Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1564 | LPDunwell | 1 | 1 .file "fc.c" |
| 2 | 2 __SREG__ = 0x3f |
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| 3 | 3 __SP_H__ = 0x3e |
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| 4 | 4 __SP_L__ = 0x3d |
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| 5 | 5 __CCP__ = 0x34 |
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| 6 | 6 __tmp_reg__ = 0 |
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| 7 | 7 __zero_reg__ = 1 |
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| 8 | 8 .text |
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| 9 | 9 .global MotorSmoothing |
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| 10 | 11 MotorSmoothing: |
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| 11 | 12 /* prologue: function */ |
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| 12 | 13 /* frame size = 0 */ |
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| 13 | 14 0000 9B01 movw r18,r22 |
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| 14 | 15 0002 6817 cp r22,r24 |
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| 15 | 16 0004 7907 cpc r23,r25 |
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| 16 | 17 0006 04F0 brlt .L7 |
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| 17 | 18 0008 BC01 movw r22,r24 |
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| 18 | 19 000a 660F lsl r22 |
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| 19 | 20 000c 771F rol r23 |
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| 20 | 21 000e 621B sub r22,r18 |
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| 21 | 22 0010 730B sbc r23,r19 |
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| 22 | 23 0012 CB01 movw r24,r22 |
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| 23 | 24 /* epilogue start */ |
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| 24 | 25 0014 0895 ret |
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| 25 | 26 .L7: |
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| 26 | 27 0016 680F add r22,r24 |
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| 27 | 28 0018 791F adc r23,r25 |
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| 28 | 29 001a 77FD sbrc r23,7 |
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| 29 | 30 001c 00C0 rjmp .L8 |
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| 30 | 31 .L3: |
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| 31 | 32 001e 7595 asr r23 |
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| 32 | 33 0020 6795 ror r22 |
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| 33 | 34 0022 CB01 movw r24,r22 |
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| 34 | 35 0024 0895 ret |
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| 35 | 36 .L8: |
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| 36 | 37 0026 6F5F subi r22,lo8(-(1)) |
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| 37 | 38 0028 7F4F sbci r23,hi8(-(1)) |
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| 38 | 39 002a 00C0 rjmp .L3 |
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| 39 | 41 .global Mean |
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| 40 | 43 Mean: |
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| 41 | 44 002c 2F92 push r2 |
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| 42 | 45 002e 3F92 push r3 |
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| 43 | 46 0030 4F92 push r4 |
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| 44 | 47 0032 5F92 push r5 |
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| 45 | 48 0034 6F92 push r6 |
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| 46 | 49 0036 7F92 push r7 |
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| 47 | 50 0038 8F92 push r8 |
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| 48 | 51 003a 9F92 push r9 |
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| 49 | 52 003c AF92 push r10 |
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| 50 | 53 003e BF92 push r11 |
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| 51 | 54 0040 CF92 push r12 |
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| 52 | 55 0042 DF92 push r13 |
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| 53 | 56 0044 EF92 push r14 |
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| 54 | 57 0046 FF92 push r15 |
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| 55 | 58 0048 0F93 push r16 |
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| 56 | 59 004a 1F93 push r17 |
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| 57 | 60 004c DF93 push r29 |
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| 58 | 61 004e CF93 push r28 |
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| 59 | 62 0050 CDB7 in r28,__SP_L__ |
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| 60 | 63 0052 DEB7 in r29,__SP_H__ |
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| 61 | 64 0054 AD97 sbiw r28,45 |
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| 62 | 65 0056 0FB6 in __tmp_reg__,__SREG__ |
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| 63 | 66 0058 F894 cli |
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| 64 | 67 005a DEBF out __SP_H__,r29 |
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| 65 | 68 005c 0FBE out __SREG__,__tmp_reg__ |
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| 66 | 69 005e CDBF out __SP_L__,r28 |
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| 67 | 70 /* prologue: function */ |
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| 68 | 71 /* frame size = 45 */ |
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| 69 | 72 0060 8091 0000 lds r24,HiResGyroNick |
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| 70 | 73 0064 9091 0000 lds r25,(HiResGyroNick)+1 |
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| 71 | 74 0068 97FD sbrc r25,7 |
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| 72 | 75 006a 00C0 rjmp .L67 |
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| 73 | 76 .L10: |
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| 74 | 77 006c 9595 asr r25 |
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| 75 | 78 006e 8795 ror r24 |
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| 76 | 79 0070 9595 asr r25 |
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| 77 | 80 0072 8795 ror r24 |
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| 78 | 81 0074 9595 asr r25 |
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| 79 | 82 0076 8795 ror r24 |
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| 80 | 83 0078 9093 0000 sts (GyroNick)+1,r25 |
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| 81 | 84 007c 8093 0000 sts GyroNick,r24 |
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| 82 | 85 0080 2091 0000 lds r18,FilterHiResGyroNick |
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| 83 | 86 0084 3091 0000 lds r19,(FilterHiResGyroNick)+1 |
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| 84 | 87 0088 37FD sbrc r19,7 |
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| 85 | 88 008a 00C0 rjmp .L68 |
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| 86 | 89 .L11: |
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| 87 | 90 008c C901 movw r24,r18 |
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| 88 | 91 008e 9595 asr r25 |
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| 89 | 92 0090 8795 ror r24 |
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| 90 | 93 0092 9595 asr r25 |
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| 91 | 94 0094 8795 ror r24 |
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| 92 | 95 0096 9595 asr r25 |
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| 93 | 96 0098 8795 ror r24 |
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| 94 | 97 009a 9D8F std Y+29,r25 |
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| 95 | 98 009c 8C8F std Y+28,r24 |
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| 96 | 99 009e 8091 0000 lds r24,AdValueGyroNick |
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| 97 | 100 00a2 9091 0000 lds r25,(AdValueGyroNick)+1 |
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| 98 | 101 00a6 0F97 sbiw r24,15 |
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| 99 | 102 00a8 04F4 brge .L12 |
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| 100 | 103 00aa 88E1 ldi r24,lo8(-1000) |
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| 101 | 104 00ac 9CEF ldi r25,hi8(-1000) |
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| 102 | 105 00ae 9093 0000 sts (GyroNick)+1,r25 |
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| 103 | 106 00b2 8093 0000 sts GyroNick,r24 |
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| 104 | 107 .L12: |
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| 105 | 108 00b6 8091 0000 lds r24,AdValueGyroNick |
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| 106 | 109 00ba 9091 0000 lds r25,(AdValueGyroNick)+1 |
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| 107 | 110 00be 0797 sbiw r24,7 |
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| 108 | 111 00c0 04F4 brge .L13 |
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| 109 | 112 00c2 80E3 ldi r24,lo8(-2000) |
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| 110 | 113 00c4 98EF ldi r25,hi8(-2000) |
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| 111 | 114 00c6 9093 0000 sts (GyroNick)+1,r25 |
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| 112 | 115 00ca 8093 0000 sts GyroNick,r24 |
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| 113 | 116 .L13: |
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| 114 | 117 00ce 4091 0000 lds r20,BoardRelease |
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| 115 | 118 00d2 4A30 cpi r20,lo8(10) |
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| 116 | 119 00d4 01F4 brne .+2 |
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| 117 | 120 00d6 00C0 rjmp .L69 |
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| 118 | 121 00d8 8091 0000 lds r24,AdValueGyroNick |
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| 119 | 122 00dc 9091 0000 lds r25,(AdValueGyroNick)+1 |
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| 120 | 123 00e0 815D subi r24,lo8(2001) |
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| 121 | 124 00e2 9740 sbci r25,hi8(2001) |
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| 122 | 125 00e4 04F0 brlt .L17 |
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| 123 | 126 00e6 88EE ldi r24,lo8(1000) |
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| 124 | 127 00e8 93E0 ldi r25,hi8(1000) |
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| 125 | 128 00ea 9093 0000 sts (GyroNick)+1,r25 |
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| 126 | 129 00ee 8093 0000 sts GyroNick,r24 |
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| 127 | 130 .L17: |
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| 128 | 131 00f2 8091 0000 lds r24,AdValueGyroNick |
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| 129 | 132 00f6 9091 0000 lds r25,(AdValueGyroNick)+1 |
