diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..d236173
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,10 @@
+/.dep/
+*.eep
+*.elf
+*.hex
+*.lss
+*.lst
+*.map
+*.o
+*.sym
+__*
\ No newline at end of file
diff --git a/libs/serialdebug.c b/libs/serialdebug.c
index 493d5ae..717e65e 100644
--- a/libs/serialdebug.c
+++ b/libs/serialdebug.c
@@ -61,8 +61,15 @@ void dbg_putstring_nl(char string[]) {
 }
 
 void dbg_putint(unsigned int num) {
-  // Create string representing int and print to serial
+  // Create string representing an int and print to serial
   char c[7];
   itoa(num, c, 10);
   dbg_putstring(c);
 }
+
+void dbg_putlong(long num) {
+  // Create string representing a long int and print to serial
+  char c[16];
+  ltoa(num, c, 10);
+  dbg_putstring(c);
+}
diff --git a/libs/serialdebug.lst b/libs/serialdebug.lst
deleted file mode 100644
index 2fcf550..0000000
--- a/libs/serialdebug.lst
+++ /dev/null
@@ -1,595 +0,0 @@
-   1               		.file	"serialdebug.c"
-   2               	__SP_H__ = 0x3e
-   3               	__SP_L__ = 0x3d
-   4               	__SREG__ = 0x3f
-   5               	__tmp_reg__ = 0
-   6               	__zero_reg__ = 1
-   7               		.text
-   8               	.Ltext0:
-   9               		.cfi_sections	.debug_frame
-  10               	.global	usart_putchar
-  12               	usart_putchar:
-  13               	.LFB8:
-  14               		.file 1 "libs/serialdebug.c"
-   1:libs/serialdebug.c **** #include <libs/serialdebug.h>
-   2:libs/serialdebug.c **** 
-   3:libs/serialdebug.c **** #if SERIALDEBUG_USE_INTS
-   4:libs/serialdebug.c **** #include <avr/interrupt.h>
-   5:libs/serialdebug.c **** #endif
-   6:libs/serialdebug.c **** 
-   7:libs/serialdebug.c **** void serial_configure(void) {
-   8:libs/serialdebug.c ****   // Configure serial output
-   9:libs/serialdebug.c ****   SERIALDEBUG_SOFT_TX_PORT |= (1<<SERIALDEBUG_SOFT_TX_BIT);
-  10:libs/serialdebug.c ****   SERIALDEBUG_SOFT_TX_DDR |= (1<<SERIALDEBUG_SOFT_TX_BIT);
-  11:libs/serialdebug.c ****   fdev_setup_stream(&serialdebug_usartout, usart_putchar, NULL, _FDEV_SETUP_WRITE);
-  12:libs/serialdebug.c ****   stdout = &serialdebug_usartout;
-  13:libs/serialdebug.c **** }
-  14:libs/serialdebug.c **** 
-  15:libs/serialdebug.c **** int usart_putchar (char c, FILE *stream) {
-  15               		.loc 1 15 0
-  16               		.cfi_startproc
-  17               	.LVL0:
-  18               	/* prologue: function */
-  19               	/* frame size = 0 */
-  20               	/* stack size = 0 */
-  21               	.L__stack_usage = 0
-  16:libs/serialdebug.c ****   #if SERIALDEBUG_USE_INTS
-  17:libs/serialdebug.c ****   cli();
-  18:libs/serialdebug.c ****   #endif
-  19:libs/serialdebug.c ****   // Print 1 char to serial
-  20:libs/serialdebug.c ****   uint8_t bit_mask;
-  21:libs/serialdebug.c **** 
-  22:libs/serialdebug.c ****   // start bit
-  23:libs/serialdebug.c ****   SERIALDEBUG_SOFT_TX_PORT &= ~(1<<SERIALDEBUG_SOFT_TX_BIT);
-  22               		.loc 1 23 0
-  23 0000 DE98      		cbi 0x1b,6
-  24               	.LVL1:
-  25               	.LBB8:
-  26               	.LBB9:
-  27               		.file 2 "/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h"
-   1:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** /* Copyright (c) 2002, Marek Michalkiewicz
-   2:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Copyright (c) 2004,2005,2007 Joerg Wunsch
-   3:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Copyright (c) 2007  Florin-Viorel Petrov
-   4:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    All rights reserved.
-   5:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-   6:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Redistribution and use in source and binary forms, with or without
-   7:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    modification, are permitted provided that the following conditions are met:
-   8:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-   9:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    * Redistributions of source code must retain the above copyright
-  10:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****      notice, this list of conditions and the following disclaimer.
-  11:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  12:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    * Redistributions in binary form must reproduce the above copyright
-  13:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****      notice, this list of conditions and the following disclaimer in
-  14:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****      the documentation and/or other materials provided with the
-  15:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****      distribution.
-  16:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  17:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    * Neither the name of the copyright holders nor the names of
-  18:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****      contributors may be used to endorse or promote products derived
-  19:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****      from this software without specific prior written permission.
-  20:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  21:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  22:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  23:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-  24:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-  25:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-  26:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-  27:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-  28:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-  29:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-  30:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-  31:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   POSSIBILITY OF SUCH DAMAGE. */
-  32:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  33:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** /* $Id$ */
-  34:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  35:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #ifndef _UTIL_DELAY_H_
-  36:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #define _UTIL_DELAY_H_ 1
-  37:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  38:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #ifndef __HAS_DELAY_CYCLES
