ;
                                     void
                                     SetupGatherAllOnAxis
                                     (
                                     int
                                     c
                                     ,
                                     int
                                     n_Samples
                                     )
                                     ;
                                     void
                                     TriggerGather
                                     (
                                     )
                                     ;
                                     typedef
                                     struct
                                     {
                                     float
                                     t
                                     ;
                                     float
                                     a
                                     ;
                                     float
                                     b
                                     ;
                                     float
                                     c
                                     ;
                                     float
                                     d
                                     ;
                                     }
                                     COEFF
                                     ;
                                     typedef
                                     struct
                                     {
                                     float
                                     A2
                                     ;
                                     float
                                     A1
                                     ;
                                     float
                                     B2
                                     ;
                                     float
                                     B1
                                     ;
                                     float
                                     B0
                                     ;
                                     float
                                     d0
                                     ,
                                     d1
                                     ;
                                     }
                                     IIR
                                     ;
                                     typedef
                                     struct
                                     {
                                     int
                                     chan_number
                                     ;
                                     int
                                     mode
                                     ;
                                     float
                                     t
                                     ;
                                     float
                                     Dest
                                     ;
                                     float
                                     DestOffset
                                     ;
                                     float
                                     Vel
                                     ;
                                     float
                                     Accel
                                     ;
                                     float
                                     Jerk
                                     ;
                                     float
                                     FFAccel
                                     ;
                                     float
                                     FFVel
                                     ;
                                     float
                                     DistPerCycle
                                     ;
                                     float
                                     invDistPerCycleTable
                                     ;
                                     float
                                     Amp
                                     ;
                                     float
                                     Output
                                     ;
                                     float
                                     Lead
                                     ;
                                     COEFF
                                     *
                                     pcoeff
                                     ;
                                     COEFF
                                     *
                                     pcoeff_done
                                     ;
                                     float
                                     x1last
                                     ,
                                     x2last
                                     ;
                                     int
                                     PWM0
                                     ,
                                     PWM1
                                     ;
                                     int
                                     Encoder
                                     ;
                                     signed
                                     char
                                     last_enc
                                     ;
                                     float
                                     P
                                     ,
                                     I
                                     ,
                                     D
                                     ;
                                     float
                                     MaxI
                                     ;
                                     float
                                     MaxErr
                                     ;
                                     float
                                     integrator
                                     ;
                                     float
                                     last_error
                                     ;