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| 130 | 133 00fa 805E subi r24,lo8(2016) |
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| 131 | 134 00fc 9740 sbci r25,hi8(2016) |
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| 132 | 135 00fe 04F0 brlt .+2 |
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| 133 | 136 0100 00C0 rjmp .L65 |
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| 134 | 137 .L16: |
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| 135 | 138 0102 8091 0000 lds r24,HiResGyroRoll |
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| 136 | 139 0106 9091 0000 lds r25,(HiResGyroRoll)+1 |
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| 137 | 140 010a 97FD sbrc r25,7 |
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| 138 | 141 010c 00C0 rjmp .L70 |
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| 139 | 142 .L18: |
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| 140 | 143 010e 9595 asr r25 |
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| 141 | 144 0110 8795 ror r24 |
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| 142 | 145 0112 9595 asr r25 |
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| 143 | 146 0114 8795 ror r24 |
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| 144 | 147 0116 9595 asr r25 |
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| 145 | 148 0118 8795 ror r24 |
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| 146 | 149 011a 9093 0000 sts (GyroRoll)+1,r25 |
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| 147 | 150 011e 8093 0000 sts GyroRoll,r24 |
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| 148 | 151 0122 2091 0000 lds r18,FilterHiResGyroRoll |
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| 149 | 152 0126 3091 0000 lds r19,(FilterHiResGyroRoll)+1 |
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| 150 | 153 012a 37FD sbrc r19,7 |
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| 151 | 154 012c 00C0 rjmp .L71 |
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| 152 | 155 .L19: |
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| 153 | 156 012e C901 movw r24,r18 |
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| 154 | 157 0130 9595 asr r25 |
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| 155 | 158 0132 8795 ror r24 |
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| 156 | 159 0134 9595 asr r25 |
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| 157 | 160 0136 8795 ror r24 |
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| 158 | 161 0138 9595 asr r25 |
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| 159 | 162 013a 8795 ror r24 |
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| 160 | 163 013c 9B8F std Y+27,r25 |
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| 161 | 164 013e 8A8F std Y+26,r24 |
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| 162 | 165 0140 8091 0000 lds r24,AdValueGyroRoll |
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| 163 | 166 0144 9091 0000 lds r25,(AdValueGyroRoll)+1 |
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| 164 | 167 0148 0F97 sbiw r24,15 |
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| 165 | 168 014a 04F4 brge .L20 |
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| 166 | 169 014c 88E1 ldi r24,lo8(-1000) |
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| 167 | 170 014e 9CEF ldi r25,hi8(-1000) |
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| 168 | 171 0150 9093 0000 sts (GyroRoll)+1,r25 |
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| 169 | 172 0154 8093 0000 sts GyroRoll,r24 |
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| 170 | 173 .L20: |
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| 171 | 174 0158 8091 0000 lds r24,AdValueGyroRoll |
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| 172 | 175 015c 9091 0000 lds r25,(AdValueGyroRoll)+1 |
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| 173 | 176 0160 0797 sbiw r24,7 |
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| 174 | 177 0162 04F4 brge .L21 |
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| 175 | 178 0164 80E3 ldi r24,lo8(-2000) |
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| 176 | 179 0166 98EF ldi r25,hi8(-2000) |
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| 177 | 180 0168 9093 0000 sts (GyroRoll)+1,r25 |
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| 178 | 181 016c 8093 0000 sts GyroRoll,r24 |
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| 179 | 182 .L21: |
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| 180 | 183 0170 4A30 cpi r20,lo8(10) |
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| 181 | 184 0172 01F4 brne .+2 |
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| 182 | 185 0174 00C0 rjmp .L72 |
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| 183 | 186 0176 8091 0000 lds r24,AdValueGyroRoll |
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| 184 | 187 017a 9091 0000 lds r25,(AdValueGyroRoll)+1 |
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| 185 | 188 017e 815D subi r24,lo8(2001) |
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| 186 | 189 0180 9740 sbci r25,hi8(2001) |
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| 187 | 190 0182 04F0 brlt .L25 |
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| 188 | 191 0184 88EE ldi r24,lo8(1000) |
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| 189 | 192 0186 93E0 ldi r25,hi8(1000) |
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| 190 | 193 0188 9093 0000 sts (GyroRoll)+1,r25 |
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| 191 | 194 018c 8093 0000 sts GyroRoll,r24 |
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| 192 | 195 .L25: |
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| 193 | 196 0190 8091 0000 lds r24,AdValueGyroRoll |
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| 194 | 197 0194 9091 0000 lds r25,(AdValueGyroRoll)+1 |
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| 195 | 198 0198 805E subi r24,lo8(2016) |
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| 196 | 199 019a 9740 sbci r25,hi8(2016) |
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| 197 | 200 019c 04F0 brlt .+2 |
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| 198 | 201 019e 00C0 rjmp .L66 |
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| 199 | 202 .L24: |
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| 200 | 203 01a0 8091 0000 lds r24,AdValueGyroYaw |
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| 201 | 204 01a4 9091 0000 lds r25,(AdValueGyroYaw)+1 |
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| 202 | 205 01a8 2091 0000 lds r18,AdBiasGyroYaw |
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| 203 | 206 01ac 3091 0000 lds r19,(AdBiasGyroYaw)+1 |
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| 204 | 207 01b0 281B sub r18,r24 |
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| 205 | 208 01b2 390B sbc r19,r25 |
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| 206 | 209 01b4 3DA7 std Y+45,r19 |
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| 207 | 210 01b6 2CA7 std Y+44,r18 |
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| 208 | 211 01b8 3093 0000 sts (GyroYaw)+1,r19 |
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| 209 | 212 01bc 2093 0000 sts GyroYaw,r18 |
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| 210 | 213 01c0 6091 0000 lds r22,AdValueAccNick |
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| 211 | 214 01c4 7091 0000 lds r23,(AdValueAccNick)+1 |
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| 212 | 215 01c8 8827 clr r24 |
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| 213 | 216 01ca 77FD sbrc r23,7 |
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| 214 | 217 01cc 8095 com r24 |
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| 215 | 218 01ce 982F mov r25,r24 |
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| 216 | 219 01d0 26E0 ldi r18,lo8(6) |
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| 217 | 220 01d2 30E0 ldi r19,hi8(6) |
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| 218 | 221 01d4 40E0 ldi r20,hlo8(6) |
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| 219 | 222 01d6 50E0 ldi r21,hhi8(6) |
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| 220 | 223 01d8 0E94 0000 call __mulsi3 |
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| 221 | 224 01dc 7B01 movw r14,r22 |
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| 222 | 225 01de 8C01 movw r16,r24 |
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| 223 | 226 01e0 2091 0000 lds r18,AccNick |
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| 224 | 227 01e4 3091 0000 lds r19,(AccNick)+1 |
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| 225 | 228 01e8 4427 clr r20 |
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| 226 | 229 01ea 37FD sbrc r19,7 |
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| 227 | 230 01ec 4095 com r20 |
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| 228 | 231 01ee 542F mov r21,r20 |
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| 229 | 232 01f0 CA01 movw r24,r20 |
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| 230 | 233 01f2 B901 movw r22,r18 |
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| 231 | 234 01f4 660F lsl r22 |
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| 232 | 235 01f6 771F rol r23 |
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| 233 | 236 01f8 881F rol r24 |
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| 234 | 237 01fa 991F rol r25 |
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| 235 | 238 01fc 620F add r22,r18 |
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| 236 | 239 01fe 731F adc r23,r19 |
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| 237 | 240 0200 841F adc r24,r20 |
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| 238 | 241 0202 951F adc r25,r21 |
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| 239 | 242 0204 6E0D add r22,r14 |
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| 240 | 243 0206 7F1D adc r23,r15 |
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| 241 | 244 0208 801F adc r24,r16 |
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| 242 | 245 020a 911F adc r25,r17 |
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| 243 | 246 020c 24E0 ldi r18,lo8(4) |
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| 244 | 247 020e 30E0 ldi r19,hi8(4) |
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| 245 | 248 0210 40E0 ldi r20,hlo8(4) |
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| 246 | 249 0212 50E0 ldi r21,hhi8(4) |
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| 247 | 250 0214 0E94 0000 call __divmodsi4 |
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| 248 | 251 0218 3093 0000 sts (AccNick)+1,r19 |
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| 249 | 252 021c 2093 0000 sts AccNick,r18 |
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| 250 | 253 0220 6091 0000 lds r22,AdValueAccRoll |