-  39:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #define __HAS_DELAY_CYCLES 1
-  40:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #endif
-  41:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  42:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #include <inttypes.h>
-  43:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #include <util/delay_basic.h>
-  44:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #include <math.h>
-  45:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  46:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** /** \file */
-  47:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** /** \defgroup util_delay <util/delay.h>: Convenience functions for busy-wait delay loops
-  48:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     \code
-  49:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     #define F_CPU 1000000UL  // 1 MHz
-  50:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     //#define F_CPU 14.7456E6
-  51:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     #include <util/delay.h>
-  52:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     \endcode
-  53:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  54:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     \note As an alternative method, it is possible to pass the
-  55:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     F_CPU macro down to the compiler from the Makefile.
-  56:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     Obviously, in that case, no \c \#define statement should be
-  57:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     used.
-  58:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  59:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     The functions in this header file are wrappers around the basic
-  60:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     busy-wait functions from <util/delay_basic.h>.  They are meant as
-  61:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     convenience functions where actual time values can be specified
-  62:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     rather than a number of cycles to wait for.  The idea behind is
-  63:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     that compile-time constant expressions will be eliminated by
-  64:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     compiler optimization so floating-point expressions can be used
-  65:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     to calculate the number of delay cycles needed based on the CPU
-  66:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     frequency passed by the macro F_CPU.
-  67:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  68:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     \note In order for these functions to work as intended, compiler
-  69:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     optimizations <em>must</em> be enabled, and the delay time
-  70:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     <em>must</em> be an expression that is a known constant at
-  71:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     compile-time.  If these requirements are not met, the resulting
-  72:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     delay will be much longer (and basically unpredictable), and
-  73:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     applications that otherwise do not use floating-point calculations
-  74:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     will experience severe code bloat by the floating-point library
-  75:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     routines linked into the application.
-  76:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  77:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     The functions available allow the specification of microsecond, and
-  78:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     millisecond delays directly, using the application-supplied macro
-  79:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     F_CPU as the CPU clock frequency (in Hertz).
-  80:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  81:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** */
-  82:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  83:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #if !defined(__DOXYGEN__)
-  84:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** static inline void _delay_us(double __us) __attribute__((always_inline));
-  85:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** static inline void _delay_ms(double __ms) __attribute__((always_inline));
-  86:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #endif
-  87:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  88:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #ifndef F_CPU
-  89:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** /* prevent compiler error by supplying a default */
-  90:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** # warning "F_CPU not defined for <util/delay.h>"
-  91:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** # define F_CPU 1000000UL
-  92:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #endif
-  93:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  94:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #ifndef __OPTIMIZE__
-  95:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** # warning "Compiler optimizations disabled; functions from <util/delay.h> won't work as designed"
-  96:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #endif
-  97:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
-  98:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #if __HAS_DELAY_CYCLES && defined(__OPTIMIZE__) && \
-  99:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   !defined(__DELAY_BACKWARD_COMPATIBLE__) &&	   \
- 100:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   __STDC_HOSTED__
- 101:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #  include <math.h>
- 102:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #endif
- 103:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 104:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** /**
- 105:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    \ingroup util_delay