                                     float
                                     MaxOutput
                                     ;
                                     COEFF
                                     DummyCoef
                                     ;
                                     COEFF
                                     c
                                     [
                                     18
                                     ]
                                     ;
                                     IIR
                                     iir
                                     [
                                     2
                                     ]
                                     ;
                                     }
                                     CHAN
                                     ;
                                     extern
                                     short
                                     int
                                     DAC_Buffer
                                     [
                                     8
                                     ]
                                     ;
                                     extern
                                     int
                                     ADC_BufferIn
                                     [
                                     8
                                     ]
                                     ;
                                     extern
                                     int
                                     LastPWM
                                     [
                                     8
                                     ]
                                     ;
                                     int
                                     ReadADC
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     void
                                     WriteDAC
                                     (
                                     int
                                     ch
                                     ,
                                     int
                                     v
                                     )
                                     ;
                                     void
                                     Delay_sec
                                     (
                                     float
                                     sec
                                     )
                                     ;
                                     extern
                                     CHAN
                                     chan
                                     [
                                     4
                                     ]
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch0
                                     ,
                                     *
                                     ch1
                                     ,
                                     *
                                     ch2
                                     ,
                                     *
                                     ch3
                                     ;
                                     extern
                                     MAIN_STATUS
                                     MainStatus
                                     ;
                                     void
                                     Move
                                     (
                                     int
                                     ch
                                     ,
                                     float
                                     x
                                     )
                                     ;
                                     void
                                     MoveRel
                                     (
                                     int
                                     ch
                                     ,
                                     float
                                     dx
                                     )
                                     ;
                                     int
                                     CheckDone
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     int
                                     CheckDoneGather
                                     (
                                     )
                                     ;
                                     void
                                     StartMove
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     void
                                     SetupForMove
                                     (
                                     float
                                     From
                                     ,
                                     float
                                     To
                                     ,
                                     CHAN
                                     *
                                     ch
                                     ,
                                     int
                                     CoeffOffset
                                     ,
                                     int
                                     NoJerkControlAtStart
                                     ,
                                     int
                                     NoJerkControlAtEnd
                                     ,
                                     int
                                     Start
                                     )
                                     ;
                                     void
                                     SetupForMotionPause
                                     (
                                     float
                                     x
                                     ,
                                     CHAN
                                     *
                                     ch
                                     ,
                                     int
                                     CoeffOffset
                                     ,
                                     float