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| 251 | 254 0224 7091 0000 lds r23,(AdValueAccRoll)+1 |
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| 252 | 255 0228 8827 clr r24 |
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| 253 | 256 022a 77FD sbrc r23,7 |
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| 254 | 257 022c 8095 com r24 |
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| 255 | 258 022e 982F mov r25,r24 |
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| 256 | 259 0230 26E0 ldi r18,lo8(6) |
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| 257 | 260 0232 30E0 ldi r19,hi8(6) |
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| 258 | 261 0234 40E0 ldi r20,hlo8(6) |
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| 259 | 262 0236 50E0 ldi r21,hhi8(6) |
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| 260 | 263 0238 0E94 0000 call __mulsi3 |
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| 261 | 264 023c 7B01 movw r14,r22 |
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| 262 | 265 023e 8C01 movw r16,r24 |
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| 263 | 266 0240 2091 0000 lds r18,AccRoll |
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| 264 | 267 0244 3091 0000 lds r19,(AccRoll)+1 |
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| 265 | 268 0248 4427 clr r20 |
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| 266 | 269 024a 37FD sbrc r19,7 |
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| 267 | 270 024c 4095 com r20 |
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| 268 | 271 024e 542F mov r21,r20 |
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| 269 | 272 0250 CA01 movw r24,r20 |
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| 270 | 273 0252 B901 movw r22,r18 |
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| 271 | 274 0254 660F lsl r22 |
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| 272 | 275 0256 771F rol r23 |
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| 273 | 276 0258 881F rol r24 |
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| 274 | 277 025a 991F rol r25 |
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| 275 | 278 025c 620F add r22,r18 |
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| 276 | 279 025e 731F adc r23,r19 |
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| 277 | 280 0260 841F adc r24,r20 |
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| 278 | 281 0262 951F adc r25,r21 |
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| 279 | 282 0264 6E0D add r22,r14 |
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| 280 | 283 0266 7F1D adc r23,r15 |
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| 281 | 284 0268 801F adc r24,r16 |
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| 282 | 285 026a 911F adc r25,r17 |
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| 283 | 286 026c 24E0 ldi r18,lo8(4) |
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| 284 | 287 026e 30E0 ldi r19,hi8(4) |
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| 285 | 288 0270 40E0 ldi r20,hlo8(4) |
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| 286 | 289 0272 50E0 ldi r21,hhi8(4) |
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| 287 | 290 0274 0E94 0000 call __divmodsi4 |
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| 288 | 291 0278 3093 0000 sts (AccRoll)+1,r19 |
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| 289 | 292 027c 2093 0000 sts AccRoll,r18 |
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| 290 | 293 0280 E090 0000 lds r14,AdValueAccTop |
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| 291 | 294 0284 F090 0000 lds r15,(AdValueAccTop)+1 |
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| 292 | 295 0288 2091 0000 lds r18,AccTop |
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| 293 | 296 028c 3091 0000 lds r19,(AccTop)+1 |
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| 294 | 297 0290 4427 clr r20 |
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| 295 | 298 0292 37FD sbrc r19,7 |
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| 296 | 299 0294 4095 com r20 |
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| 297 | 300 0296 542F mov r21,r20 |
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| 298 | 301 0298 CA01 movw r24,r20 |
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| 299 | 302 029a B901 movw r22,r18 |
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| 300 | 303 029c 660F lsl r22 |
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| 301 | 304 029e 771F rol r23 |
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| 302 | 305 02a0 881F rol r24 |
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| 303 | 306 02a2 991F rol r25 |
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| 304 | 307 02a4 620F add r22,r18 |
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| 305 | 308 02a6 731F adc r23,r19 |
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| 306 | 309 02a8 841F adc r24,r20 |
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| 307 | 310 02aa 951F adc r25,r21 |
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| 308 | 311 02ac 0027 clr r16 |
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| 309 | 312 02ae F7FC sbrc r15,7 |
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| 310 | 313 02b0 0095 com r16 |
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| 311 | 314 02b2 102F mov r17,r16 |
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| 312 | 315 02b4 6E0D add r22,r14 |
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| 313 | 316 02b6 7F1D adc r23,r15 |
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| 314 | 317 02b8 801F adc r24,r16 |
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| 315 | 318 02ba 911F adc r25,r17 |
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| 316 | 319 02bc 24E0 ldi r18,lo8(4) |
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| 317 | 320 02be 30E0 ldi r19,hi8(4) |
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| 318 | 321 02c0 40E0 ldi r20,hlo8(4) |
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| 319 | 322 02c2 50E0 ldi r21,hhi8(4) |
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| 320 | 323 02c4 0E94 0000 call __divmodsi4 |
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| 321 | 324 02c8 3093 0000 sts (AccTop)+1,r19 |
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| 322 | 325 02cc 2093 0000 sts AccTop,r18 |
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| 323 | 326 02d0 2091 0000 lds r18,AdValueAccNick |
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| 324 | 327 02d4 3091 0000 lds r19,(AdValueAccNick)+1 |
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| 325 | 328 02d8 C901 movw r24,r18 |
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| 326 | 329 02da 880F lsl r24 |
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| 327 | 330 02dc 991F rol r25 |
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| 328 | 331 02de 820F add r24,r18 |
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| 329 | 332 02e0 931F adc r25,r19 |
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| 330 | 333 02e2 880F lsl r24 |
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| 331 | 334 02e4 991F rol r25 |
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| 332 | 335 02e6 AA27 clr r26 |
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| 333 | 336 02e8 97FD sbrc r25,7 |
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| 334 | 337 02ea A095 com r26 |
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| 335 | 338 02ec BA2F mov r27,r26 |
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| 336 | 339 02ee 2091 0000 lds r18,MeanAccNick |
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| 337 | 340 02f2 3091 0000 lds r19,(MeanAccNick)+1 |
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| 338 | 341 02f6 4091 0000 lds r20,(MeanAccNick)+2 |
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| 339 | 342 02fa 5091 0000 lds r21,(MeanAccNick)+3 |
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| 340 | 343 02fe 280F add r18,r24 |
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| 341 | 344 0300 391F adc r19,r25 |
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| 342 | 345 0302 4A1F adc r20,r26 |
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| 343 | 346 0304 5B1F adc r21,r27 |
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| 344 | 347 0306 2093 0000 sts MeanAccNick,r18 |
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| 345 | 348 030a 3093 0000 sts (MeanAccNick)+1,r19 |
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| 346 | 349 030e 4093 0000 sts (MeanAccNick)+2,r20 |
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| 347 | 350 0312 5093 0000 sts (MeanAccNick)+3,r21 |
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| 348 | 351 0316 2091 0000 lds r18,AdValueAccRoll |
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| 349 | 352 031a 3091 0000 lds r19,(AdValueAccRoll)+1 |
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| 350 | 353 031e C901 movw r24,r18 |
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| 351 | 354 0320 880F lsl r24 |
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| 352 | 355 0322 991F rol r25 |
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| 353 | 356 0324 820F add r24,r18 |
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| 354 | 357 0326 931F adc r25,r19 |
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| 355 | 358 0328 880F lsl r24 |
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| 356 | 359 032a 991F rol r25 |
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| 357 | 360 032c AA27 clr r26 |
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| 358 | 361 032e 97FD sbrc r25,7 |
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| 359 | 362 0330 A095 com r26 |
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| 360 | 363 0332 BA2F mov r27,r26 |
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| 361 | 364 0334 2091 0000 lds r18,MeanAccRoll |
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| 362 | 365 0338 3091 0000 lds r19,(MeanAccRoll)+1 |
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| 363 | 366 033c 4091 0000 lds r20,(MeanAccRoll)+2 |
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| 364 | 367 0340 5091 0000 lds r21,(MeanAccRoll)+3 |
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| 365 | 368 0344 280F add r18,r24 |
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| 366 | 369 0346 391F adc r19,r25 |
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| 367 | 370 0348 4A1F adc r20,r26 |
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| 368 | 371 034a 5B1F adc r21,r27 |
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| 369 | 372 034c 2093 0000 sts MeanAccRoll,r18 |
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| 370 | 373 0350 3093 0000 sts (MeanAccRoll)+1,r19 |
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| 371 | 374 0354 4093 0000 sts (MeanAccRoll)+2,r20 |
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| 372 | 375 0358 5093 0000 sts (MeanAccRoll)+3,r21 |