- 106:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 107:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Perform a delay of \c __ms milliseconds, using _delay_loop_2().
- 108:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 109:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    The macro F_CPU is supposed to be defined to a
- 110:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    constant defining the CPU clock frequency (in Hertz).
- 111:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 112:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    The maximal possible delay is 262.14 ms / F_CPU in MHz.
- 113:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 114:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    When the user request delay which exceed the maximum possible one,
- 115:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    _delay_ms() provides a decreased resolution functionality. In this
- 116:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    mode _delay_ms() will work with a resolution of 1/10 ms, providing
- 117:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    delays up to 6.5535 seconds (independent from CPU frequency).  The
- 118:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    user will not be informed about decreased resolution.
- 119:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 120:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    If the avr-gcc toolchain has __builtin_avr_delay_cycles(unsigned long)
- 121:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    support, maximal possible delay is 4294967.295 ms/ F_CPU in MHz. For
- 122:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    values greater than the maximal possible delay, overflows results in
- 123:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    no delay i.e., 0ms.
- 124:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 125:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Conversion of __us into clock cycles may not always result in integer.
- 126:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    By default, the clock cycles rounded up to next integer. This ensures that
- 127:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    the user gets atleast __us microseconds of delay.
- 128:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 129:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Alternatively, user can define __DELAY_ROUND_DOWN__ and __DELAY_ROUND_CLOSEST__
- 130:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    to round down and round to closest integer.
- 131:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 132:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Note: The new implementation of _delay_ms(double __ms) with 
- 133:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     __builtin_avr_delay_cycles(unsigned long) support is not backward compatible. 
- 134:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    User can define __DELAY_BACKWARD_COMPATIBLE__ to get a backward compatible delay.
- 135:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Also, the backward compatible
- 136:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    algorithm will be chosen if the code is compiled in a <em>freestanding
- 137:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    environment</em> (GCC option \c -ffreestanding), as the math functions
- 138:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    required for rounding are not available to the compiler then.
- 139:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 140:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****  */
- 141:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** void
- 142:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** _delay_ms(double __ms)
- 143:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** {
- 144:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	double __tmp ; 
- 145:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #if __HAS_DELAY_CYCLES && defined(__OPTIMIZE__) && \
- 146:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   !defined(__DELAY_BACKWARD_COMPATIBLE__) &&	   \
- 147:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   __STDC_HOSTED__
- 148:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	uint32_t __ticks_dc;
- 149:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	extern void __builtin_avr_delay_cycles(unsigned long);
- 150:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	__tmp = ((F_CPU) / 1e3) * __ms;
- 151:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 152:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	#if defined(__DELAY_ROUND_DOWN__)
- 153:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		__ticks_dc = (uint32_t)fabs(__tmp);
- 154:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 155:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	#elif defined(__DELAY_ROUND_CLOSEST__)
- 156:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		__ticks_dc = (uint32_t)(fabs(__tmp)+0.5);
- 157:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 158:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	#else
- 159:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		//round up by default
- 160:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
- 161:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	#endif
- 162:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 163:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	__builtin_avr_delay_cycles(__ticks_dc);
- 164:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 165:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #else
- 166:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	uint16_t __ticks;
- 167:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	__tmp = ((F_CPU) / 4e3) * __ms;
- 168:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	if (__tmp < 1.0)
- 169:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		__ticks = 1;
- 170:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	else if (__tmp > 65535)
- 171:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	{
- 172:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		//	__ticks = requested delay in 1/10 ms
- 173:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		__ticks = (uint16_t) (__ms * 10.0);
- 174:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		while(__ticks)