                                     time
                                     )
                                     ;
                                     extern
                                     int
                                     BitDirShadow
                                     ;
                                     void
                                     SetBitDirection
                                     (
                                     int
                                     bit
                                     ,
                                     int
                                     dir
                                     )
                                     ;
                                     int
                                     GetBitDirection
                                     (
                                     int
                                     bit
                                     )
                                     ;
                                     void
                                     SetBit
                                     (
                                     int
                                     bit
                                     )
                                     ;
                                     void
                                     ClearBit
                                     (
                                     int
                                     bit
                                     )
                                     ;
                                     void
                                     SetStateBit
                                     (
                                     int
                                     bit
                                     ,
                                     int
                                     state
                                     )
                                     ;
                                     int
                                     ReadBit
                                     (
                                     int
                                     bit
                                     )
                                     ;
                                     int
                                     main
                                     (
                                     )
                                     {
0000  003C0058 MV.L 0 108 105
0004  07BC1058 MV.L 0 106 108
0008  07800052 ADDK 0 106 0
000C  003C34F4 STW.D SP POST DEC 105 0 0
0010  01BC34F6 STW.D SP POST DEC 107 0 0
                                     int
                                     j
                                     ;
                                     float
                                     dist_to_move
                                     =
                                     
                                     ;
0014  00000028 MVKL. 0 105 0
0018  00000068 MVKH. 0 105 0
001C  01000264 LDW.D * 105 0 0
0020  00006000 NOP 4 0 0
0024  007FFFA8 MVKL. -1 105 0
0028  007FFFE8 MVKH. -1 105 0
002C  013C0A74 STW.D *+SP[A0] 0 0 0
                                     ch3
                                     ->
                                     ->
0030  00000028 MVKL. 0 105 0
0034  00000068 MVKH. 0 105 0
0038  01000264 LDW.D * 105 0 0
003C  00006000 NOP 4 0 0
                                     MaxOutput
0040  01803C28 MVKL. 120 1 0
0044  01800068 MVKH. 120 1 0
0048  010C4078 ADD.L 0 1 0
                                     =
                                     200
                                     ;
004C  00000028 MVKL. 0 105 0
0050  00000068 MVKH. 0 105 0
0054  00000266 LDW.D * 105 2 0
0058  00006000 NOP 4 0 0
005C  00080276 STW.D * 2 0 0
                                     ch3
                                     ->
                                     ->
0060  00000028 MVKL. 0 105 0
0064  00000068 MVKH. 0 105 0
0068  01000264 LDW.D * 105 0 0
006C  00006000 NOP 4 0 0
                                     mode
0070  01800228 MVKL. 4 1 0
0074  01800068 MVKH. 4 1 0
0078  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
007C  01800028 MVKL. 0 1 0
0080  01800068 MVKH. 0 1 0
0084  01880274 STW.D * 1 0 0
                                     Delay_sec
                                     (
                                     (
                                     
                                     )
0088  00000028 MVKL. 0 105 0
008C  00000068 MVKH. 0 105 0
0090  02000264 LDW.D * 105 4 0
0094  00006000 NOP 4 0 0
0098  023C34F4 STW.D SP POST DEC 4 0 0
                                     ;
009C  023C32E4 LDW.D SP PRE INC 4 0 0
00A0  00000028 MVKL. 0 105 0
00A4  00000068 MVKH. 0 105 0
00A8  00001362 B.S2 0 -1 105
00AC  0180002A MVKL. 0 107 0
00B0  0180006A MVKH. 0 107 0
00B4  00004000 NOP 3 0 0
                                     ch3
                                     ->
                                     ->
00B8  00000028 MVKL. 0 105 0
00BC  00000068 MVKH. 0 105 0
00C0  01000264 LDW.D * 105 0 0
00C4  00006000 NOP 4 0 0
                                     pcoeff
00C8  01801E28 MVKL. 60 1 0
00CC  01800068 MVKH. 60 1 0
00D0  010C4078 ADD.L 0 1 0
                                     ->
00D4  01880264 LDW.D * 0 1 0
00D8  00006000 NOP 4 0 0
                                     d
00DC  01000828 MVKL. 16 0 0
00E0  01000068 MVKH. 16 0 0
00E4  01886078 ADD.L 1 0 1
                                     =
                                     
                                     ;
00E8  00000028 MVKL. 0 105 0
00EC  00000068 MVKH. 0 105 0
00F0  01000264 LDW.D * 105 0 0
00F4  00006000 NOP 4 0 0
00F8  010C0274 STW.D * 0 1 0
                                     ch3
                                     ->
                                     ->
00FC  00000028 MVKL. 0 105 0
0100  00000068 MVKH. 0 105 0
0104  01000264 LDW.D * 105 0 0
0108  00006000 NOP 4 0 0
                                     Dest
010C  01800628 MVKL. 12 1 0
0110  01800068 MVKH. 12 1 0
0114  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0118  00000028 MVKL. 0 105 0
011C  00000068 MVKH. 0 105 0
0120  00000266 LDW.D * 105 2 0
0124  00006000 NOP 4 0 0
0128  00080276 STW.D * 2 0 0
                                     ch3
                                     ->
                                     ->
012C  00000028 MVKL. 0 105 0