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| 373 | 376 035c 2091 0000 lds r18,AdValueAccNick |
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| 374 | 377 0360 3091 0000 lds r19,(AdValueAccNick)+1 |
||
| 375 | 378 0364 8091 0000 lds r24,NaviAccNick |
||
| 376 | 379 0368 9091 0000 lds r25,(NaviAccNick)+1 |
||
| 377 | 380 036c 820F add r24,r18 |
||
| 378 | 381 036e 931F adc r25,r19 |
||
| 379 | 382 0370 9093 0000 sts (NaviAccNick)+1,r25 |
||
| 380 | 383 0374 8093 0000 sts NaviAccNick,r24 |
||
| 381 | 384 0378 2091 0000 lds r18,AdValueAccRoll |
||
| 382 | 385 037c 3091 0000 lds r19,(AdValueAccRoll)+1 |
||
| 383 | 386 0380 8091 0000 lds r24,NaviAccRoll |
||
| 384 | 387 0384 9091 0000 lds r25,(NaviAccRoll)+1 |
||
| 385 | 388 0388 820F add r24,r18 |
||
| 386 | 389 038a 931F adc r25,r19 |
||
| 387 | 390 038c 9093 0000 sts (NaviAccRoll)+1,r25 |
||
| 388 | 391 0390 8093 0000 sts NaviAccRoll,r24 |
||
| 389 | 392 0394 8091 0000 lds r24,NaviCntAcc |
||
| 390 | 393 0398 9091 0000 lds r25,(NaviCntAcc)+1 |
||
| 391 | 394 039c 0196 adiw r24,1 |
||
| 392 | 395 039e 9093 0000 sts (NaviCntAcc)+1,r25 |
||
| 393 | 396 03a2 8093 0000 sts NaviCntAcc,r24 |
||
| 394 | 397 03a6 8091 7A00 lds r24,122 |
||
| 395 | 398 03aa 886C ori r24,lo8(-56) |
||
| 396 | 399 03ac 8093 7A00 sts 122,r24 |
||
| 397 | 400 03b0 1092 0000 sts ADReady,__zero_reg__ |
||
| 398 | 401 03b4 8091 0000 lds r24,ReadingIntegralGyroNick |
||
| 399 | 402 03b8 9091 0000 lds r25,(ReadingIntegralGyroNick)+1 |
||
| 400 | 403 03bc A091 0000 lds r26,(ReadingIntegralGyroNick)+2 |
||
| 401 | 404 03c0 B091 0000 lds r27,(ReadingIntegralGyroNick)+3 |
||
| 402 | 405 03c4 8E8B std Y+22,r24 |
||
| 403 | 406 03c6 9F8B std Y+23,r25 |
||
| 404 | 407 03c8 A88F std Y+24,r26 |
||
| 405 | 408 03ca B98F std Y+25,r27 |
||
| 406 | 409 03cc 8091 0000 lds r24,ReadingIntegralGyroRoll |
||
| 407 | 410 03d0 9091 0000 lds r25,(ReadingIntegralGyroRoll)+1 |
||
| 408 | 411 03d4 A091 0000 lds r26,(ReadingIntegralGyroRoll)+2 |
||
| 409 | 412 03d8 B091 0000 lds r27,(ReadingIntegralGyroRoll)+3 |
||
| 410 | 413 03dc 8A8B std Y+18,r24 |
||
| 411 | 414 03de 9B8B std Y+19,r25 |
||
| 412 | 415 03e0 AC8B std Y+20,r26 |
||
| 413 | 416 03e2 BD8B std Y+21,r27 |
||
| 414 | 417 03e4 ACA5 ldd r26,Y+44 |
||
| 415 | 418 03e6 BDA5 ldd r27,Y+45 |
||
| 416 | 419 03e8 3D01 movw r6,r26 |
||
| 417 | 420 03ea 8824 clr r8 |
||
| 418 | 421 03ec 77FC sbrc r7,7 |
||
| 419 | 422 03ee 8094 com r8 |
||
| 420 | 423 03f0 982C mov r9,r8 |
||
| 421 | 424 03f2 E090 0000 lds r14,YawGyroHeading |
||
| 422 | 425 03f6 F090 0000 lds r15,(YawGyroHeading)+1 |
||
| 423 | 426 03fa 0091 0000 lds r16,(YawGyroHeading)+2 |
||
| 424 | 427 03fe 1091 0000 lds r17,(YawGyroHeading)+3 |
||
| 425 | 428 0402 E60C add r14,r6 |
||
| 426 | 429 0404 F71C adc r15,r7 |
||
| 427 | 430 0406 081D adc r16,r8 |
||
| 428 | 431 0408 191D adc r17,r9 |
||
| 429 | 432 040a ECA2 std Y+36,r14 |
||
| 430 | 433 040c FDA2 std Y+37,r15 |
||
| 431 | 434 040e 0EA3 std Y+38,r16 |
||
| 432 | 435 0410 1FA3 std Y+39,r17 |
||
| 433 | 436 0412 E092 0000 sts YawGyroHeading,r14 |
||
| 434 | 437 0416 F092 0000 sts (YawGyroHeading)+1,r15 |
||
| 435 | 438 041a 0093 0000 sts (YawGyroHeading)+2,r16 |
||
| 436 | 439 041e 1093 0000 sts (YawGyroHeading)+3,r17 |
||
| 437 | 440 0422 2090 0000 lds r2,ReadingIntegralGyroYaw |
||
| 438 | 441 0426 3090 0000 lds r3,(ReadingIntegralGyroYaw)+1 |
||
| 439 | 442 042a 4090 0000 lds r4,(ReadingIntegralGyroYaw)+2 |
||
| 440 | 443 042e 5090 0000 lds r5,(ReadingIntegralGyroYaw)+3 |
||
| 441 | 444 0432 260C add r2,r6 |
||
| 442 | 445 0434 371C adc r3,r7 |
||
| 443 | 446 0436 481C adc r4,r8 |
||
| 444 | 447 0438 591C adc r5,r9 |
||
| 445 | 448 043a 28A2 std Y+32,r2 |
||
| 446 | 449 043c 39A2 std Y+33,r3 |
||
| 447 | 450 043e 4AA2 std Y+34,r4 |
||
| 448 | 451 0440 5BA2 std Y+35,r5 |
||
| 449 | 452 0442 2092 0000 sts ReadingIntegralGyroYaw,r2 |
||
| 450 | 453 0446 3092 0000 sts (ReadingIntegralGyroYaw)+1,r3 |
||
| 451 | 454 044a 4092 0000 sts (ReadingIntegralGyroYaw)+2,r4 |
||
| 452 | 455 044e 5092 0000 sts (ReadingIntegralGyroYaw)+3,r5 |
||
| 453 | 456 0452 B091 0000 lds r27,LoopingNick |
||
| 454 | 457 0456 BF8F std Y+31,r27 |
||
| 455 | 458 0458 BB23 tst r27 |
||
| 456 | 459 045a 01F4 brne .L26 |
||
| 457 | 460 045c 8091 0000 lds r24,LoopingRoll |
||
| 458 | 461 0460 8823 tst r24 |
||
| 459 | 462 0462 01F4 brne .+2 |
||
| 460 | 463 0464 00C0 rjmp .L27 |
||
| 461 | 464 .L26: |
||
| 462 | 465 0466 E091 0000 lds r30,ParamSet+8 |
||
| 463 | 466 046a E98B std Y+17,r30 |
||
| 464 | 467 .L28: |
||
| 465 | 468 046c 1092 0000 sts (TrimNick)+1,__zero_reg__ |
||
| 466 | 469 0470 1092 0000 sts TrimNick,__zero_reg__ |
||
| 467 | 470 0474 1092 0000 sts (TrimRoll)+1,__zero_reg__ |
||
| 468 | 471 0478 1092 0000 sts TrimRoll,__zero_reg__ |
||
| 469 | 472 047c 1D86 std Y+13,__zero_reg__ |
||
| 470 | 473 047e 1E86 std Y+14,__zero_reg__ |
||
| 471 | 474 0480 1F86 std Y+15,__zero_reg__ |
||
| 472 | 475 0482 188A std Y+16,__zero_reg__ |
||
| 473 | 476 0484 1986 std Y+9,__zero_reg__ |
||
| 474 | 477 0486 1A86 std Y+10,__zero_reg__ |
||
| 475 | 478 0488 1B86 std Y+11,__zero_reg__ |
||
| 476 | 479 048a 1C86 std Y+12,__zero_reg__ |
||
| 477 | 480 .L40: |
||
| 478 | 481 048c 8091 0000 lds r24,ParamSet+23 |
||
| 479 | 482 0490 A82E mov r10,r24 |
||
| 480 | 483 0492 BB24 clr r11 |
||
| 481 | 484 0494 CC24 clr r12 |
||
| 482 | 485 0496 DD24 clr r13 |
||
| 483 | 486 0498 C601 movw r24,r12 |
||
| 484 | 487 049a B501 movw r22,r10 |
||
| 485 | 488 049c 20E1 ldi r18,lo8(15120) |
||
| 486 | 489 049e 3BE3 ldi r19,hi8(15120) |
||
| 487 | 490 04a0 40E0 ldi r20,hlo8(15120) |
||
| 488 | 491 04a2 50E0 ldi r21,hhi8(15120) |
||
| 489 | 492 04a4 0E94 0000 call __mulsi3 |
||
| 490 | 493 04a8 3B01 movw r6,r22 |
||
| 491 | 494 04aa 4C01 movw r8,r24 |
||
| 492 | 495 04ac E616 cp r14,r22 |
||
| 493 | 496 04ae F706 cpc r15,r23 |
||
| 494 | 497 04b0 0807 cpc r16,r24 |
||
| 495 | 498 04b2 1907 cpc r17,r25 |
||
| 496 | 499 04b4 04F0 brlt .L41 |
||
| 497 | 500 04b6 C601 movw r24,r12 |
||
| 498 | 501 04b8 B501 movw r22,r10 |
||
| 499 | 502 04ba 20EF ldi r18,lo8(-15120) |
||
| 500 | 503 04bc 34EC ldi r19,hi8(-15120) |
||
| 501 | 504 04be 4FEF ldi r20,hlo8(-15120) |
||
| 502 | 505 04c0 5FEF ldi r21,hhi8(-15120) |
||
| 503 | 506 04c2 0E94 0000 call __mulsi3 |
||
| 504 | 507 04c6 6E0D add r22,r14 |
||
| 505 | 508 04c8 7F1D adc r23,r15 |
||
| 506 | 509 04ca 801F adc r24,r16 |
||
| 507 | 510 04cc 911F adc r25,r17 |
||
| 508 | 511 04ce 6093 0000 sts YawGyroHeading,r22 |
||
| 509 | 512 04d2 7093 0000 sts (YawGyroHeading)+1,r23 |
||
| 510 | 513 04d6 8093 0000 sts (YawGyroHeading)+2,r24 |
||
| 511 | 514 04da 9093 0000 sts (YawGyroHeading)+3,r25 |
||
| 512 | 515 04de 7B01 movw r14,r22 |
||
| 513 | 516 04e0 8C01 movw r16,r24 |
||
| 514 | 517 .L41: |
||
| 515 | 518 04e2 17FD sbrc r17,7 |
||
| 516 | 519 04e4 00C0 rjmp .L73 |
||
| 517 | 520 .L42: |
||
| 518 | 521 04e6 6090 0000 lds r6,TrimRoll |
||
| 519 | 522 04ea 7090 0000 lds r7,(TrimRoll)+1 |
||
| 520 | 523 04ee 2A8D ldd r18,Y+26 |
||
| 521 | 524 04f0 3B8D ldd r19,Y+27 |
||
| 522 | 525 04f2 260D add r18,r6 |
||
| 523 | 526 04f4 371D adc r19,r7 |
||
| 524 | 527 04f6 7901 movw r14,r18 |
||
| 525 | 528 04f8 0027 clr r16 |
||
| 526 | 529 04fa F7FC sbrc r15,7 |
||
| 527 | 530 04fc 0095 com r16 |
||
| 528 | 531 04fe 102F mov r17,r16 |
||
| 529 | 532 0500 8091 0000 lds r24,ReadingIntegralGyroRoll2 |
||
| 530 | 533 0504 9091 0000 lds r25,(ReadingIntegralGyroRoll2)+1 |
||
| 531 | 534 0508 A091 0000 lds r26,(ReadingIntegralGyroRoll2)+2 |
||
| 532 | 535 050c B091 0000 lds r27,(ReadingIntegralGyroRoll2)+3 |
||
| 533 | 536 0510 8E0D add r24,r14 |
||
| 534 | 537 0512 9F1D adc r25,r15 |
||
| 535 | 538 0514 A01F adc r26,r16 |
||
| 536 | 539 0516 B11F adc r27,r17 |
||
| 537 | 540 0518 8093 0000 sts ReadingIntegralGyroRoll2,r24 |
||
| 538 | 541 051c 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r25 |
||
| 539 | 542 0520 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r26 |
||
| 540 | 543 0524 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r27 |
||
| 541 | 544 0528 8091 0000 lds r24,AttitudeCorrectionRoll |
||
| 542 | 545 052c 9091 0000 lds r25,(AttitudeCorrectionRoll)+1 |
||
| 543 | 546 0530 281B sub r18,r24 |
||
| 544 | 547 0532 390B sbc r19,r25 |
||
| 545 | 548 0534 4427 clr r20 |
||
| 546 | 549 0536 37FD sbrc r19,7 |
||
| 547 | 550 0538 4095 com r20 |
||
| 548 | 551 053a 542F mov r21,r20 |
||
| 549 | 552 053c 8A89 ldd r24,Y+18 |
||
| 550 | 553 053e 9B89 ldd r25,Y+19 |
||
| 551 | 554 0540 AC89 ldd r26,Y+20 |
||
| 552 | 555 0542 BD89 ldd r27,Y+21 |
||
| 553 | 556 0544 280F add r18,r24 |
||
| 554 | 557 0546 391F adc r19,r25 |
||
| 555 | 558 0548 4A1F adc r20,r26 |
||
| 556 | 559 054a 5B1F adc r21,r27 |
||
| 557 | 560 054c 2093 0000 sts ReadingIntegralGyroRoll,r18 |
||
| 558 | 561 0550 3093 0000 sts (ReadingIntegralGyroRoll)+1,r19 |
||
| 559 | 562 0554 4093 0000 sts (ReadingIntegralGyroRoll)+2,r20 |
||
| 560 | 563 0558 5093 0000 sts (ReadingIntegralGyroRoll)+3,r21 |
||
| 561 | 564 055c E090 0000 lds r14,TurnOver180Roll |
||
| 562 | 565 0560 F090 0000 lds r15,(TurnOver180Roll)+1 |
||
| 563 | 566 0564 0091 0000 lds r16,(TurnOver180Roll)+2 |
||
| 564 | 567 0568 1091 0000 lds r17,(TurnOver180Roll)+3 |
||
| 565 | 568 056c E216 cp r14,r18 |
||
| 566 | 569 056e F306 cpc r15,r19 |
||
| 567 | 570 0570 0407 cpc r16,r20 |
||
| 568 | 571 0572 1507 cpc r17,r21 |
||
| 569 | 572 0574 04F4 brge .L43 |
||
| 570 | 573 0576 80E1 ldi r24,lo8(10000) |
||
| 571 | 574 0578 97E2 ldi r25,hi8(10000) |
||
| 572 | 575 057a A0E0 ldi r26,hlo8(10000) |
||
| 573 | 576 057c B0E0 ldi r27,hhi8(10000) |
||
| 574 | 577 057e 8E19 sub r24,r14 |
||
| 575 | 578 0580 9F09 sbc r25,r15 |
||
| 576 | 579 0582 A00B sbc r26,r16 |
||
| 577 | 580 0584 B10B sbc r27,r17 |
||
| 578 | 581 0586 8093 0000 sts ReadingIntegralGyroRoll,r24 |
||
| 579 | 582 058a 9093 0000 sts (ReadingIntegralGyroRoll)+1,r25 |
||
| 580 | 583 058e A093 0000 sts (ReadingIntegralGyroRoll)+2,r26 |
||
| 581 | 584 0592 B093 0000 sts (ReadingIntegralGyroRoll)+3,r27 |
||
| 582 | 585 0596 8093 0000 sts ReadingIntegralGyroRoll2,r24 |
||
| 583 | 586 059a 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r25 |
||
| 584 | 587 059e A093 0000 sts (ReadingIntegralGyroRoll2)+2,r26 |
||
| 585 | 588 05a2 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r27 |
||
| 586 | 589 .L43: |
||
| 587 | 590 05a6 8827 clr r24 |
||
| 588 | 591 05a8 9927 clr r25 |
||
| 589 | 592 05aa DC01 movw r26,r24 |
||
| 590 | 593 05ac 8E19 sub r24,r14 |
||
| 591 | 594 05ae 9F09 sbc r25,r15 |
||
| 592 | 595 05b0 A00B sbc r26,r16 |
||
| 593 | 596 05b2 B10B sbc r27,r17 |
||
| 594 | 597 05b4 A090 0000 lds r10,ReadingIntegralGyroRoll |
||
| 595 | 598 05b8 B090 0000 lds r11,(ReadingIntegralGyroRoll)+1 |
||
| 596 | 599 05bc C090 0000 lds r12,(ReadingIntegralGyroRoll)+2 |
||
| 597 | 600 05c0 D090 0000 lds r13,(ReadingIntegralGyroRoll)+3 |
||
| 598 | 601 05c4 A816 cp r10,r24 |
||
| 599 | 602 05c6 B906 cpc r11,r25 |
||
| 600 | 603 05c8 CA06 cpc r12,r26 |
||
| 601 | 604 05ca DB06 cpc r13,r27 |
||
| 602 | 605 05cc 04F4 brge .L44 |
||
| 603 | 606 05ce D801 movw r26,r16 |
||
| 604 | 607 05d0 C701 movw r24,r14 |
||
| 605 | 608 05d2 8051 subi r24,lo8(-(-10000)) |
||
| 606 | 609 05d4 9742 sbci r25,hi8(-(-10000)) |
||
| 607 | 610 05d6 A040 sbci r26,hlo8(-(-10000)) |
||