- 175:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		{
- 176:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 			// wait 1/10 ms
- 177:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 			_delay_loop_2(((F_CPU) / 4e3) / 10);
- 178:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 			__ticks --;
- 179:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		}
- 180:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		return;
- 181:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	}
- 182:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	else
- 183:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		__ticks = (uint16_t)__tmp;
- 184:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	_delay_loop_2(__ticks);
- 185:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #endif
- 186:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** }
- 187:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 188:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** /**
- 189:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    \ingroup util_delay
- 190:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 191:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Perform a delay of \c __us microseconds, using _delay_loop_1().
- 192:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 193:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    The macro F_CPU is supposed to be defined to a
- 194:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    constant defining the CPU clock frequency (in Hertz).
- 195:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 196:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    The maximal possible delay is 768 us / F_CPU in MHz.
- 197:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 198:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    If the user requests a delay greater than the maximal possible one,
- 199:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    _delay_us() will automatically call _delay_ms() instead.  The user
- 200:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    will not be informed about this case.
- 201:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 202:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    If the avr-gcc toolchain has __builtin_avr_delay_cycles(unsigned long)
- 203:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    support, maximal possible delay is 4294967.295 us/ F_CPU in MHz. For
- 204:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    values greater than the maximal possible delay, overflow results in
- 205:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    no delay i.e., 0us.
- 206:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   
- 207:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Conversion of __us into clock cycles may not always result in integer.
- 208:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    By default, the clock cycles rounded up to next integer. This ensures that
- 209:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    the user gets atleast __us microseconds of delay.
- 210:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 211:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Alternatively, user can define __DELAY_ROUND_DOWN__ and __DELAY_ROUND_CLOSEST__
- 212:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    to round down and round to closest integer.
- 213:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****  
- 214:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Note: The new implementation of _delay_us(double __us) with 
- 215:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****     __builtin_avr_delay_cycles(unsigned long) support is not backward compatible.
- 216:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    User can define __DELAY_BACKWARD_COMPATIBLE__ to get a backward compatible delay.
- 217:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    Also, the backward compatible
- 218:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    algorithm will be chosen if the code is compiled in a <em>freestanding
- 219:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    environment</em> (GCC option \c -ffreestanding), as the math functions
- 220:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****    required for rounding are not available to the compiler then.
- 221:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 222:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****  */
- 223:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** void
- 224:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** _delay_us(double __us)
- 225:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** {
- 226:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	double __tmp ; 
- 227:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** #if __HAS_DELAY_CYCLES && defined(__OPTIMIZE__) && \
- 228:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   !defined(__DELAY_BACKWARD_COMPATIBLE__) &&	   \
- 229:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h ****   __STDC_HOSTED__
- 230:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	uint32_t __ticks_dc;
- 231:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	extern void __builtin_avr_delay_cycles(unsigned long);
- 232:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	__tmp = ((F_CPU) / 1e6) * __us;
- 233:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 234:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	#if defined(__DELAY_ROUND_DOWN__)
- 235:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		__ticks_dc = (uint32_t)fabs(__tmp);
- 236:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 237:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	#elif defined(__DELAY_ROUND_CLOSEST__)
- 238:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		__ticks_dc = (uint32_t)(fabs(__tmp)+0.5);
- 239:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 240:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	#else
- 241:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		//round up by default
- 242:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 		__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
- 243:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	#endif
- 244:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 