0130  00000068 MVKH. 0 105 0
0134  01000264 LDW.D * 105 0 0
0138  00006000 NOP 4 0 0
                                     mode
013C  01800228 MVKL. 4 1 0
0140  01800068 MVKH. 4 1 0
0144  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
0148  018000A8 MVKL. 1 1 0
014C  01800068 MVKH. 1 1 0
0150  01880274 STW.D * 1 0 0
                                     ch3
                                     ->
                                     ->
0154  00000028 MVKL. 0 105 0
0158  00000068 MVKH. 0 105 0
015C  01000264 LDW.D * 105 0 0
0160  00006000 NOP 4 0 0
                                     Amp
0164  01801828 MVKL. 48 1 0
0168  01800068 MVKH. 48 1 0
016C  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0170  00000028 MVKL. 0 105 0
0174  00000068 MVKH. 0 105 0
0178  00000266 LDW.D * 105 2 0
017C  00006000 NOP 4 0 0
0180  00080276 STW.D * 2 0 0
                                     ch3
                                     ->
                                     ->
0184  00000028 MVKL. 0 105 0
0188  00000068 MVKH. 0 105 0
018C  01000264 LDW.D * 105 0 0
0190  00006000 NOP 4 0 0
                                     Vel
0194  01800A28 MVKL. 20 1 0
0198  01800068 MVKH. 20 1 0
019C  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
01A0  00000028 MVKL. 0 105 0
01A4  00000068 MVKH. 0 105 0
01A8  00000266 LDW.D * 105 2 0
01AC  00006000 NOP 4 0 0
01B0  00080276 STW.D * 2 0 0
                                     ch3
                                     ->
                                     ->
01B4  00000028 MVKL. 0 105 0
01B8  00000068 MVKH. 0 105 0
01BC  01000264 LDW.D * 105 0 0
01C0  00006000 NOP 4 0 0
                                     Accel
01C4  01800C28 MVKL. 24 1 0
01C8  01800068 MVKH. 24 1 0
01CC  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
01D0  00000028 MVKL. 0 105 0
01D4  00000068 MVKH. 0 105 0
01D8  00000266 LDW.D * 105 2 0
01DC  00006000 NOP 4 0 0
01E0  00080276 STW.D * 2 0 0
                                     ch3
                                     ->
                                     ->
01E4  00000028 MVKL. 0 105 0
01E8  00000068 MVKH. 0 105 0
01EC  01000264 LDW.D * 105 0 0
01F0  00006000 NOP 4 0 0
                                     Jerk
01F4  01800E28 MVKL. 28 1 0
01F8  01800068 MVKH. 28 1 0
01FC  010C4078 ADD.L 0 1 0
                                     =
                                     2000
                                     ;
0200  00000028 MVKL. 0 105 0
0204  00000068 MVKH. 0 105 0
0208  00000266 LDW.D * 105 2 0
020C  00006000 NOP 4 0 0
0210  00080276 STW.D * 2 0 0
                                     ch3
                                     ->
                                     ->
0214  00000028 MVKL. 0 105 0
0218  00000068 MVKH. 0 105 0
021C  01000264 LDW.D * 105 0 0
0220  00006000 NOP 4 0 0
                                     Lead
0224  01801C28 MVKL. 56 1 0
0228  01800068 MVKH. 56 1 0
022C  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0230  00000028 MVKL. 0 105 0
0234  00000068 MVKH. 0 105 0
0238  00000266 LDW.D * 105 2 0
023C  00006000 NOP 4 0 0
0240  00080276 STW.D * 2 0 0
                                     Move
                                     (
                                     (
                                     3
                                     ,
0244  020001A8 MVKL. 3 4 0
0248  02000068 MVKH. 3 4 0
024C  023C34F4 STW.D SP POST DEC 4 0 0
                                     
                                     )
0250  00000028 MVKL. 0 105 0
0254  00000068 MVKH. 0 105 0
0258  02000266 LDW.D * 105 6 0
025C  00006000 NOP 4 0 0
0260  023C34F6 STW.D SP POST DEC 6 0 0
                                     ;
0264  023C32E6 LDW.D SP PRE INC 6 0 0
0268  023C32E4 LDW.D SP PRE INC 4 0 0
026C  00000028 MVKL. 0 105 0
0270  00000068 MVKH. 0 105 0
0274  00001362 B.S2 0 -1 105
0278  0180002A MVKL. 0 107 0
027C  0180006A MVKH. 0 107 0
0280  00004000 NOP 3 0 0
                                     for
                                     (
                                     j
                                     =
                                     0
                                     ;
0284  01000028 MVKL. 0 0 0
0288  01000068 MVKH. 0 0 0
028C  00000028 MVKL. 0 105 0
0290  00000068 MVKH. 0 105 0
0294  013C0A74 STW.D *+SP[A0] 0 0 0
                                     j
                                     <
                                     8
                                     ;
0298  01000428 MVKL. 8 0 0
029C  01000068 MVKH. 8 0 0
02A0  00000028 MVKL. 0 105 0
02A4  00000068 MVKH. 0 105 0
02A8  003C0A66 LDW.D *+SP[A0] 2 0 0
02AC  00006000 NOP 4 0 0
02B0  01081AFA CMPLT.L1 2 0 109
02B4  00000028 MVKL. 0 105 0
02B8  00000068 MVKH. 0 105 0
02BC  70001362 B.S2 1 109 105
02C0  00008000 NOP 5 0 0
                                     j
02C4  00000028 MVKL. 0 105 0
02C8  00000068 MVKH. 0 105 0
02CC  00001362 B.S2 0 -1 105
02D0  00008000 NOP 5 0 0
                                     ++
02D4  00000028 MVKL. 0 105 0
02D8  00000068 MVKH. 0 105 0
02DC  013C0A64 LDW.D *+SP[A0] 0 0 0
02E0  00006000 NOP 4 0 0
02E4  01880058 MV.L 0 0 1
02E8  000000AA MVKL. 1 2 0
02EC  0000006A MVKH. 1 2 0
02F0  01005078 ADD.L 0 2 0
02F4  00000028 MVKL. 0 105 0
02F8  00000068 MVKH. 0 105 0
02FC  013C0A74 STW.D *+SP[A0] 0 0 0
                                     )
0300  00000028 MVKL. 0 105 0
0304  00000068 MVKH. 0 105 0
0308  00001362 B.S2 0 -1 105
030C  00008000 NOP 5 0 0
                                     {
                                     MoveRel
                                     (
                                     (
                                     3
                                     ,
0310  020001A8 MVKL. 3 4 0
0314  02000068 MVKH. 3 4 0
0318  023C34F4 STW.D SP POST DEC 4 0 0
                                     dist_to_move
                                     )
031C  007FFFA8 MVKL. -1 105 0
0320  007FFFE8 MVKH. -1 105 0
0324  023C0A66 LDW.D *+SP[A0] 6 0 0
0328  00006000 NOP 4 0 0
032C  023C34F6 STW.D SP POST DEC 6 0 0
                                     ;
0330  023C32E6 LDW.D SP PRE INC 6 0 0
0334  023C32E4 LDW.D SP PRE INC 4 0 0
0338  00000028 MVKL. 0 105 0
033C  00000068 MVKH. 0 105 0
0340  00001362 B.S2 0 -1 105
0344  0180002A MVKL. 0 107 0
0348  0180006A MVKH. 0 107 0
034C  00004000 NOP 3 0 0
                                     while
                                     (
                                     !