| 608 | 611 05d8 B040 sbci r27,hhi8(-(-10000)) |
||
| 609 | 612 05da 8093 0000 sts ReadingIntegralGyroRoll,r24 |
||
| 610 | 613 05de 9093 0000 sts (ReadingIntegralGyroRoll)+1,r25 |
||
| 611 | 614 05e2 A093 0000 sts (ReadingIntegralGyroRoll)+2,r26 |
||
| 612 | 615 05e6 B093 0000 sts (ReadingIntegralGyroRoll)+3,r27 |
||
| 613 | 616 05ea 8093 0000 sts ReadingIntegralGyroRoll2,r24 |
||
| 614 | 617 05ee 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r25 |
||
| 615 | 618 05f2 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r26 |
||
| 616 | 619 05f6 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r27 |
||
| 617 | 620 05fa 5C01 movw r10,r24 |
||
| 618 | 621 05fc 6D01 movw r12,r26 |
||
| 619 | 622 .L44: |
||
| 620 | 623 05fe 8090 0000 lds r8,TrimNick |
||
| 621 | 624 0602 9090 0000 lds r9,(TrimNick)+1 |
||
| 622 | 625 0606 2C8D ldd r18,Y+28 |
||
| 623 | 626 0608 3D8D ldd r19,Y+29 |
||
| 624 | 627 060a 280D add r18,r8 |
||
| 625 | 628 060c 391D adc r19,r9 |
||
| 626 | 629 060e 7901 movw r14,r18 |
||
| 627 | 630 0610 0027 clr r16 |
||
| 628 | 631 0612 F7FC sbrc r15,7 |
||
| 629 | 632 0614 0095 com r16 |
||
| 630 | 633 0616 102F mov r17,r16 |
||
| 631 | 634 0618 8091 0000 lds r24,ReadingIntegralGyroNick2 |
||
| 632 | 635 061c 9091 0000 lds r25,(ReadingIntegralGyroNick2)+1 |
||
| 633 | 636 0620 A091 0000 lds r26,(ReadingIntegralGyroNick2)+2 |
||
| 634 | 637 0624 B091 0000 lds r27,(ReadingIntegralGyroNick2)+3 |
||
| 635 | 638 0628 8E0D add r24,r14 |
||
| 636 | 639 062a 9F1D adc r25,r15 |
||
| 637 | 640 062c A01F adc r26,r16 |
||
| 638 | 641 062e B11F adc r27,r17 |
||
| 639 | 642 0630 8093 0000 sts ReadingIntegralGyroNick2,r24 |
||
| 640 | 643 0634 9093 0000 sts (ReadingIntegralGyroNick2)+1,r25 |
||
| 641 | 644 0638 A093 0000 sts (ReadingIntegralGyroNick2)+2,r26 |
||
| 642 | 645 063c B093 0000 sts (ReadingIntegralGyroNick2)+3,r27 |
||
| 643 | 646 0640 8091 0000 lds r24,AttitudeCorrectionNick |
||
| 644 | 647 0644 9091 0000 lds r25,(AttitudeCorrectionNick)+1 |
||
| 645 | 648 0648 281B sub r18,r24 |
||
| 646 | 649 064a 390B sbc r19,r25 |
||
| 647 | 650 064c 4427 clr r20 |
||
| 648 | 651 064e 37FD sbrc r19,7 |
||
| 649 | 652 0650 4095 com r20 |
||
| 650 | 653 0652 542F mov r21,r20 |
||
| 651 | 654 0654 8E89 ldd r24,Y+22 |
||
| 652 | 655 0656 9F89 ldd r25,Y+23 |
||
| 653 | 656 0658 A88D ldd r26,Y+24 |
||
| 654 | 657 065a B98D ldd r27,Y+25 |
||
| 655 | 658 065c 280F add r18,r24 |
||
| 656 | 659 065e 391F adc r19,r25 |
||
| 657 | 660 0660 4A1F adc r20,r26 |
||
| 658 | 661 0662 5B1F adc r21,r27 |
||
| 659 | 662 0664 2093 0000 sts ReadingIntegralGyroNick,r18 |
||
| 660 | 663 0668 3093 0000 sts (ReadingIntegralGyroNick)+1,r19 |
||
| 661 | 664 066c 4093 0000 sts (ReadingIntegralGyroNick)+2,r20 |
||
| 662 | 665 0670 5093 0000 sts (ReadingIntegralGyroNick)+3,r21 |
||
| 663 | 666 0674 E090 0000 lds r14,TurnOver180Nick |
||
| 664 | 667 0678 F090 0000 lds r15,(TurnOver180Nick)+1 |
||
| 665 | 668 067c 0091 0000 lds r16,(TurnOver180Nick)+2 |
||
| 666 | 669 0680 1091 0000 lds r17,(TurnOver180Nick)+3 |
||
| 667 | 670 0684 E216 cp r14,r18 |
||
| 668 | 671 0686 F306 cpc r15,r19 |
||
| 669 | 672 0688 0407 cpc r16,r20 |
||
| 670 | 673 068a 1507 cpc r17,r21 |
||
| 671 | 674 068c 04F4 brge .L45 |
||
| 672 | 675 068e 88EA ldi r24,lo8(25000) |
||
| 673 | 676 0690 91E6 ldi r25,hi8(25000) |
||
| 674 | 677 0692 A0E0 ldi r26,hlo8(25000) |
||
| 675 | 678 0694 B0E0 ldi r27,hhi8(25000) |
||
| 676 | 679 0696 8E19 sub r24,r14 |
||
| 677 | 680 0698 9F09 sbc r25,r15 |
||
| 678 | 681 069a A00B sbc r26,r16 |
||
| 679 | 682 069c B10B sbc r27,r17 |
||
| 680 | 683 069e 8093 0000 sts ReadingIntegralGyroNick,r24 |
||
| 681 | 684 06a2 9093 0000 sts (ReadingIntegralGyroNick)+1,r25 |
||
| 682 | 685 06a6 A093 0000 sts (ReadingIntegralGyroNick)+2,r26 |
||
| 683 | 686 06aa B093 0000 sts (ReadingIntegralGyroNick)+3,r27 |
||
| 684 | 687 06ae 8093 0000 sts ReadingIntegralGyroNick2,r24 |
||
| 685 | 688 06b2 9093 0000 sts (ReadingIntegralGyroNick2)+1,r25 |
||
| 686 | 689 06b6 A093 0000 sts (ReadingIntegralGyroNick2)+2,r26 |
||
| 687 | 690 06ba B093 0000 sts (ReadingIntegralGyroNick2)+3,r27 |
||
| 688 | 691 .L45: |
||
| 689 | 692 06be 8827 clr r24 |
||
| 690 | 693 06c0 9927 clr r25 |
||
| 691 | 694 06c2 DC01 movw r26,r24 |
||
| 692 | 695 06c4 8E19 sub r24,r14 |
||
| 693 | 696 06c6 9F09 sbc r25,r15 |
||
| 694 | 697 06c8 A00B sbc r26,r16 |
||
| 695 | 698 06ca B10B sbc r27,r17 |
||
| 696 | 699 06cc 2091 0000 lds r18,ReadingIntegralGyroNick |
||
| 697 | 700 06d0 3091 0000 lds r19,(ReadingIntegralGyroNick)+1 |
||
| 698 | 701 06d4 4091 0000 lds r20,(ReadingIntegralGyroNick)+2 |
||
| 699 | 702 06d8 5091 0000 lds r21,(ReadingIntegralGyroNick)+3 |
||
| 700 | 703 06dc 2817 cp r18,r24 |
||
| 701 | 704 06de 3907 cpc r19,r25 |
||
| 702 | 705 06e0 4A07 cpc r20,r26 |
||
| 703 | 706 06e2 5B07 cpc r21,r27 |
||
| 704 | 707 06e4 04F4 brge .L46 |
||
| 705 | 708 06e6 D801 movw r26,r16 |
||
| 706 | 709 06e8 C701 movw r24,r14 |
||
| 707 | 710 06ea 885A subi r24,lo8(-(-25000)) |
||
| 708 | 711 06ec 9146 sbci r25,hi8(-(-25000)) |
||
| 709 | 712 06ee A040 sbci r26,hlo8(-(-25000)) |
||
| 710 | 713 06f0 B040 sbci r27,hhi8(-(-25000)) |
||
| 711 | 714 06f2 8093 0000 sts ReadingIntegralGyroNick,r24 |
||
| 712 | 715 06f6 9093 0000 sts (ReadingIntegralGyroNick)+1,r25 |
||
| 713 | 716 06fa A093 0000 sts (ReadingIntegralGyroNick)+2,r26 |
||
| 714 | 717 06fe B093 0000 sts (ReadingIntegralGyroNick)+3,r27 |
||
| 715 | 718 0702 8093 0000 sts ReadingIntegralGyroNick2,r24 |
||
| 716 | 719 0706 9093 0000 sts (ReadingIntegralGyroNick2)+1,r25 |
||
| 717 | 720 070a A093 0000 sts (ReadingIntegralGyroNick2)+2,r26 |
||
| 718 | 721 070e B093 0000 sts (ReadingIntegralGyroNick2)+3,r27 |
||
| 719 | 722 0712 9C01 movw r18,r24 |
||
| 720 | 723 0714 AD01 movw r20,r26 |
||
| 721 | 724 .L46: |
||
| 722 | 725 0716 2092 0000 sts IntegralGyroYaw,r2 |
||
| 723 | 726 071a 3092 0000 sts (IntegralGyroYaw)+1,r3 |
||
| 724 | 727 071e 4092 0000 sts (IntegralGyroYaw)+2,r4 |
||
| 725 | 728 0722 5092 0000 sts (IntegralGyroYaw)+3,r5 |
||
| 726 | 729 0726 2093 0000 sts IntegralGyroNick,r18 |
||
| 727 | 730 072a 3093 0000 sts (IntegralGyroNick)+1,r19 |
||
| 728 | 731 072e 4093 0000 sts (IntegralGyroNick)+2,r20 |
||
| 729 | 732 0732 5093 0000 sts (IntegralGyroNick)+3,r21 |
||
| 730 | 733 0736 A092 0000 sts IntegralGyroRoll,r10 |
||
| 731 | 734 073a B092 0000 sts (IntegralGyroRoll)+1,r11 |
||
| 732 | 735 073e C092 0000 sts (IntegralGyroRoll)+2,r12 |
||
| 733 | 736 0742 D092 0000 sts (IntegralGyroRoll)+3,r13 |
||
| 734 | 737 0746 8091 0000 lds r24,ReadingIntegralGyroNick2 |
||
| 735 | 738 074a 9091 0000 lds r25,(ReadingIntegralGyroNick2)+1 |
||
| 736 | 739 074e A091 0000 lds r26,(ReadingIntegralGyroNick2)+2 |
||
| 737 | 740 0752 B091 0000 lds r27,(ReadingIntegralGyroNick2)+3 |
||
| 738 | 741 0756 8093 0000 sts IntegralGyroNick2,r24 |
||
| 739 | 742 075a 9093 0000 sts (IntegralGyroNick2)+1,r25 |
||
| 740 | 743 075e A093 0000 sts (IntegralGyroNick2)+2,r26 |
||
| 741 | 744 0762 B093 0000 sts (IntegralGyroNick2)+3,r27 |
||
| 742 | 745 0766 8091 0000 lds r24,ReadingIntegralGyroRoll2 |
||
| 743 | 746 076a 9091 0000 lds r25,(ReadingIntegralGyroRoll2)+1 |
||
| 744 | 747 076e A091 0000 lds r26,(ReadingIntegralGyroRoll2)+2 |
||
| 745 | 748 0772 B091 0000 lds r27,(ReadingIntegralGyroRoll2)+3 |
||
| 746 | 749 0776 8093 0000 sts IntegralGyroRoll2,r24 |
||
| 747 | 750 077a 9093 0000 sts (IntegralGyroRoll2)+1,r25 |
||
| 748 | 751 077e A093 0000 sts (IntegralGyroRoll2)+2,r26 |
||
| 749 | 752 0782 B093 0000 sts (IntegralGyroRoll2)+3,r27 |
||
| 750 | 753 0786 6091 0000 lds r22,FCParam+6 |
||
| 751 | 754 078a 6623 tst r22 |
||
| 752 | 755 078c 01F4 brne .+2 |
||
| 753 | 756 078e 00C0 rjmp .L47 |
||
| 754 | 757 0790 4091 0000 lds r20,HiResGyroNick |
||
| 755 | 758 0794 5091 0000 lds r21,(HiResGyroNick)+1 |
||
| 756 | 759 0798 8091 0000 lds r24,Last_GyroNick.2093 |
||
| 757 | 760 079c 9091 0000 lds r25,(Last_GyroNick.2093)+1 |
||
| 758 | 761 07a0 481B sub r20,r24 |
||
| 759 | 762 07a2 590B sbc r21,r25 |
||
| 760 | 763 07a4 2091 0000 lds r18,HiResGyroNick |
||
| 761 | 764 07a8 3091 0000 lds r19,(HiResGyroNick)+1 |
||
| 762 | 765 07ac 280F add r18,r24 |
||
| 763 | 766 07ae 391F adc r19,r25 |
||
| 764 | 767 07b0 37FD sbrc r19,7 |
||
| 765 | 768 07b2 00C0 rjmp .L74 |
||
| 766 | 769 .L48: |
||
| 767 | 770 07b4 3595 asr r19 |
||
| 768 | 771 07b6 2795 ror r18 |
||
| 769 | 772 07b8 3093 0000 sts (Last_GyroNick.2093)+1,r19 |
||
| 770 | 773 07bc 2093 0000 sts Last_GyroNick.2093,r18 |
||
| 771 | 774 07c0 CA01 movw r24,r20 |
||
| 772 | 775 07c2 4138 cpi r20,129 |
||
| 773 | 776 07c4 5105 cpc r21,__zero_reg__ |
||
| 774 | 777 07c6 04F0 brlt .+2 |
||
| 775 | 778 07c8 00C0 rjmp .L75 |
||
| 776 | 779 07ca E62F mov r30,r22 |
||
| 777 | 780 07cc F0E0 ldi r31,lo8(0) |
||
| 778 | 781 07ce AFEF ldi r26,hi8(-128) |
||
| 779 | 782 07d0 8038 cpi r24,lo8(-128) |
||
| 780 | 783 07d2 9A07 cpc r25,r26 |
||
| 781 | 784 07d4 04F4 brge .+2 |
||
| 782 | 785 07d6 00C0 rjmp .L76 |
||
| 783 | 786 .L50: |
||
| 784 | 787 07d8 8E9F mul r24,r30 |
||
| 785 | 788 07da B001 movw r22,r0 |
||
| 786 | 789 07dc 8F9F mul r24,r31 |
||
| 787 | 790 07de 700D add r23,r0 |
||
| 788 | 791 07e0 9E9F mul r25,r30 |
||
| 789 | 792 07e2 700D add r23,r0 |
||
| 790 | 793 07e4 1124 clr r1 |
||
| 791 | 794 07e6 9B01 movw r18,r22 |
||
| 792 | 795 07e8 77FD sbrc r23,7 |
||
| 793 | 796 07ea 00C0 rjmp .L77 |
||
| 794 | 797 .L51: |
||
| 795 | 798 07ec 3595 asr r19 |
||
| 796 | 799 07ee 2795 ror r18 |
||
| 797 | 800 07f0 3595 asr r19 |
||
| 798 | 801 07f2 2795 ror r18 |
||
| 799 | 802 07f4 3595 asr r19 |
||
| 800 | 803 07f6 2795 ror r18 |
||
| 801 | 804 07f8 3595 asr r19 |
||
| 802 | 805 07fa 2795 ror r18 |
||
| 803 | 806 07fc 8091 0000 lds r24,GyroNick |
||
| 804 | 807 0800 9091 0000 lds r25,(GyroNick)+1 |
||
| 805 | 808 0804 820F add r24,r18 |
||
| 806 | 809 0806 931F adc r25,r19 |
||
| 807 | 810 0808 9093 0000 sts (GyroNick)+1,r25 |
||
| 808 | 811 080c 8093 0000 sts GyroNick,r24 |
||
| 809 | 812 0810 4091 0000 lds r20,HiResGyroRoll |
||
| 810 | 813 0814 5091 0000 lds r21,(HiResGyroRoll)+1 |
||
| 811 | 814 0818 8091 0000 lds r24,Last_GyroRoll.2092 |
||
| 812 | 815 081c 9091 0000 lds r25,(Last_GyroRoll.2092)+1 |
||
| 813 | 816 0820 481B sub r20,r24 |
||
| 814 | 817 0822 590B sbc r21,r25 |
||
| 815 | 818 0824 2091 0000 lds r18,HiResGyroRoll |
||
| 816 | 819 0828 3091 0000 lds r19,(HiResGyroRoll)+1 |
||
| 817 | 820 082c 280F add r18,r24 |
||
| 818 | 821 082e 391F adc r19,r25 |
||
| 819 | 822 0830 37FD sbrc r19,7 |
||
| 820 | 823 0832 00C0 rjmp .L78 |
||
| 821 | 824 .L52: |
||
| 822 | 825 0834 3595 asr r19 |
||
| 823 | 826 0836 2795 ror r18 |
||
| 824 | 827 0838 3093 0000 sts (Last_GyroRoll.2092)+1,r19 |
||
| 825 | 828 083c 2093 0000 sts Last_GyroRoll.2092,r18 |
||
| 826 | 829 0840 CA01 movw r24,r20 |
||
| 827 | 830 0842 4138 cpi r20,129 |
||
| 828 | 831 0844 5105 cpc r21,__zero_reg__ |
||
| 829 | 832 0846 04F0 brlt .+2 |
||
| 830 | 833 0848 00C0 rjmp .L79 |
||
| 831 | 834 084a BFEF ldi r27,hi8(-128) |
||
| 832 | 835 084c 8038 cpi r24,lo8(-128) |
||
| 833 | 836 084e 9B07 cpc r25,r27 |
||
| 834 | 837 0850 04F4 brge .+2 |
||
| 835 | 838 0852 00C0 rjmp .L80 |
||
| 836 | 839 .L54: |
||
| 837 | 840 0854 8E9F mul r24,r30 |
||
| 838 | 841 0856 A001 movw r20,r0 |
||
| 839 | 842 0858 8F9F mul r24,r31 |
||