- 245:/usr/local/CrossPack-AVR-20131216/avr/include/util/delay.h **** 	__builtin_avr_delay_cycles(__ticks_dc);
-  28               		.loc 2 245 0
-  29 0002 EFEC      		ldi r30,lo8(207)
-  30 0004 F0E0      		ldi r31,hi8(207)
-  31 0006 3197      		1: sbiw r30,1
-  32 0008 01F4      		brne 1b
-  33 000a 00C0      		rjmp .
-  34 000c 0000      		nop
-  35               	.LVL2:
-  36 000e 28E0      		ldi r18,lo8(8)
-  37 0010 30E0      		ldi r19,0
-  38               	.LBE9:
-  39               	.LBE8:
-  24:libs/serialdebug.c ****   _delay_us(SERIALDEBUG_MICROSECONDS_PER_BIT);
-  25:libs/serialdebug.c **** 
-  26:libs/serialdebug.c ****   // data bits
-  27:libs/serialdebug.c ****   for (bit_mask=0x01; bit_mask; bit_mask<<=1) {
-  40               		.loc 1 27 0
-  41 0012 91E0      		ldi r25,lo8(1)
-  42               	.LVL3:
-  43               	.L5:
-  28:libs/serialdebug.c ****     if (c & bit_mask) {
-  44               		.loc 1 28 0
-  45 0014 492F      		mov r20,r25
-  46 0016 4823      		and r20,r24
-  47 0018 01F0      		breq .L2
-  29:libs/serialdebug.c ****       SERIALDEBUG_SOFT_TX_PORT |= (1<<SERIALDEBUG_SOFT_TX_BIT);
-  48               		.loc 1 29 0
-  49 001a DE9A      		sbi 0x1b,6
-  50 001c 00C0      		rjmp .L3
-  51               	.L2:
-  30:libs/serialdebug.c ****     }
-  31:libs/serialdebug.c ****     else {
-  32:libs/serialdebug.c ****       SERIALDEBUG_SOFT_TX_PORT &= ~(1<<SERIALDEBUG_SOFT_TX_BIT);
-  52               		.loc 1 32 0
-  53 001e DE98      		cbi 0x1b,6
-  54               	.L3:
-  55               	.LVL4:
-  56               	.LBB10:
-  57               	.LBB11:
-  58               		.loc 2 245 0
-  59 0020 EFEC      		ldi r30,lo8(207)
-  60 0022 F0E0      		ldi r31,hi8(207)
-  61 0024 3197      		1: sbiw r30,1
-  62 0026 01F4      		brne 1b
-  63 0028 00C0      		rjmp .
-  64 002a 0000      		nop
-  65               	.LBE11:
-  66               	.LBE10:
-  27:libs/serialdebug.c ****   for (bit_mask=0x01; bit_mask; bit_mask<<=1) {
-  67               		.loc 1 27 0
-  68 002c 990F      		lsl r25
-  69               	.LVL5:
-  70 002e 2150      		subi r18,1
-  71 0030 3109      		sbc r19,__zero_reg__
-  72 0032 2115      		cp r18,__zero_reg__
-  73 0034 3105      		cpc r19,__zero_reg__
-  74 0036 01F4      		brne .L5
-  33:libs/serialdebug.c ****     }
-  34:libs/serialdebug.c ****     _delay_us(SERIALDEBUG_MICROSECONDS_PER_BIT);
-  35:libs/serialdebug.c ****   }
-  36:libs/serialdebug.c **** 
-  37:libs/serialdebug.c ****   // stop bit(s)
-  38:libs/serialdebug.c ****   SERIALDEBUG_SOFT_TX_PORT |= (1<<SERIALDEBUG_SOFT_TX_BIT);
-  75               		.loc 1 38 0
-  76 0038 DE9A      		sbi 0x1b,6
-  77               	.LVL6:
-  78               	.LBB12:
-  79               	.LBB13:
-  80               		.loc 2 245 0
-  81 003a EFEC      		ldi r30,lo8(207)
-  82 003c F0E0      		ldi r31,hi8(207)
-  83 003e 3197      		1: sbiw r30,1
-  84 0040 01F4      		brne 1b
-  85 0042 00C0      		rjmp .
-  86 0044 0000      		nop
-  87               	.LBE13:
-  88               	.LBE12:
-  39:libs/serialdebug.c ****   _delay_us(SERIALDEBUG_MICROSECONDS_PER_BIT * SERIALDEBUG_STOP_BITS);
-  40:libs/serialdebug.c **** 
-  41:libs/serialdebug.c ****   #if SERIALDEBUG_USE_INTS
-  42:libs/serialdebug.c ****   sei();
-  43:libs/serialdebug.c ****   #endif
-  44:libs/serialdebug.c **** 
-  45:libs/serialdebug.c ****   return c;
-  46:libs/serialdebug.c **** 
-  47:libs/serialdebug.c **** }
-  89               		.loc 1 47 0
-  90 0046 90E0      		ldi r25,0
-  91               	.LVL7:
-  92 0048 0895      		ret
-  93               		.cfi_endproc
-  94               	.LFE8:
-  96               	.global	serial_configure
-  98               	serial_configure:
-  99               	.LFB7:
-   7:libs/serialdebug.c **** void serial_configure(void) {
- 100               		.loc 1 7 0
- 101               		.cfi_startproc
- 102               	/* prologue: function */
- 103               	/* frame size = 0 */
- 104               	/* stack size = 0 */
- 105               	.L__stack_usage = 0
-   9:libs/serialdebug.c ****   SERIALDEBUG_SOFT_TX_PORT |= (1<<SERIALDEBUG_SOFT_TX_BIT);
- 106               		.loc 1 9 0
- 107 004a DE9A      		sbi 0x1b,6
-  10:libs/serialdebug.c ****   SERIALDEBUG_SOFT_TX_DDR |= (1<<SERIALDEBUG_SOFT_TX_BIT);
- 108               		.loc 1 10 0
- 109 004c D69A      		sbi 0x1a,6
-  11:libs/serialdebug.c ****   fdev_setup_stream(&serialdebug_usartout, usart_putchar, NULL, _FDEV_SETUP_WRITE);
- 110               		.loc 1 11 0
- 111 004e 80E0      		ldi r24,lo8(gs(usart_putchar))
- 112 0050 90E0      		ldi r25,hi8(gs(usart_putchar))
- 113 0052 9093 0000 		sts serialdebug_usartout+8+1,r25
- 114 0056 8093 0000 		sts serialdebug_usartout+8,r24
- 115 005a 1092 0000 		sts serialdebug_usartout+10+1,__zero_reg__
- 116 005e 1092 0000 		sts serialdebug_usartout+10,__zero_reg__
- 117 0062 82E0      		ldi r24,lo8(2)
- 118 0064 8093 0000 		sts serialdebug_usartout+3,r24
- 119 0068 1092 0000 		sts serialdebug_usartout+12+1,__zero_reg__
- 120 006c 1092 0000 		sts serialdebug_usartout+12,__zero_reg__
-  12:libs/serialdebug.c ****   stdout = &serialdebug_usartout;
- 121               		.loc 1 12 0
- 122 0070 80E0      		ldi r24,lo8(serialdebug_usartout)
- 123 0072 90E0      		ldi r25,hi8(serialdebug_usartout)
- 124 0074 9093 0000 		sts __iob+2+1,r25
- 125 0078 8093 0000 		sts __iob+2,r24
- 126 007c 0895      		ret
- 127               		.cfi_endproc
- 128               	.LFE7:
- 130               	.global	dbg_putstring
- 132               	dbg_putstring:
- 133               	.LFB9:
-  48:libs/serialdebug.c **** 
-  49:libs/serialdebug.c **** void dbg_putstring(char string[]) {
- 134               		.loc 1 49 0
- 135               		.cfi_startproc
- 136               	.LVL8:
- 137 007e CF93      		push r28
- 138               	.LCFI0:
- 139               		.cfi_def_cfa_offset 3
- 140               		.cfi_offset 28, -2
- 141 0080 DF93      		push r29
- 142               	.LCFI1:
- 143               		.cfi_def_cfa_offset 4
- 144               		.cfi_offset 29, -3
- 145               	/* prologue: function */
- 146               	/* frame size = 0 */
- 147               	/* stack size = 2 */
- 148               	.L__stack_usage = 2
- 149 0082 EC01      		movw r28,r24
- 150               	.LVL9:
- 151               	.L9:
-  50:libs/serialdebug.c ****   // Print a string of arbitrary length to serial
-  51:libs/serialdebug.c ****   int i=0;
-  52:libs/serialdebug.c ****   while (string[i] != '\0') {