                                     CheckDone
                                     (
                                     3
                                     )
0350  020001A8 MVKL. 3 4 0
0354  02000068 MVKH. 3 4 0
0358  023C34F4 STW.D SP POST DEC 4 0 0
                                     )
035C  023C32E4 LDW.D SP PRE INC 4 0 0
0360  00000028 MVKL. 0 105 0
0364  00000068 MVKH. 0 105 0
0368  00001362 B.S2 0 -1 105
036C  0180002A MVKL. 0 107 0
0370  0180006A MVKH. 0 107 0
0374  00004000 NOP 3 0 0
0378  01100058 MV.L 0 4 0
037C  00000028 MVKL. 0 105 0
0380  00000068 MVKH. 0 105 0
0384  B0001362 B.S2 1 0 105
0388  00008000 NOP 5 0 0
                                     ;
038C  00000028 MVKL. 0 105 0
0390  00000068 MVKH. 0 105 0
0394  00001362 B.S2 0 -1 105
0398  00008000 NOP 5 0 0
                                     MoveRel
039C  00000028 MVKL. 0 105 0
03A0  00000068 MVKH. 0 105 0
03A4  00001362 B.S2 0 -1 105
03A8  00008000 NOP 5 0 0
                                     (
                                     (
                                     3
                                     ,
03AC  020001A8 MVKL. 3 4 0
03B0  02000068 MVKH. 3 4 0
03B4  023C34F4 STW.D SP POST DEC 4 0 0
                                     -
                                     dist_to_move
                                     )
03B8  00000028 MVKL. 0 105 0
03BC  00000068 MVKH. 0 105 0
03C0  01000264 LDW.D * 105 0 0
03C4  00006000 NOP 4 0 0
03C8  007FFFA8 MVKL. -1 105 0
03CC  007FFFE8 MVKH. -1 105 0
03D0  003C0A66 LDW.D *+SP[A0] 2 0 0
03D4  00006000 NOP 4 0 0
03D8  01005238 SUBSP.L 0 2 0
03DC  00004000 NOP 3 0 0
03E0  0208105A MV.L 0 0 6
03E4  023C34F6 STW.D SP POST DEC 6 0 0
                                     ;
03E8  023C32E6 LDW.D SP PRE INC 6 0 0
03EC  023C32E4 LDW.D SP PRE INC 4 0 0
03F0  00000028 MVKL. 0 105 0
03F4  00000068 MVKH. 0 105 0
03F8  00001362 B.S2 0 -1 105
03FC  0180002A MVKL. 0 107 0
0400  0180006A MVKH. 0 107 0
0404  00004000 NOP 3 0 0
                                     while
                                     (
                                     !