| 840 | 843 085a 500D add r21,r0 |
||
| 841 | 844 085c 9E9F mul r25,r30 |
||
| 842 | 845 085e 500D add r21,r0 |
||
| 843 | 846 0860 1124 clr r1 |
||
| 844 | 847 0862 9A01 movw r18,r20 |
||
| 845 | 848 0864 57FD sbrc r21,7 |
||
| 846 | 849 0866 00C0 rjmp .L81 |
||
| 847 | 850 .L55: |
||
| 848 | 851 0868 3595 asr r19 |
||
| 849 | 852 086a 2795 ror r18 |
||
| 850 | 853 086c 3595 asr r19 |
||
| 851 | 854 086e 2795 ror r18 |
||
| 852 | 855 0870 3595 asr r19 |
||
| 853 | 856 0872 2795 ror r18 |
||
| 854 | 857 0874 3595 asr r19 |
||
| 855 | 858 0876 2795 ror r18 |
||
| 856 | 859 0878 8091 0000 lds r24,GyroRoll |
||
| 857 | 860 087c 9091 0000 lds r25,(GyroRoll)+1 |
||
| 858 | 861 0880 820F add r24,r18 |
||
| 859 | 862 0882 931F adc r25,r19 |
||
| 860 | 863 0884 9093 0000 sts (GyroRoll)+1,r25 |
||
| 861 | 864 0888 8093 0000 sts GyroRoll,r24 |
||
| 862 | 865 088c 8091 0000 lds r24,HiResGyroNick |
||
| 863 | 866 0890 9091 0000 lds r25,(HiResGyroNick)+1 |
||
| 864 | 867 0894 680F add r22,r24 |
||
| 865 | 868 0896 791F adc r23,r25 |
||
| 866 | 869 0898 7093 0000 sts (HiResGyroNick)+1,r23 |
||
| 867 | 870 089c 6093 0000 sts HiResGyroNick,r22 |
||
| 868 | 871 08a0 8091 0000 lds r24,HiResGyroRoll |
||
| 869 | 872 08a4 9091 0000 lds r25,(HiResGyroRoll)+1 |
||
| 870 | 873 08a8 480F add r20,r24 |
||
| 871 | 874 08aa 591F adc r21,r25 |
||
| 872 | 875 08ac 5093 0000 sts (HiResGyroRoll)+1,r21 |
||
| 873 | 876 08b0 4093 0000 sts HiResGyroRoll,r20 |
||
| 874 | 877 .L47: |
||
| 875 | 878 08b4 EC8D ldd r30,Y+28 |
||
| 876 | 879 08b6 FD8D ldd r31,Y+29 |
||
| 877 | 880 08b8 1E16 cp __zero_reg__,r30 |
||
| 878 | 881 08ba 1F06 cpc __zero_reg__,r31 |
||
| 879 | 882 08bc 04F0 brlt .+2 |
||
| 880 | 883 08be 00C0 rjmp .L56 |
||
| 881 | 884 08c0 6D85 ldd r22,Y+13 |
||
| 882 | 885 08c2 7E85 ldd r23,Y+14 |
||
| 883 | 886 08c4 8F85 ldd r24,Y+15 |
||
| 884 | 887 08c6 9889 ldd r25,Y+16 |
||
| 885 | 888 08c8 20E4 ldi r18,lo8(64) |
||
| 886 | 889 08ca 30E0 ldi r19,hi8(64) |
||
| 887 | 890 08cc 40E0 ldi r20,hlo8(64) |
||
| 888 | 891 08ce 50E0 ldi r21,hhi8(64) |
||
| 889 | 892 08d0 0E94 0000 call __divmodsi4 |
||
| 890 | 893 08d4 820E add r8,r18 |
||
| 891 | 894 08d6 931E adc r9,r19 |
||
| 892 | 895 08d8 9092 0000 sts (TrimNick)+1,r9 |
||
| 893 | 896 08dc 8092 0000 sts TrimNick,r8 |
||
| 894 | 897 .L57: |
||
| 895 | 898 08e0 2A8D ldd r18,Y+26 |
||
| 896 | 899 08e2 3B8D ldd r19,Y+27 |
||
| 897 | 900 08e4 1216 cp __zero_reg__,r18 |
||
| 898 | 901 08e6 1306 cpc __zero_reg__,r19 |
||
| 899 | 902 08e8 04F0 brlt .+2 |
||
| 900 | 903 08ea 00C0 rjmp .L58 |
||
| 901 | 904 08ec 6985 ldd r22,Y+9 |
||
| 902 | 905 08ee 7A85 ldd r23,Y+10 |
||
| 903 | 906 08f0 8B85 ldd r24,Y+11 |
||
| 904 | 907 08f2 9C85 ldd r25,Y+12 |
||
| 905 | 908 08f4 20E4 ldi r18,lo8(64) |
||
| 906 | 909 08f6 30E0 ldi r19,hi8(64) |
||
| 907 | 910 08f8 40E0 ldi r20,hlo8(64) |
||
| 908 | 911 08fa 50E0 ldi r21,hhi8(64) |
||
| 909 | 912 08fc 0E94 0000 call __divmodsi4 |
||
| 910 | 913 0900 620E add r6,r18 |
||
| 911 | 914 0902 731E adc r7,r19 |
||
| 912 | 915 0904 7092 0000 sts (TrimRoll)+1,r7 |
||
| 913 | 916 0908 6092 0000 sts TrimRoll,r6 |
||
| 914 | 917 .L59: |
||
| 915 | 918 090c 3989 ldd r19,Y+17 |
||
| 916 | 919 090e 37FD sbrc r19,7 |
||
| 917 | 920 0910 00C0 rjmp .L82 |
||
| 918 | 921 .L64: |
||
| 919 | 922 /* epilogue start */ |
||
| 920 | 923 0912 AD96 adiw r28,45 |
||
| 921 | 924 0914 0FB6 in __tmp_reg__,__SREG__ |
||
| 922 | 925 0916 F894 cli |
||
| 923 | 926 0918 DEBF out __SP_H__,r29 |
||
| 924 | 927 091a 0FBE out __SREG__,__tmp_reg__ |
||
| 925 | 928 091c CDBF out __SP_L__,r28 |
||
| 926 | 929 091e CF91 pop r28 |
||
| 927 | 930 0920 DF91 pop r29 |
||
| 928 | 931 0922 1F91 pop r17 |
||
| 929 | 932 0924 0F91 pop r16 |
||
| 930 | 933 0926 FF90 pop r15 |
||
| 931 | 934 0928 EF90 pop r14 |
||
| 932 | 935 092a DF90 pop r13 |
||
| 933 | 936 092c CF90 pop r12 |
||
| 934 | 937 092e BF90 pop r11 |
||
| 935 | 938 0930 AF90 pop r10 |
||
| 936 | 939 0932 9F90 pop r9 |
||
| 937 | 940 0934 8F90 pop r8 |
||
| 938 | 941 0936 7F90 pop r7 |
||
| 939 | 942 0938 6F90 pop r6 |
||
| 940 | 943 093a 5F90 pop r5 |
||
| 941 | 944 093c 4F90 pop r4 |
||
| 942 | 945 093e 3F90 pop r3 |
||
| 943 | 946 0940 2F90 pop r2 |
||
| 944 | 947 0942 0895 ret |
||
| 945 | 948 .L72: |
||
| 946 | 949 0944 8091 0000 lds r24,AdValueGyroRoll |
||
| 947 | 950 0948 9091 0000 lds r25,(AdValueGyroRoll)+1 |
||
| 948 | 951 094c 835F subi r24,lo8(1011) |
||
| 949 | 952 094e 9340 sbci r25,hi8(1011) |
||
| 950 | 953 0950 04F0 brlt .L23 |
||
| 951 | 954 0952 88EE ldi r24,lo8(1000) |
||
| 952 | 955 0954 93E0 ldi r25,hi8(1000) |
||
| 953 | 956 0956 9093 0000 sts (GyroRoll)+1,r25 |
||
| 954 | 957 095a 8093 0000 sts GyroRoll,r24 |
||
| 955 | 958 .L23: |
||
| 956 | 959 095e 8091 0000 lds r24,AdValueGyroRoll |
||
| 957 | 960 0962 9091 0000 lds r25,(AdValueGyroRoll)+1 |
||
| 958 | 961 0966 8A5F subi r24,lo8(1018) |
||
| 959 | 962 0968 9340 sbci r25,hi8(1018) |
||
| 960 | 963 096a 04F4 brge .+2 |
||
| 961 | 964 096c 00C0 rjmp .L24 |
||
| 962 | 965 .L66: |
||
| 963 | 966 096e 80ED ldi r24,lo8(2000) |
||
| 964 | 967 0970 97E0 ldi r25,hi8(2000) |
||
| 965 | 968 0972 9093 0000 sts (GyroRoll)+1,r25 |
||
| 966 | 969 0976 8093 0000 sts GyroRoll,r24 |
||
| 967 | 970 097a 00C0 rjmp .L24 |
||
| 968 | 971 .L69: |
||
| 969 | 972 097c 8091 0000 lds r24,AdValueGyroNick |
||
| 970 | 973 0980 9091 0000 lds r25,(AdValueGyroNick)+1 |
||
| 971 | 974 0984 835F subi r24,lo8(1011) |
||
| 972 | 975 0986 9340 sbci r25,hi8(1011) |
||
| 973 | 976 0988 04F0 brlt .L15 |
||
| 974 | 977 098a 88EE ldi r24,lo8(1000) |
||
| 975 | 978 098c 93E0 ldi r25,hi8(1000) |
||
| 976 | 979 098e 9093 0000 sts (GyroNick)+1,r25 |
||
| 977 | 980 0992 8093 0000 sts GyroNick,r24 |
||
| 978 | 981 .L15: |
||
| 979 | 982 0996 8091 0000 lds r24,AdValueGyroNick |
||
| 980 | 983 099a 9091 0000 lds r25,(AdValueGyroNick)+1 |
||
| 981 | 984 099e 8A5F subi r24,lo8(1018) |
||
| 982 | 985 09a0 9340 sbci r25,hi8(1018) |
||
| 983 | 986 09a2 04F4 brge .+2 |
||
| 984 | 987 09a4 00C0 rjmp .L16 |
||
| 985 | 988 .L65: |
||
| 986 | 989 09a6 80ED ldi r24,lo8(2000) |
||
| 987 | 990 09a8 97E0 ldi r25,hi8(2000) |
||
| 988 | 991 09aa 9093 0000 sts (GyroNick)+1,r25 |
||
| 989 | 992 09ae 8093 0000 sts GyroNick,r24 |
||
| 990 | 993 09b2 8091 0000 lds r24,HiResGyroRoll |
||
| 991 | 994 09b6 9091 0000 lds r25,(HiResGyroRoll)+1 |
||
| 992 | 995 09ba 97FF sbrs r25,7 |
||
| 993 | 996 09bc 00C0 rjmp .L18 |
||
| 994 | 997 .L70: |
||
| 995 | 998 09be 0796 adiw r24,7 |
||
| 996 | 999 09c0 00C0 rjmp .L18 |
||
| 997 | 1000 .L80: |
||
| 998 | 1001 09c2 80E8 ldi r24,lo8(-128) |
||
| 999 | 1002 09c4 9FEF ldi r25,hi8(-128) |
||
| 1000 | 1003 09c6 00C0 rjmp .L54 |
||
| 1001 | 1004 .L79: |
||
| 1002 | 1005 09c8 80E8 ldi r24,lo8(128) |
||
| 1003 | 1006 09ca 90E0 ldi r25,hi8(128) |
||
| 1004 | 1007 09cc BFEF ldi r27,hi8(-128) |
||
| 1005 | 1008 09ce 8038 cpi r24,lo8(-128) |
||
| 1006 | 1009 09d0 9B07 cpc r25,r27 |
||
| 1007 | 1010 09d2 04F0 brlt .+2 |
||
| 1008 | 1011 09d4 00C0 rjmp .L54 |
||
| 1009 | 1012 09d6 00C0 rjmp .L80 |
||
| 1010 | 1013 .L76: |
||
| 1011 | 1014 09d8 80E8 ldi r24,lo8(-128) |
||
| 1012 | 1015 09da 9FEF ldi r25,hi8(-128) |
||
| 1013 | 1016 09dc 00C0 rjmp .L50 |
||
| 1014 | 1017 .L75: |
||
| 1015 | 1018 09de 80E8 ldi r24,lo8(128) |
||
| 1016 | 1019 09e0 90E0 ldi r25,hi8(128) |
||
| 1017 | 1020 09e2 E62F mov r30,r22 |
||
| 1018 | 1021 09e4 F0E0 ldi r31,lo8(0) |
||
| 1019 | 1022 09e6 AFEF ldi r26,hi8(-128) |
||
| 1020 | 1023 09e8 8038 cpi r24,lo8(-128) |
||
| 1021 | 1024 09ea 9A07 cpc r25,r26 |
||
| 1022 | 1025 09ec 04F0 brlt .+2 |
||
| 1023 | 1026 09ee 00C0 rjmp .L50 |
||
| 1024 | 1027 09f0 00C0 rjmp .L76 |
||
| 1025 | 1028 .L27: |
||
| 1026 | 1029 09f2 F091 0000 lds r31,ParamSet+8 |
||
| 1027 | 1030 09f6 F98B std Y+17,r31 |
||
| 1028 | 1031 09f8 F6FF sbrs r31,6 |
||
| 1029 | 1032 09fa 00C0 rjmp .L28 |
||
| 1030 | 1033 09fc 2E89 ldd r18,Y+22 |
||
| 1031 | 1034 09fe 3F89 ldd r19,Y+23 |
||
| 1032 | 1035 0a00 488D ldd r20,Y+24 |
||
| 1033 | 1036 0a02 598D ldd r21,Y+25 |
||
| 1034 | 1037 0a04 2934 cpi r18,lo8(93001) |
||
| 1035 | 1038 0a06 6BE6 ldi r22,hi8(93001) |
||
| 1036 | 1039 0a08 3607 cpc r19,r22 |
||
| 1037 | 1040 0a0a 61E0 ldi r22,hlo8(93001) |
||
| 1038 | 1041 0a0c 4607 cpc r20,r22 |
||
| 1039 | 1042 0a0e 60E0 ldi r22,hhi8(93001) |
||
| 1040 | 1043 0a10 5607 cpc r21,r22 |
||
| 1041 | 1044 0a12 04F0 brlt .L29 |
||
| 1042 | 1045 0a14 28E4 ldi r18,lo8(93000) |
||
| 1043 | 1046 0a16 3BE6 ldi r19,hi8(93000) |
||
| 1044 | 1047 0a18 41E0 ldi r20,hlo8(93000) |
||
| 1045 | 1048 0a1a 50E0 ldi r21,hhi8(93000) |
||
| 1046 | 1049 .L29: |
||
| 1047 | 1050 0a1c 2D83 std Y+5,r18 |
||
| 1048 | 1051 0a1e 3E83 std Y+6,r19 |
||
| 1049 | 1052 0a20 4F83 std Y+7,r20 |
||
| 1050 | 1053 0a22 5887 std Y+8,r21 |
||
| 1051 | 1054 0a24 285B subi r18,lo8(-93000) |
||
| 1052 | 1055 0a26 3449 sbci r19,hi8(-93000) |
||
| 1053 | 1056 0a28 4E4F sbci r20,hlo8(-93000) |
||
| 1054 | 1057 0a2a 5F4F sbci r21,hhi8(-93000) |
||
| 1055 | 1058 0a2c 04F4 brge .L30 |
||
| 1056 | 1059 0a2e 88EB ldi r24,lo8(-93000) |
||
| 1057 | 1060 0a30 94E9 ldi r25,hi8(-93000) |
||
| 1058 | 1061 0a32 AEEF ldi r26,hlo8(-93000) |
||
| 1059 | 1062 0a34 BFEF ldi r27,hhi8(-93000) |
||
| 1060 | 1063 0a36 8D83 std Y+5,r24 |
||
| 1061 | 1064 0a38 9E83 std Y+6,r25 |
||
| 1062 | 1065 0a3a AF83 std Y+7,r26 |
||
| 1063 | 1066 0a3c B887 std Y+8,r27 |
||
| 1064 | 1067 .L30: |
||
| 1065 | 1068 0a3e 2A89 ldd r18,Y+18 |
||
| 1066 | 1069 0a40 3B89 ldd r19,Y+19 |
||
| 1067 | 1070 0a42 4C89 ldd r20,Y+20 |
||
| 1068 | 1071 0a44 5D89 ldd r21,Y+21 |
||
| 1069 | 1072 0a46 2934 cpi r18,lo8(93001) |
||
| 1070 | 1073 0a48 9BE6 ldi r25,hi8(93001) |
||
| 1071 | 1074 0a4a 3907 cpc r19,r25 |
||
| 1072 | 1075 0a4c 91E0 ldi r25,hlo8(93001) |
||
| 1073 | 1076 0a4e 4907 cpc r20,r25 |
||
| 1074 | 1077 0a50 90E0 ldi r25,hhi8(93001) |
||
| 1075 | 1078 0a52 5907 cpc r21,r25 |
||
| 1076 | 1079 0a54 04F0 brlt .L31 |
||
| 1077 | 1080 0a56 28E4 ldi r18,lo8(93000) |
||
| 1078 | 1081 0a58 3BE6 ldi r19,hi8(93000) |
||
| 1079 | 1082 0a5a 41E0 ldi r20,hlo8(93000) |
||
| 1080 | 1083 0a5c 50E0 ldi r21,hhi8(93000) |
||
| 1081 | 1084 .L31: |
||
| 1082 | 1085 0a5e 2983 std Y+1,r18 |
||
| 1083 | 1086 0a60 3A83 std Y+2,r19 |
||
| 1084 | 1087 0a62 4B83 std Y+3,r20 |
||
| 1085 | 1088 0a64 5C83 std Y+4,r21 |
||
| 1086 | 1089 0a66 285B subi r18,lo8(-93000) |
||
| 1087 | 1090 0a68 3449 sbci r19,hi8(-93000) |
||
| 1088 | 1091 0a6a 4E4F sbci r20,hlo8(-93000) |
||
| 1089 | 1092 0a6c 5F4F sbci r21,hhi8(-93000) |
||
| 1090 | 1093 0a6e 04F4 brge .L32 |
||
| 1091 | 1094 0a70 88EB ldi r24,lo8(-93000) |
||
| 1092 | 1095 0a72 94E9 ldi r25,hi8(-93000) |
||
| 1093 | 1096 0a74 AEEF ldi r26,hlo8(-93000) |
||
| 1094 | 1097 0a76 BFEF ldi r27,hhi8(-93000) |
||
| 1095 | 1098 0a78 8983 std Y+1,r24 |
||
| 1096 | 1099 0a7a 9A83 std Y+2,r25 |
||
| 1097 | 1100 0a7c AB83 std Y+3,r26 |
||
| 1098 | 1101 0a7e BC83 std Y+4,r27 |
||
| 1099 | 1102 .L32: |
||
| 1100 | 1103 0a80 AA8D ldd r26,Y+26 |
||
| 1101 | 1104 0a82 BB8D ldd r27,Y+27 |
||
| 1102 | 1105 0a84 9D01 movw r18,r26 |
||
| 1103 | 1106 0a86 4427 clr r20 |
||
| 1104 | 1107 0a88 37FD sbrc r19,7 |
||
| 1105 | 1108 0a8a 4095 com r20 |
||
| 1106 | 1109 0a8c 542F mov r21,r20 |
||
| 1107 | 1110 0a8e 6D81 ldd r22,Y+5 |
||
| 1108 | 1111 0a90 7E81 ldd r23,Y+6 |
||