- 152               		.loc 1 52 0 discriminator 1
- 153 0084 8991      		ld r24,Y+
- 154               	.LVL10:
- 155 0086 8823      		tst r24
- 156 0088 01F0      		breq .L11
-  53:libs/serialdebug.c ****     usart_putchar(string[i], &serialdebug_usartout);
- 157               		.loc 1 53 0
- 158 008a 60E0      		ldi r22,lo8(serialdebug_usartout)
- 159 008c 70E0      		ldi r23,hi8(serialdebug_usartout)
- 160 008e 00D0      		rcall usart_putchar
- 161               	.LVL11:
- 162 0090 00C0      		rjmp .L9
- 163               	.LVL12:
- 164               	.L11:
- 165               	/* epilogue start */
-  54:libs/serialdebug.c ****     i++;
-  55:libs/serialdebug.c ****   }
-  56:libs/serialdebug.c **** }
- 166               		.loc 1 56 0
- 167 0092 DF91      		pop r29
- 168 0094 CF91      		pop r28
- 169               	.LVL13:
- 170 0096 0895      		ret
- 171               		.cfi_endproc
- 172               	.LFE9:
- 174               		.section	.rodata.str1.1,"aMS",@progbits,1
- 175               	.LC0:
- 176 0000 0A00      		.string	"\n"
- 177               		.text
- 178               	.global	dbg_putstring_nl
- 180               	dbg_putstring_nl:
- 181               	.LFB10:
-  57:libs/serialdebug.c **** 
-  58:libs/serialdebug.c **** void dbg_putstring_nl(char string[]) {
- 182               		.loc 1 58 0
- 183               		.cfi_startproc
- 184               	.LVL14:
- 185               	/* prologue: function */
- 186               	/* frame size = 0 */
- 187               	/* stack size = 0 */
- 188               	.L__stack_usage = 0
-  59:libs/serialdebug.c ****   if(string) dbg_putstring(string);
- 189               		.loc 1 59 0
- 190 0098 0097      		sbiw r24,0
- 191 009a 01F0      		breq .L13
- 192               		.loc 1 59 0 is_stmt 0 discriminator 1
- 193 009c 00D0      		rcall dbg_putstring
- 194               	.LVL15:
- 195               	.L13:
-  60:libs/serialdebug.c ****   dbg_putstring("\n");
- 196               		.loc 1 60 0 is_stmt 1
- 197 009e 80E0      		ldi r24,lo8(.LC0)
- 198 00a0 90E0      		ldi r25,hi8(.LC0)
- 199 00a2 00C0      		rjmp dbg_putstring
- 200               	.LVL16:
- 201               		.cfi_endproc
- 202               	.LFE10:
- 204               	.global	dbg_putint
- 206               	dbg_putint:
- 207               	.LFB11:
-  61:libs/serialdebug.c **** }
-  62:libs/serialdebug.c **** 
-  63:libs/serialdebug.c **** void dbg_putint(unsigned int num) {
- 208               		.loc 1 63 0
- 209               		.cfi_startproc
- 210               	.LVL17:
- 211 00a4 CF93      		push r28
- 212               	.LCFI2:
- 213               		.cfi_def_cfa_offset 3
- 214               		.cfi_offset 28, -2
- 215 00a6 DF93      		push r29
- 216               	.LCFI3:
- 217               		.cfi_def_cfa_offset 4
- 218               		.cfi_offset 29, -3
- 219 00a8 CDB7      		in r28,__SP_L__
- 220 00aa DEB7      		in r29,__SP_H__
- 221               	.LCFI4:
- 222               		.cfi_def_cfa_register 28
- 223 00ac 2797      		sbiw r28,7
- 224               	.LCFI5:
- 225               		.cfi_def_cfa_offset 11
- 226 00ae 0FB6      		in __tmp_reg__,__SREG__
- 227 00b0 F894      		cli
- 228 00b2 DEBF      		out __SP_H__,r29
- 229 00b4 0FBE      		out __SREG__,__tmp_reg__
- 230 00b6 CDBF      		out __SP_L__,r28
- 231               	/* prologue: function */
- 232               	/* frame size = 7 */
- 233               	/* stack size = 9 */
- 234               	.L__stack_usage = 9
-  64:libs/serialdebug.c ****   // Create string representing int and print to serial
-  65:libs/serialdebug.c ****   char c[7];
-  66:libs/serialdebug.c ****   itoa(num, c, 10);
- 235               		.loc 1 66 0
- 236 00b8 4AE0      		ldi r20,lo8(10)
- 237 00ba 50E0      		ldi r21,0
- 238 00bc BE01      		movw r22,r28
- 239 00be 6F5F      		subi r22,-1
- 240 00c0 7F4F      		sbci r23,-1
- 241 00c2 00D0      		rcall itoa
- 242               	.LVL18:
-  67:libs/serialdebug.c ****   dbg_putstring(c);
- 243               		.loc 1 67 0
- 244 00c4 CE01      		movw r24,r28
- 245 00c6 0196      		adiw r24,1
- 246 00c8 00D0      		rcall dbg_putstring
- 247               	.LVL19:
- 248               	/* epilogue start */
-  68:libs/serialdebug.c **** }
- 249               		.loc 1 68 0
- 250 00ca 2796      		adiw r28,7
- 251 00cc 0FB6      		in __tmp_reg__,__SREG__
- 252 00ce F894      		cli
- 253 00d0 DEBF      		out __SP_H__,r29
- 254 00d2 0FBE      		out __SREG__,__tmp_reg__
- 255 00d4 CDBF      		out __SP_L__,r28
- 256 00d6 DF91      		pop r29
- 257 00d8 CF91      		pop r28
- 258 00da 0895      		ret
- 259               		.cfi_endproc
- 260               	.LFE11:
- 262               		.local	serialdebug_usartout
- 263               		.comm	serialdebug_usartout,14,1
- 264               	.Letext0:
- 265               		.file 3 "/usr/local/CrossPack-AVR-20131216/avr/include/stdint.h"
- 266               		.file 4 "/usr/local/CrossPack-AVR-20131216/avr/include/stdio.h"
- 267               		.file 5 "./libs/serialdebug.h"
-DEFINED SYMBOLS
-                            *ABS*:00000000 serialdebug.c
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:2      *ABS*:0000003e __SP_H__
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:3      *ABS*:0000003d __SP_L__
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:4      *ABS*:0000003f __SREG__
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:5      *ABS*:00000000 __tmp_reg__
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:6      *ABS*:00000001 __zero_reg__
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:12     .text:00000000 usart_putchar
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:98     .text:0000004a serial_configure
-                             .bss:00000000 serialdebug_usartout
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:132    .text:0000007e dbg_putstring
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:180    .text:00000098 dbg_putstring_nl
-/var/folders/wx/jhklkzmx1jjffh5wq3y2p3lc0000gn/T//cclDgkOy.s:206    .text:000000a4 dbg_putint
-
-UNDEFINED SYMBOLS
-__iob
-itoa
-__do_copy_data
-__do_clear_bss
diff --git a/libs/serialdebug.o b/libs/serialdebug.o
deleted file mode 100644
index 9dfe339..0000000
Binary files a/libs/serialdebug.o and /dev/null differ
diff --git a/main.c b/main.c
index b80f700..3c3dad9 100644
--- a/main.c
+++ b/main.c
@@ -8,40 +8,53 @@
 #include <avr/sleep.h>
 #include <avr/wdt.h>
 