                                     CheckDone
                                     (
                                     3
                                     )
0408  020001A8 MVKL. 3 4 0
040C  02000068 MVKH. 3 4 0
0410  023C34F4 STW.D SP POST DEC 4 0 0
                                     )
0414  023C32E4 LDW.D SP PRE INC 4 0 0
0418  00000028 MVKL. 0 105 0
041C  00000068 MVKH. 0 105 0
0420  00001362 B.S2 0 -1 105
0424  0180002A MVKL. 0 107 0
0428  0180006A MVKH. 0 107 0
042C  00004000 NOP 3 0 0
0430  01100058 MV.L 0 4 0
0434  00000028 MVKL. 0 105 0
0438  00000068 MVKH. 0 105 0
043C  B0001362 B.S2 1 0 105
0440  00008000 NOP 5 0 0
                                     ;
0444  00000028 MVKL. 0 105 0
0448  00000068 MVKH. 0 105 0
044C  00001362 B.S2 0 -1 105
0450  00008000 NOP 5 0 0
                                     ch3
0454  00000028 MVKL. 0 105 0
0458  00000068 MVKH. 0 105 0
045C  00001362 B.S2 0 -1 105
0460  00008000 NOP 5 0 0
                                     ->
                                     ->
0464  00000028 MVKL. 0 105 0
0468  00000068 MVKH. 0 105 0
046C  01000264 LDW.D * 105 0 0
0470  00006000 NOP 4 0 0
                                     Vel
0474  01800A28 MVKL. 20 1 0
0478  01800068 MVKH. 20 1 0
047C  010C4078 ADD.L 0 1 0
                                     *=
                                     
                                     ;
0480  00080266 LDW.D * 0 2 0
0484  00006000 NOP 4 0 0
0488  007FFF28 MVKL. -2 105 0
048C  007FFFE8 MVKH. -2 105 0
0490  013C0A74 STW.D *+SP[A0] 0 0 0
0494  00000028 MVKL. 0 105 0
0498  00000068 MVKH. 0 105 0
049C  01000264 LDW.D * 105 0 0
04A0  00006000 NOP 4 0 0
04A4  00081E02 MPYSP.M 2 0 2
04A8  00004000 NOP 3 0 0
04AC  007FFF28 MVKL. -2 105 0
04B0  007FFFE8 MVKH. -2 105 0
04B4  013C0A64 LDW.D *+SP[A0] 0 0 0
04B8  00006000 NOP 4 0 0
04BC  00080276 STW.D * 2 0 0
                                     ch3
                                     ->
                                     ->
04C0  00000028 MVKL. 0 105 0
04C4  00000068 MVKH. 0 105 0
04C8  01000264 LDW.D * 105 0 0
04CC  00006000 NOP 4 0 0
                                     Accel
04D0  01800C28 MVKL. 24 1 0
04D4  01800068 MVKH. 24 1 0
04D8  010C4078 ADD.L 0 1 0
                                     *=
                                     
                                     ;
04DC  00080266 LDW.D * 0 2 0
04E0  00006000 NOP 4 0 0
04E4  007FFEA8 MVKL. -3 105 0
04E8  007FFFE8 MVKH. -3 105 0
04EC  013C0A74 STW.D *+SP[A0] 0 0 0
04F0  00000028 MVKL. 0 105 0
04F4  00000068 MVKH. 0 105 0
04F8  01000264 LDW.D * 105 0 0
04FC  00006000 NOP 4 0 0
0500  00081E02 MPYSP.M 2 0 2
0504  00004000 NOP 3 0 0
0508  007FFEA8 MVKL. -3 105 0
050C  007FFFE8 MVKH. -3 105 0
0510  013C0A64 LDW.D *+SP[A0] 0 0 0
0514  00006000 NOP 4 0 0
0518  00080276 STW.D * 2 0 0
                                     dist_to_move
                                     *=
                                     *=
                                     
                                     ;
051C  007FFFA8 MVKL. -1 105 0
0520  007FFFE8 MVKH. -1 105 0
0524  013C0A64 LDW.D *+SP[A0] 0 0 0
0528  00006000 NOP 4 0 0
052C  00000028 MVKL. 0 105 0
0530  00000068 MVKH. 0 105 0
0534  00000266 LDW.D * 105 2 0
0538  00006000 NOP 4 0 0
053C  01005E00 MPYSP.M 0 2 0
0540  00004000 NOP 3 0 0
0544  007FFFA8 MVKL. -1 105 0
0548  007FFFE8 MVKH. -1 105 0
054C  013C0A74 STW.D *+SP[A0] 0 0 0
                                     }
                                     return
0550  00000028 MVKL. 0 105 0
0554  00000068 MVKH. 0 105 0
0558  00001362 B.S2 0 -1 105
055C  00008000 NOP 5 0 0
                                     0
                                     ;
0560  02000028 MVKL. 0 4 0
0564  02000068 MVKH. 0 4 0
                                     }
0568  00000028 MVKL. 0 105 0
056C  00000068 MVKH. 0 105 0
0570  00001362 B.S2 0 -1 105
0574  00008000 NOP 5 0 0
                                     
0578  01BC32E6 LDW.D SP PRE INC 107 0 0
057C  00006000 NOP 4 0 0
0580  000C0362 B.S2 0 -1 107
0584  07BC32E4 LDW.D SP PRE INC 108 0 0
0588  07800852 ADDK 16 106 0
058C  00004000 NOP 3 0 0