| 1109 | 1112 0a92 8F81 ldd r24,Y+7 |
||
| 1110 | 1113 0a94 9885 ldd r25,Y+8 |
||
| 1111 | 1114 0a96 0E94 0000 call __mulsi3 |
||
| 1112 | 1115 0a9a 20E0 ldi r18,lo8(2048) |
||
| 1113 | 1116 0a9c 38E0 ldi r19,hi8(2048) |
||
| 1114 | 1117 0a9e 40E0 ldi r20,hlo8(2048) |
||
| 1115 | 1118 0aa0 50E0 ldi r21,hhi8(2048) |
||
| 1116 | 1119 0aa2 0E94 0000 call __divmodsi4 |
||
| 1117 | 1120 0aa6 CA01 movw r24,r20 |
||
| 1118 | 1121 0aa8 A090 0000 lds r10,FCParam+25 |
||
| 1119 | 1122 0aac BB24 clr r11 |
||
| 1120 | 1123 0aae CC24 clr r12 |
||
| 1121 | 1124 0ab0 DD24 clr r13 |
||
| 1122 | 1125 0ab2 B901 movw r22,r18 |
||
| 1123 | 1126 0ab4 A601 movw r20,r12 |
||
| 1124 | 1127 0ab6 9501 movw r18,r10 |
||
| 1125 | 1128 0ab8 0E94 0000 call __mulsi3 |
||
| 1126 | 1129 0abc 20E0 ldi r18,lo8(4096) |
||
| 1127 | 1130 0abe 30E1 ldi r19,hi8(4096) |
||
| 1128 | 1131 0ac0 40E0 ldi r20,hlo8(4096) |
||
| 1129 | 1132 0ac2 50E0 ldi r21,hhi8(4096) |
||
| 1130 | 1133 0ac4 0E94 0000 call __divmodsi4 |
||
| 1131 | 1134 0ac8 7901 movw r14,r18 |
||
| 1132 | 1135 0aca 8A01 movw r16,r20 |
||
| 1133 | 1136 0acc 2AA7 std Y+42,r18 |
||
| 1134 | 1137 0ace FBA6 std Y+43,r15 |
||
| 1135 | 1138 0ad0 EC8D ldd r30,Y+28 |
||
| 1136 | 1139 0ad2 FD8D ldd r31,Y+29 |
||
| 1137 | 1140 0ad4 9F01 movw r18,r30 |
||
| 1138 | 1141 0ad6 4427 clr r20 |
||
| 1139 | 1142 0ad8 37FD sbrc r19,7 |
||
| 1140 | 1143 0ada 4095 com r20 |
||
| 1141 | 1144 0adc 542F mov r21,r20 |
||
| 1142 | 1145 0ade 6981 ldd r22,Y+1 |
||
| 1143 | 1146 0ae0 7A81 ldd r23,Y+2 |
||
| 1144 | 1147 0ae2 8B81 ldd r24,Y+3 |
||
| 1145 | 1148 0ae4 9C81 ldd r25,Y+4 |
||
| 1146 | 1149 0ae6 0E94 0000 call __mulsi3 |
||
| 1147 | 1150 0aea 20E0 ldi r18,lo8(2048) |
||
| 1148 | 1151 0aec 38E0 ldi r19,hi8(2048) |
||
| 1149 | 1152 0aee 40E0 ldi r20,hlo8(2048) |
||
| 1150 | 1153 0af0 50E0 ldi r21,hhi8(2048) |
||
| 1151 | 1154 0af2 0E94 0000 call __divmodsi4 |
||
| 1152 | 1155 0af6 CA01 movw r24,r20 |
||
| 1153 | 1156 0af8 B901 movw r22,r18 |
||
| 1154 | 1157 0afa A601 movw r20,r12 |
||
| 1155 | 1158 0afc 9501 movw r18,r10 |
||
| 1156 | 1159 0afe 0E94 0000 call __mulsi3 |
||
| 1157 | 1160 0b02 20E0 ldi r18,lo8(4096) |
||
| 1158 | 1161 0b04 30E1 ldi r19,hi8(4096) |
||
| 1159 | 1162 0b06 40E0 ldi r20,hlo8(4096) |
||
| 1160 | 1163 0b08 50E0 ldi r21,hhi8(4096) |
||
| 1161 | 1164 0b0a 0E94 0000 call __divmodsi4 |
||
| 1162 | 1165 0b0e C901 movw r24,r18 |
||
| 1163 | 1166 0b10 DA01 movw r26,r20 |
||
| 1164 | 1167 0b12 28A7 std Y+40,r18 |
||
| 1165 | 1168 0b14 99A7 std Y+41,r25 |
||
| 1166 | 1169 0b16 5C01 movw r10,r24 |
||
| 1167 | 1170 0b18 6D01 movw r12,r26 |
||
| 1168 | 1171 0b1a AE18 sub r10,r14 |
||
| 1169 | 1172 0b1c BF08 sbc r11,r15 |
||
| 1170 | 1173 0b1e C00A sbc r12,r16 |
||
| 1171 | 1174 0b20 D10A sbc r13,r17 |
||
| 1172 | 1175 0b22 8CA1 ldd r24,Y+36 |
||
| 1173 | 1176 0b24 9DA1 ldd r25,Y+37 |
||
| 1174 | 1177 0b26 AEA1 ldd r26,Y+38 |
||
| 1175 | 1178 0b28 BFA1 ldd r27,Y+39 |
||
| 1176 | 1179 0b2a 8A0D add r24,r10 |
||
| 1177 | 1180 0b2c 9B1D adc r25,r11 |
||
| 1178 | 1181 0b2e AC1D adc r26,r12 |
||
| 1179 | 1182 0b30 BD1D adc r27,r13 |
||
| 1180 | 1183 0b32 8093 0000 sts YawGyroHeading,r24 |
||
| 1181 | 1184 0b36 9093 0000 sts (YawGyroHeading)+1,r25 |
||
| 1182 | 1185 0b3a A093 0000 sts (YawGyroHeading)+2,r26 |
||
| 1183 | 1186 0b3e B093 0000 sts (YawGyroHeading)+3,r27 |
||
| 1184 | 1187 0b42 9091 0000 lds r25,FCParam+26 |
||
| 1185 | 1188 0b46 9E8F std Y+30,r25 |
||
| 1186 | 1189 0b48 9923 tst r25 |
||
| 1187 | 1190 0b4a 01F4 brne .L33 |
||
| 1188 | 1191 0b4c C601 movw r24,r12 |
||
| 1189 | 1192 0b4e B501 movw r22,r10 |
||
| 1190 | 1193 0b50 22E0 ldi r18,lo8(2) |
||
| 1191 | 1194 0b52 30E0 ldi r19,hi8(2) |
||
| 1192 | 1195 0b54 40E0 ldi r20,hlo8(2) |
||
| 1193 | 1196 0b56 50E0 ldi r21,hhi8(2) |
||
| 1194 | 1197 0b58 0E94 0000 call __divmodsi4 |
||
| 1195 | 1198 0b5c 88A1 ldd r24,Y+32 |
||
| 1196 | 1199 0b5e 99A1 ldd r25,Y+33 |
||
| 1197 | 1200 0b60 AAA1 ldd r26,Y+34 |
||
| 1198 | 1201 0b62 BBA1 ldd r27,Y+35 |
||
| 1199 | 1202 0b64 821B sub r24,r18 |
||
| 1200 | 1203 0b66 930B sbc r25,r19 |
||
| 1201 | 1204 0b68 A40B sbc r26,r20 |
||
| 1202 | 1205 0b6a B50B sbc r27,r21 |
||
| 1203 | 1206 0b6c 8093 0000 sts ReadingIntegralGyroYaw,r24 |
||
| 1204 | 1207 0b70 9093 0000 sts (ReadingIntegralGyroYaw)+1,r25 |
||
| 1205 | 1208 0b74 A093 0000 sts (ReadingIntegralGyroYaw)+2,r26 |
||
| 1206 | 1209 0b78 B093 0000 sts (ReadingIntegralGyroYaw)+3,r27 |
||
| 1207 | 1210 0b7c 1C01 movw r2,r24 |
||
| 1208 | 1211 0b7e 2D01 movw r4,r26 |
||
| 1209 | 1212 .L33: |
||
| 1210 | 1213 0b80 A60C add r10,r6 |
||
| 1211 | 1214 0b82 B71C adc r11,r7 |
||
| 1212 | 1215 0b84 C81C adc r12,r8 |
||
| 1213 | 1216 0b86 D91C adc r13,r9 |
||
| 1214 | 1217 0b88 C601 movw r24,r12 |
||
| 1215 | 1218 0b8a B501 movw r22,r10 |
||
| 1216 | 1219 0b8c 2D81 ldd r18,Y+5 |
||
| 1217 | 1220 0b8e 3E81 ldd r19,Y+6 |
||
| 1218 | 1221 0b90 4F81 ldd r20,Y+7 |
||
| 1219 | 1222 0b92 5885 ldd r21,Y+8 |
||
| 1220 | 1223 0b94 0E94 0000 call __mulsi3 |
||
| 1221 | 1224 0b98 20E0 ldi r18,lo8(2048) |
||
| 1222 | 1225 0b9a 38E0 ldi r19,hi8(2048) |
||
| 1223 | 1226 0b9c 40E0 ldi r20,hlo8(2048) |
||
| 1224 | 1227 0b9e 50E0 ldi r21,hhi8(2048) |
||
| 1225 | 1228 0ba0 0E94 0000 call __divmodsi4 |
||
| 1226 | 1229 0ba4 CA01 movw r24,r20 |
||
| 1227 | 1230 0ba6 E090 0000 lds r14,FCParam+24 |
||
| 1228 | 1231 0baa FF24 clr r15 |
||
| 1229 | 1232 0bac 00E0 ldi r16,lo8(0) |
||
| 1230 | 1233 0bae 10E0 ldi r17,hi8(0) |
||
| 1231 | 1234 0bb0 B901 movw r22,r18 |
||
| 1232 | 1235 0bb2 A801 movw r20,r16 |
||
| 1233 | 1236 0bb4 9701 movw r18,r14 |
||
| 1234 | 1237 0bb6 0E94 0000 call __mulsi3 |
||
| 1235 | 1238 0bba 20E0 ldi r18,lo8(4096) |
||
| 1236 | 1239 0bbc 30E1 ldi r19,hi8(4096) |
||
| 1237 | 1240 0bbe 40E0 ldi r20,hlo8(4096) |
||
| 1238 | 1241 0bc0 50E0 ldi r21,hhi8(4096) |
||
| 1239 | 1242 0bc2 0E94 0000 call __divmodsi4 |
||
| 1240 | 1243 0bc6 3901 movw r6,r18 |
||
| 1241 | 1244 0bc8 4A01 movw r8,r20 |
||
| 1242 | 1245 0bca C601 movw r24,r12 |
||
| 1243 | 1246 0bcc B501 movw r22,r10 |
||
| 1244 | 1247 0bce 2981 ldd r18,Y+1 |
||
| 1245 | 1248 0bd0 3A81 ldd r19,Y+2 |
||
| 1246 | 1249 0bd2 4B81 ldd r20,Y+3 |
||
| 1247 | 1250 0bd4 5C81 ldd r21,Y+4 |
||
| 1248 | 1251 0bd6 0E94 0000 call __mulsi3 |
||
| 1249 | 1252 0bda 20E0 ldi r18,lo8(2048) |
||
| 1250 | 1253 0bdc 38E0 ldi r19,hi8(2048) |
||
| 1251 | 1254 0bde 40E0 ldi r20,hlo8(2048) |
||
| 1252 | 1255 0be0 50E0 ldi r21,hhi8(2048) |
||
| 1253 | 1256 0be2 0E94 0000 call __divmodsi4 |
||
| 1254 | 1257 0be6 CA01 movw r24,r20 |
||
| 1255 | 1258 0be8 B901 movw r22,r18 |
||
| 1256 | 1259 0bea A801 movw r20,r16 |
||
| 1257 | 1260 0bec 9701 movw r18,r14 |
||
| 1258 | 1261 0bee 0E94 0000 call __mulsi3 |
||
| 1259 | 1262 0bf2 20E0 ldi r18,lo8(4096) |
||
| 1260 | 1263 0bf4 30E1 ldi r19,hi8(4096) |
||
| 1261 | 1264 0bf6 40E0 ldi r20,hlo8(4096) |
||
| 1262 | 1265 0bf8 50E0 ldi r21,hhi8(4096) |
||
| 1263 | 1266 0bfa 0E94 0000 call __divmodsi4 |
||
| 1264 | 1267 0bfe 7901 movw r14,r18 |
||
| 1265 | 1268 0c00 8A01 movw r16,r20 |
||
| 1266 | 1269 0c02 ACA5 ldd r26,Y+44 |
||
| 1267 | 1270 0c04 BDA5 ldd r27,Y+45 |
||
| 1268 | 1271 0c06 A134 cpi r26,65 |
||
| 1269 | 1272 0c08 B105 cpc r27,__zero_reg__ |
||
| 1270 | 1273 0c0a 04F0 brlt .L34 |
||
| 1271 | 1274 0c0c D401 movw r26,r8 |
||
| 1272 | 1275 0c0e C301 movw r24,r6 |
||
| 1273 | 1276 0c10 97FC sbrc r9,7 |
||
| 1274 | 1277 0c12 00C0 rjmp .L83 |
||
| 1275 | 1278 .L36: |
||
| 1276 | 1279 0c14 8138 cpi r24,lo8(129) |
||
| 1277 | 1280 0c16 9105 cpc r25,__zero_reg__ |
||
| 1278 | 1281 0c18 A105 cpc r26,__zero_reg__ |
||
| 1279 | 1282 0c1a B105 cpc r27,__zero_reg__ |
||
| 1280 | 1283 0c1c 04F0 brlt .+2 |
||
| 1281 | 1284 0c1e 00C0 rjmp .L35 |
||
| 1282 | 1285 0c20 D801 movw r26,r16 |
||
| 1283 | 1286 0c22 C701 movw r24,r14 |
||
| 1284 | 1287 0c24 17FD sbrc r17,7 |
||
| 1285 | 1288 0c26 00C0 rjmp .L84 |
||
| 1286 | 1289 .L37: |
||
| 1287 | 1290 0c28 8138 cpi r24,lo8(129) |
||
| 1288 | 1291 0c2a 9105 cpc r25,__zero_reg__ |
||
| 1289 | 1292 0c2c A105 cpc r26,__zero_reg__ |
||
| 1290 | 1293 0c2e B105 cpc r27,__zero_reg__ |
||
| 1291 | 1294 0c30 04F0 brlt .+2 |
||
| 1292 | 1295 0c32 00C0 rjmp .L35 |
||
| 1293 | 1296 .L34: |
||
| 1294 | 1297 0c34 C401 movw r24,r8 |
||
| 1295 | 1298 0c36 B301 movw r22,r6 |
||
| 1296 | 1299 0c38 24E6 ldi r18,lo8(100) |
||
| 1297 | 1300 0c3a 30E0 ldi r19,hi8(100) |
||
| 1298 | 1301 0c3c 40E0 ldi r20,hlo8(100) |
||
| 1299 | 1302 0c3e 50E0 ldi r21,hhi8(100) |
||
| 1300 | 1303 0c40 0E94 0000 call __divmodsi4 |
||
| 1301 | 1304 0c44 2E19 sub r18,r14 |
||
| 1302 | 1305 0c46 3F09 sbc r19,r15 |
||
| 1303 | 1306 0c48 3093 0000 sts (TrimNick)+1,r19 |
||
| 1304 | 1307 0c4c 2093 0000 sts TrimNick,r18 |
||
| 1305 | 1308 0c50 C801 movw r24,r16 |
||
| 1306 | 1309 0c52 B701 movw r22,r14 |
||
| 1307 | 1310 0c54 2CE9 ldi r18,lo8(-100) |
||
| 1308 | 1311 0c56 3FEF ldi r19,hi8(-100) |
||
| 1309 | 1312 0c58 4FEF ldi r20,hlo8(-100) |
||
| 1310 | 1313 0c5a 5FEF ldi r21,hhi8(-100) |
||
| 1311 | 1314 0c5c 0E94 0000 call __divmodsi4 |
||
| 1312 | 1315 0c60 260D add r18,r6 |
||
| 1313 | 1316 0c62 371D adc r19,r7 |
||
| 1314 | 1317 0c64 3093 0000 sts (TrimRoll)+1,r19 |
||
| 1315 | 1318 0c68 2093 0000 sts TrimRoll,r18 |
||
| 1316 | 1319 0c6c BE8D ldd r27,Y+30 |
||
| 1317 | 1320 0c6e EB2E mov r14,r27 |
||
| 1318 | 1321 0c70 FF24 clr r15 |
||
| 1319 | 1322 0c72 00E0 ldi r16,lo8(0) |
||
| 1320 | 1323 0c74 10E0 ldi r17,hi8(0) |
||
| 1321 | 1324 0c76 28A5 ldd r18,Y+40 |
||
| 1322 | 1325 0c78 39A5 ldd r19,Y+41 |
||
| 1323 | 1326 0c7a C901 movw r24,r18 |
||
| 1324 | 1327 0c7c 9C01 movw r18,r24 |
||
| 1325 | 1328 0c7e 97FD sbrc r25,7 |
||
| 1326 | 1329 0c80 00C0 rjmp .L85 |
||
| 1327 | 1330 .L38: |
||
| 1328 | 1331 0c82 B901 movw r22,r18 |
||
| 1329 | 1332 0c84 8827 clr r24 |
||
| 1330 | 1333 0c86 77FD sbrc r23,7 |
||
| 1331 | 1334 0c88 8095 com r24 |
||
| 1332 | 1335 0c8a 982F mov r25,r24 |
||
| 1333 | 1336 0c8c A801 movw r20,r16 |
||
| 1334 | 1337 0c8e 9701 movw r18,r14 |
||
| 1335 | 1338 0c90 0E94 0000 call __mulsi3 |
||
| 1336 | 1339 0c94 6D87 std Y+13,r22 |
||
| 1337 | 1340 0c96 7E87 std Y+14,r23 |
||
| 1338 | 1341 0c98 8F87 std Y+15,r24 |
||
| 1339 | 1342 0c9a 988B std Y+16,r25 |
||
| 1340 | 1343 0c9c 2AA5 ldd r18,Y+42 |
||
| 1341 | 1344 0c9e 3BA5 ldd r19,Y+43 |
||
| 1342 | 1345 0ca0 C901 movw r24,r18 |
||
| 1343 | 1346 0ca2 9C01 movw r18,r24 |
||
| 1344 | 1347 0ca4 97FD sbrc r25,7 |
||
| 1345 | 1348 0ca6 00C0 rjmp .L86 |
||
| 1346 | 1349 .L39: |
||
| 1347 | 1350 0ca8 B901 movw r22,r18 |
||
| 1348 | 1351 0caa 8827 clr r24 |
||
| 1349 | 1352 0cac 77FD sbrc r23,7 |
||
| 1350 | 1353 0cae 8095 com r24 |
||
| 1351 | 1354 0cb0 982F mov r25,r24 |
||
| 1352 | 1355 0cb2 A801 movw r20,r16 |
||
| 1353 | 1356 0cb4 9701 movw r18,r14 |
||
| 1354 | 1357 0cb6 0E94 0000 call __mulsi3 |
||
| 1355 | 1358 0cba 6987 std Y+9,r22 |
||
| 1356 | 1359 0cbc 7A87 std Y+10,r23 |
||
| 1357 | 1360 0cbe 8B87 std Y+11,r24 |
||
| 1358 | 1361 0cc0 9C87 std Y+12,r25 |
||
| 1359 | 1362 0cc2 E090 0000 lds r14,YawGyroHeading |
||
| 1360 | 1363 0cc6 F090 0000 lds r15,(YawGyroHeading)+1 |
||
| 1361 | 1364 0cca 0091 0000 lds r16,(YawGyroHeading)+2 |
||
| 1362 | 1365 0cce 1091 0000 lds r17,(YawGyroHeading)+3 |
||
| 1363 | 1366 0cd2 00C0 rjmp .L40 |
||
| 1364 | 1367 .L82: |
||
| 1365 | 1368 0cd4 6F8D ldd r22,Y+31 |