-// User settings
-#define HOUR 3600
-// I wanted each block of time to be 45 mins, but my chip's clock is slow
-// 40 should roughly scale to 45
-#define BLOCK_MINS 40
-// How long to pour for
+/* User settings */
+
+// How long between feedings is calculated as follows:
+// BLOCK_BASE + ($setting * BLOCK_STEP)
+// All units are minutes.
+// $setting is the 0-15 value read from the speed knob
+
+#define BLOCK_BASE 360
+#define BLOCK_STEP 27  // I wanted 30 mins but my chip's clock is off
+
+// How long to pour for, in milliseconds
+// Cannot be larger than an unsigned int
 #define DISPENSE_MS 12000
 
-/*
+// When the device boots, it wiggles the motor to notify the user that is is alive.
+// These settings control the length and spacing of the pulses, in milliseconds
+#define WAKEUP_PULSE 100
+#define WAKEUP_BETWEEN 75
+#define NUM_PULSES 6
 
+/* Ports configuration */
 
-                  vcc [1   14] gnd
-                      [2   13] input speed_0
-                      [3   12] input speed_1
-                  rst [4   11] input speed_2
-INT/input feed button [5   10] input speed_3
-                motor [6    9]
-         debug serial [7    8]
-*/
-
-// Ports
+// Attiny84 pin layout:
+//                       vcc [1   14] gnd
+//                       PB0 [2   13] PA0 input speed_0
+//                       PB1 [3   12] PA1 input speed_1
+//                   rst PB3 [4   11] PA2 input speed_2
+// INT/input feed button PB2 [5   10] PA3 input speed_3
+//         motor control PA7 [6    9] PA4
+//          debug serial PA6 [7    8] PA5 dial/motor enable
 
+// Motor control
 #define FEED_DDR DDRA
 #define FEED_PORT PORTA
 #define FEED_BIT PA7
 
+// Dial/motor enable
 #define PWRON_DDR DDRA
 #define PWRON_PORT PORTA
 #define PWRON_BIT PA5
 
+// Force-feed input button - must be an interrupt pin
 #define FORCE_DDR DDRB
 #define FORCE_PORT PINB
 #define FORCE_BIT PB2
 
+// Dial inputs - NIBBLE0 is MSB
 #define NIBBLE0_DDR  DDRA
 #define NIBBLE0_PORT PINA
 #define NIBBLE0_BIT  PA0
@@ -69,7 +82,7 @@ void motor_off(void) {
     CLEAR_BIT(FEED_PORT, FEED_BIT);
 }
 
-void dispense(int ms) {
+void dispense(unsigned int ms) {
     // Activate motor for X ms
     motor_on();
     while(ms > 0) {
@@ -89,9 +102,6 @@ void pwr_off(void) {
     CLEAR_BIT(PWRON_PORT, PWRON_BIT);
 }
 
-#define WAKEUP_PULSE 100
-#define WAKEUP_BETWEEN 75
-
 void bootpulse(void) {
     // Pulse the motor quickly
     motor_on();
@@ -101,9 +111,9 @@ void bootpulse(void) {
 }
 
 void wakeup(void) {
-    // Perform
+    // Notify the user the device is alive
     motor_on();
-    for(int i=0;i<6;i++) bootpulse();
+    for(int i=0;i<NUM_PULSES;i++) bootpulse();
     motor_off();
 }
 
@@ -111,9 +121,6 @@ void delay_s(int seconds) {
     while(seconds-- > 0) {
         for (int i = 0; i < 10; i++)
             _delay_ms(100);
-        #ifdef __DEBUG__
-            dbg_putstring("Wait...\n");
-        #endif
     }
 }
 
@@ -124,6 +131,11 @@ uint8_t get_speed() {
     speed |= (IS_SET(NIBBLE2_PORT,NIBBLE2_BIT) << 1);
     speed |= (IS_SET(NIBBLE1_PORT,NIBBLE1_BIT) << 2);
     speed |= (IS_SET(NIBBLE0_PORT,NIBBLE0_BIT) << 3);
+    #ifdef __DEBUG__
+        dbg_putstring("read setting: ");
+        dbg_putint(speed);
+        dbg_putstring("\r\n");
+    #endif
     return speed;
 }
 
@@ -143,10 +155,10 @@ void setup() {
     cli(); //disable global interrupts
 
     // Set ISC01= 1 and ISC00 = 0 to generate an external interrupt request
-    // on any change of INT0
+    // on any change of INT0 (which is on PB2 on an attiny84)
     SET_BIT(MCUCR,ISC00);
     SET_BIT(MCUCR,ISC01);
-    //enable external interrupt request 0
+    // enable external interrupt request 0
     SET_BIT(GIMSK,INT0);
 
     // disable ADC (saves power)
@@ -183,7 +195,7 @@ ISR (WDT_vect) {
 //external interrupt ISR (for INT0 pin)
 ISR(INT0_vect) {
     #ifdef __DEBUG__
-        dbg_putstring("AYE MATEY\n");
+        dbg_putstring("Woken from manual interrupt\r\n");
     #endif
     pwr_on();
     while(IS_SET(FORCE_PORT, FORCE_BIT)) {
@@ -200,7 +212,7 @@ int main(void) {
 
     #ifdef __DEBUG__
         serial_configure();
-        dbg_putstring("\n\n");
+        dbg_putstring(".\r\n\r\n\r\n\r\n\r\nCatFeeder v1.2 Booted!\r\n      = ^_^ =\r\n\r\n");
     #endif
 
     // Configure the mcu
@@ -210,33 +222,39 @@ int main(void) {
     pwr_on();
     wakeup();
     pwr_off();
-
     delay_s(1);
 
     while (1) {
         if (seconds_since_last_spin % 10 == 0) {
+            // Power on the input dial, delay while it warms up
             pwr_on();
-            _delay_ms(1); // Let input pins warm up
+            _delay_ms(1);
 
-            // speed can be 0-15
-            // delay = 2hrs + speed * .75h
-            // range of 1hr to 12hrs25m
+            // read delay setting, speed can be 0-15
             uint8_t speed = get_speed();
-            long sleep_max = HOUR + (BLOCK_MINS * 60 * speed); // 45 mins per unit of speed
 
-            long to_go = sleep_max - seconds_since_last_spin;
+            // Calculate how long since the last feeding the next one will be
+            long feed_internal = 60L * ((long)BLOCK_BASE + ((long)BLOCK_STEP * (long)speed));
+
+            // This many seconds until the next feeding
+            long to_go = feed_internal - seconds_since_last_spin;
 
             #ifdef __DEBUG__
+                dbg_putstring("calculated feed_internal: ");
+                dbg_putlong(feed_internal);
+                dbg_putstring("s\r\n");
+
                 dbg_putstring("Mins to sleep: ");
-                dbg_putint((unsigned int)sleep_max/60);
-                dbg_putstring("\n");
+                dbg_putint((unsigned int)feed_internal/60);
+                dbg_putstring("\r\n");
                 dbg_putstring("Mins to go:    ");
                 dbg_putint((unsigned int)to_go/60);
-                dbg_putstring("\n\n");
+                dbg_putstring("\r\n\n");
             #endif
 
             // If it's been long enough, do the thing
             if(to_go <= 0) {
+                dbg_putstring("dispensing now\r\n");
                 dispense(DISPENSE_MS);
                 seconds_since_last_spin = 0;
             }