||
| 1366 | 1369 0cd6 6623 tst r22 |
||
| 1367 | 1370 0cd8 01F0 breq .+2 |
||
| 1368 | 1371 0cda 00C0 rjmp .L64 |
||
| 1369 | 1372 0cdc 8091 0000 lds r24,LoopingRoll |
||
| 1370 | 1373 0ce0 8823 tst r24 |
||
| 1371 | 1374 0ce2 01F0 breq .+2 |
||
| 1372 | 1375 0ce4 00C0 rjmp .L64 |
||
| 1373 | 1376 0ce6 8C8D ldd r24,Y+28 |
||
| 1374 | 1377 0ce8 9D8D ldd r25,Y+29 |
||
| 1375 | 1378 0cea 8150 subi r24,lo8(257) |
||
| 1376 | 1379 0cec 9140 sbci r25,hi8(257) |
||
| 1377 | 1380 0cee 04F0 brlt .+2 |
||
| 1378 | 1381 0cf0 00C0 rjmp .L87 |
||
| 1379 | 1382 0cf2 2C8D ldd r18,Y+28 |
||
| 1380 | 1383 0cf4 3D8D ldd r19,Y+29 |
||
| 1381 | 1384 0cf6 6FEF ldi r22,hi8(-256) |
||
| 1382 | 1385 0cf8 2030 cpi r18,lo8(-256) |
||
| 1383 | 1386 0cfa 3607 cpc r19,r22 |
||
| 1384 | 1387 0cfc 04F4 brge .L62 |
||
| 1385 | 1388 0cfe 8091 0000 lds r24,GyroNick |
||
| 1386 | 1389 0d02 9091 0000 lds r25,(GyroNick)+1 |
||
| 1387 | 1390 0d06 8050 subi r24,lo8(-(256)) |
||
| 1388 | 1391 0d08 9F4F sbci r25,hi8(-(256)) |
||
| 1389 | 1392 0d0a 820F add r24,r18 |
||
| 1390 | 1393 0d0c 931F adc r25,r19 |
||
| 1391 | 1394 0d0e 9093 0000 sts (GyroNick)+1,r25 |
||
| 1392 | 1395 0d12 8093 0000 sts GyroNick,r24 |
||
| 1393 | 1396 .L62: |
||
| 1394 | 1397 0d16 8A8D ldd r24,Y+26 |
||
| 1395 | 1398 0d18 9B8D ldd r25,Y+27 |
||
| 1396 | 1399 0d1a 8150 subi r24,lo8(257) |
||
| 1397 | 1400 0d1c 9140 sbci r25,hi8(257) |
||
| 1398 | 1401 0d1e 04F0 brlt .+2 |
||
| 1399 | 1402 0d20 00C0 rjmp .L88 |
||
| 1400 | 1403 0d22 2A8D ldd r18,Y+26 |
||
| 1401 | 1404 0d24 3B8D ldd r19,Y+27 |
||
| 1402 | 1405 0d26 6FEF ldi r22,hi8(-256) |
||
| 1403 | 1406 0d28 2030 cpi r18,lo8(-256) |
||
| 1404 | 1407 0d2a 3607 cpc r19,r22 |
||
| 1405 | 1408 0d2c 04F0 brlt .+2 |
||
| 1406 | 1409 0d2e 00C0 rjmp .L64 |
||
| 1407 | 1410 0d30 8091 0000 lds r24,GyroRoll |
||
| 1408 | 1411 0d34 9091 0000 lds r25,(GyroRoll)+1 |
||
| 1409 | 1412 0d38 8050 subi r24,lo8(-(256)) |
||
| 1410 | 1413 0d3a 9F4F sbci r25,hi8(-(256)) |
||
| 1411 | 1414 0d3c 820F add r24,r18 |
||
| 1412 | 1415 0d3e 931F adc r25,r19 |
||
| 1413 | 1416 0d40 9093 0000 sts (GyroRoll)+1,r25 |
||
| 1414 | 1417 0d44 8093 0000 sts GyroRoll,r24 |
||
| 1415 | 1418 0d48 00C0 rjmp .L64 |
||
| 1416 | 1419 .L73: |
||
| 1417 | 1420 0d4a E60C add r14,r6 |
||
| 1418 | 1421 0d4c F71C adc r15,r7 |
||
| 1419 | 1422 0d4e 081D adc r16,r8 |
||
| 1420 | 1423 0d50 191D adc r17,r9 |
||
| 1421 | 1424 0d52 E092 0000 sts YawGyroHeading,r14 |
||
| 1422 | 1425 0d56 F092 0000 sts (YawGyroHeading)+1,r15 |
||
| 1423 | 1426 0d5a 0093 0000 sts (YawGyroHeading)+2,r16 |
||
| 1424 | 1427 0d5e 1093 0000 sts (YawGyroHeading)+3,r17 |
||
| 1425 | 1428 0d62 00C0 rjmp .L42 |
||
| 1426 | 1429 .L58: |
||
| 1427 | 1430 0d64 6985 ldd r22,Y+9 |
||
| 1428 | 1431 0d66 7A85 ldd r23,Y+10 |
||
| 1429 | 1432 0d68 8B85 ldd r24,Y+11 |
||
| 1430 | 1433 0d6a 9C85 ldd r25,Y+12 |
||
| 1431 | 1434 0d6c 20E4 ldi r18,lo8(64) |
||
| 1432 | 1435 0d6e 30E0 ldi r19,hi8(64) |
||
| 1433 | 1436 0d70 40E0 ldi r20,hlo8(64) |
||
| 1434 | 1437 0d72 50E0 ldi r21,hhi8(64) |
||
| 1435 | 1438 0d74 0E94 0000 call __divmodsi4 |
||
| 1436 | 1439 0d78 5095 com r21 |
||
| 1437 | 1440 0d7a 4095 com r20 |
||
| 1438 | 1441 0d7c 3095 com r19 |
||
| 1439 | 1442 0d7e 2195 neg r18 |
||
| 1440 | 1443 0d80 3F4F sbci r19,lo8(-1) |
||
| 1441 | 1444 0d82 4F4F sbci r20,lo8(-1) |
||
| 1442 | 1445 0d84 5F4F sbci r21,lo8(-1) |
||
| 1443 | 1446 0d86 620E add r6,r18 |
||
| 1444 | 1447 0d88 731E adc r7,r19 |
||
| 1445 | 1448 0d8a 7092 0000 sts (TrimRoll)+1,r7 |
||
| 1446 | 1449 0d8e 6092 0000 sts TrimRoll,r6 |
||
| 1447 | 1450 0d92 00C0 rjmp .L59 |
||
| 1448 | 1451 .L56: |
||
| 1449 | 1452 0d94 6D85 ldd r22,Y+13 |
||
| 1450 | 1453 0d96 7E85 ldd r23,Y+14 |
||
| 1451 | 1454 0d98 8F85 ldd r24,Y+15 |
||
| 1452 | 1455 0d9a 9889 ldd r25,Y+16 |
||
| 1453 | 1456 0d9c 20E4 ldi r18,lo8(64) |
||
| 1454 | 1457 0d9e 30E0 ldi r19,hi8(64) |
||
| 1455 | 1458 0da0 40E0 ldi r20,hlo8(64) |
||
| 1456 | 1459 0da2 50E0 ldi r21,hhi8(64) |
||
| 1457 | 1460 0da4 0E94 0000 call __divmodsi4 |
||
| 1458 | 1461 0da8 5095 com r21 |
||
| 1459 | 1462 0daa 4095 com r20 |
||
| 1460 | 1463 0dac 3095 com r19 |
||
| 1461 | 1464 0dae 2195 neg r18 |
||
| 1462 | 1465 0db0 3F4F sbci r19,lo8(-1) |
||
| 1463 | 1466 0db2 4F4F sbci r20,lo8(-1) |
||
| 1464 | 1467 0db4 5F4F sbci r21,lo8(-1) |
||
| 1465 | 1468 0db6 820E add r8,r18 |
||
| 1466 | 1469 0db8 931E adc r9,r19 |
||
| 1467 | 1470 0dba 9092 0000 sts (TrimNick)+1,r9 |
||
| 1468 | 1471 0dbe 8092 0000 sts TrimNick,r8 |
||
| 1469 | 1472 0dc2 00C0 rjmp .L57 |
||
| 1470 | 1473 .L67: |
||
| 1471 | 1474 0dc4 0796 adiw r24,7 |
||
| 1472 | 1475 0dc6 00C0 rjmp .L10 |
||
| 1473 | 1476 .L71: |
||
| 1474 | 1477 0dc8 295F subi r18,lo8(-(7)) |
||
| 1475 | 1478 0dca 3F4F sbci r19,hi8(-(7)) |
||
| 1476 | 1479 0dcc 00C0 rjmp .L19 |
||
| 1477 | 1480 .L68: |
||
| 1478 | 1481 0dce 295F subi r18,lo8(-(7)) |
||
| 1479 | 1482 0dd0 3F4F sbci r19,hi8(-(7)) |
||
| 1480 | 1483 0dd2 00C0 rjmp .L11 |
||
| 1481 | 1484 .L81: |
||
| 1482 | 1485 0dd4 215F subi r18,lo8(-(15)) |
||
| 1483 | 1486 0dd6 3F4F sbci r19,hi8(-(15)) |
||
| 1484 | 1487 0dd8 00C0 rjmp .L55 |
||
| 1485 | 1488 .L74: |
||
| 1486 | 1489 0dda 2F5F subi r18,lo8(-(1)) |
||
| 1487 | 1490 0ddc 3F4F sbci r19,hi8(-(1)) |
||
| 1488 | 1491 0dde 00C0 rjmp .L48 |
||
| 1489 | 1492 .L77: |
||
| 1490 | 1493 0de0 215F subi r18,lo8(-(15)) |
||
| 1491 | 1494 0de2 3F4F sbci r19,hi8(-(15)) |
||
| 1492 | 1495 0de4 00C0 rjmp .L51 |
||
| 1493 | 1496 .L78: |
||
| 1494 | 1497 0de6 2F5F subi r18,lo8(-(1)) |
||
| 1495 | 1498 0de8 3F4F sbci r19,hi8(-(1)) |
||
| 1496 | 1499 0dea 00C0 rjmp .L52 |
||
| 1497 | 1500 .L87: |
||
| 1498 | 1501 0dec 8091 0000 lds r24,GyroNick |
||
| 1499 | 1502 0df0 9091 0000 lds r25,(GyroNick)+1 |
||
| 1500 | 1503 0df4 8050 subi r24,lo8(-(-256)) |
||
| 1501 | 1504 0df6 9140 sbci r25,hi8(-(-256)) |
||
| 1502 | 1505 0df8 EC8D ldd r30,Y+28 |
||
| 1503 | 1506 0dfa FD8D ldd r31,Y+29 |
||
| 1504 | 1507 0dfc 8E0F add r24,r30 |
||
| 1505 | 1508 0dfe 9F1F adc r25,r31 |
||
| 1506 | 1509 0e00 9093 0000 sts (GyroNick)+1,r25 |
||
| 1507 | 1510 0e04 8093 0000 sts GyroNick,r24 |
||
| 1508 | 1511 0e08 00C0 rjmp .L62 |
||
| 1509 | 1512 .L35: |
||
| 1510 | 1513 0e0a 81E0 ldi r24,lo8(1) |
||
| 1511 | 1514 0e0c 8093 0000 sts FunnelCourse,r24 |
||
| 1512 | 1515 0e10 00C0 rjmp .L34 |
||
| 1513 | 1516 .L83: |
||
| 1514 | 1517 0e12 8827 clr r24 |
||
| 1515 | 1518 0e14 9927 clr r25 |
||
| 1516 | 1519 0e16 DC01 movw r26,r24 |
||
| 1517 | 1520 0e18 8619 sub r24,r6 |
||
| 1518 | 1521 0e1a 9709 sbc r25,r7 |
||
| 1519 | 1522 0e1c A809 sbc r26,r8 |
||
| 1520 | 1523 0e1e B909 sbc r27,r9 |
||
| 1521 | 1524 0e20 00C0 rjmp .L36 |
||
| 1522 | 1525 .L88: |
||
| 1523 | 1526 0e22 8091 0000 lds r24,GyroRoll |
||
| 1524 | 1527 0e26 9091 0000 lds r25,(GyroRoll)+1 |
||
| 1525 | 1528 0e2a 8050 subi r24,lo8(-(-256)) |
||
| 1526 | 1529 0e2c 9140 sbci r25,hi8(-(-256)) |
||
| 1527 | 1530 0e2e EA8D ldd r30,Y+26 |
||
| 1528 | 1531 0e30 FB8D ldd r31,Y+27 |
||
| 1529 | 1532 0e32 8E0F add r24,r30 |
||
| 1530 | 1533 0e34 9F1F adc r25,r31 |
||
| 1531 | 1534 0e36 9093 0000 sts (GyroRoll)+1,r25 |
||
| 1532 | 1535 0e3a 8093 0000 sts GyroRoll,r24 |
||
| 1533 | 1536 0e3e 00C0 rjmp .L64 |
||
| 1534 | 1537 .L86: |
||
| 1535 | 1538 0e40 3095 com r19 |
||
| 1536 | 1539 0e42 2195 neg r18 |
||
| 1537 | 1540 0e44 3F4F sbci r19,lo8(-1) |
||
| 1538 | 1541 0e46 00C0 rjmp .L39 |
||
| 1539 | 1542 .L85: |
||
| 1540 | 1543 0e48 3095 com r19 |
||
| 1541 | 1544 0e4a 2195 neg r18 |
||
| 1542 | 1545 0e4c 3F4F sbci r19,lo8(-1) |
||
| 1543 | 1546 0e4e 00C0 rjmp .L38 |
||
| 1544 | 1547 .L84: |
||
| 1545 | 1548 0e50 8827 clr r24 |
||
| 1546 | 1549 0e52 9927 clr r25 |
||
| 1547 | 1550 0e54 DC01 movw r26,r24 |
||
| 1548 | 1551 0e56 8E19 sub r24,r14 |
||
| 1549 | 1552 0e58 9F09 sbc r25,r15 |
||
| 1550 | 1553 0e5a A00B sbc r26,r16 |
||
| 1551 | 1554 0e5c B10B sbc r27,r17 |
||
| 1552 | 1555 0e5e 00C0 rjmp .L37 |
||
| 1553 | 1557 .global ParameterMapping |
||
| 1554 | 1559 ParameterMapping: |
||
| 1555 | 1560 /* prologue: function */ |
||
| 1556 | 1561 /* frame size = 0 */ |
||
| 1557 | 1562 0e60 8091 0000 lds r24,RC_Quality |
||
| 1558 | 1563 0e64 813A cpi r24,lo8(-95) |
||
| 1559 | 1564 0e66 00F0 brlo .L253 |
||
| 1560 | 1565 0e68 8091 0000 lds r24,ParamSet+11 |
||
| 1561 | 1566 0e6c 8B3F cpi r24,lo8(-5) |
||
| 1562 | 1567 0e6e 00F4 brsh .L261 |
||
| 1563 | 1568 0e70 8093 0000 sts FCParam+1,r24 |
||
| 1564 | 1569 .L93: |
||
| 1565 | 1570 0e74 8091 0000 lds r24,ParamSet+10 |
||
| 1566 | 1571 0e78 8B3F cpi r24,lo8(-5) |
||
| 1567 | 1572 0e7a 00F0 brlo .L96 |
||
| 1568 | 1573 0e7c 8B3F cpi r24,lo8(-5) |
||
| 1569 | 1574 0e7e 01F4 brne .+2 |
||
| 1570 | 1575 0e80 00C0 rjmp .L262 |
||
| 1571 | 1576 0e82 8C3F cpi r24,lo8(-4) |
||
| 1572 | 1577 0e84 01F4 brne .+2 |
||
| 1573 | 1578 0e86 00C0 rjmp .L263 |
||
| 1574 | 1579 0e88 8D3F cpi r24,lo8(-3) |
||
| 1575 | 1580 0e8a 01F4 brne .+2 |
||
| 1576 | 1581 0e8c 00C0 rjmp .L264 |
||
| 1577 | 1582 0e8e 8E3F cpi r24,lo8(-2) |
||
| 1578 | 1583 0e90 01F4 brne .L98 |
||
| 1579 | 1584 0e92 8091 0000 lds r24,Poti4 |
||
| 1580 | 1585 0e96 8093 0000 sts FCParam,r24 |
||
| 1581 | 1586 0e9a 00C0 rjmp .L98 |
||
| 1582 | 1587 .L248: |
||
| 1583 | 1588 0e9c 8093 0000 sts FCParam+28,r24 |
||
| 1584 | 1589 .L250: |
||
| 1585 | 1590 0ea0 6091 0000 lds r22,FCParam+12 |
||
| 1586 | 1591 0ea4 70E0 ldi r23,lo8(0) |
||
| 1587 | 1592 0ea6 6F5F subi r22,lo8(-(1)) |
||
| 1588 | 1593 0ea8 7F4F sbci r23,hi8(-(1)) |
||
| 1589 | 1594 0eaa 8CE3 ldi r24,lo8(10300) |
||
| 1590 | 1595 0eac 98E2 ldi r25,hi8(10300) |
||
| 1591 | 1596 0eae 0E94 0000 call __divmodhi4 |
||
| 1592 | 1597 0eb2 7093 0000 sts (Ki)+1,r23 |
||
| 1593 | 1598 0eb6 6093 0000 sts Ki,r22 |
||
| 1594 | 1599 .L253: |
||
| 1595 | 1600 0eba 0895 ret |
||
| 1596 | 1601 .L261: |
||
| 1597 | 1602 0ebc 8B3F cpi r24,lo8(-5) |
||
| 1598 | 1603 0ebe 01F4 brne .+2 |
||
| 1599 | 1604 0ec0 00C0 rjmp .L265 |
||
| 1600 | 1605 0ec2 8C3F cpi r24,lo8(-4) |
||
| 1601 | 1606 0ec4 01F4 brne .+2 |
||
| 1602 | 1607 0ec6 00C0 rjmp .L266 |
||
| 1603 | 1608 0ec8 8D3F cpi r24,lo8(-3) |
||
| 1604 | 1609 0eca 01F4 brne .+2 |
||
| 1605 | 1610 0ecc 00C0 rjmp .L267 |
||
| 1606 | 1611 0ece 8E3F cpi r24,lo8(-2) |
||
| 1607 | 1612 0ed0 01F4 brne .L93 |
||
| 1608 | 1613 0ed2 8091 0000 lds r24,Poti4 |
||
| 1609 | 1614 0ed6 8093 0000 sts FCParam+1,r24 |
||
| 1610 | 1615 0eda 00C0 rjmp .L93 |
||
| 1611 | 1616 .L96: |
||
| 1612 | 1617 0edc 8093 0000 sts FCParam,r24 |
||
| 1613 | 1618 .L98: |
||
| 1614 | 1619 0ee0 8091 0000 lds r24,FCParam |
||
| 1615 | 1620 0ee4 8823 tst r24 |
||
| 1616 | 1621 0ee6 01F4 brne .L101 |
||
| 1617 | 1622 0ee8 1092 0000 sts FCParam,__zero_reg__ |
||
| 1618 | 1623 .L102: |
||
| 1619 | 1624 0eec 8091 0000 lds r24,ParamSet+12 |
||
| 1620 | 1625 0ef0 8B3F cpi r24,lo8(-5) |
||
| 1621 | 1626 0ef2 00F0 brlo .L103 |
||
| 1622 | 1627 .L271: |
||
| 1623 | 1628 0ef4 8B3F cpi r24,lo8(-5) |
||
| 1624 | 1629 0ef6 01F4 brne .+2 |
||
| 1625 | 1630 0ef8 00C0 rjmp .L268 |
||
| 1626 | 1631 0efa 8C3F cpi r24,lo8(-4) |
||
| 1627 | 1632 0efc 01F4 brne .+2 |
||
| 1628 | 1633 0efe 00C0 rjmp .L269 |
||
| 1629 | 1634 0f00 8D3F cpi r24,lo8(-3) |
||
| 1630 | 1635 0f02 01F4 brne .+2 |
||
| 1631 | 1636 0f04 00C0 rjmp .L270 |
||
| 1632 | 1637 0f06 8E3F cpi r24,lo8(-2) |
||
| 1633 | 1638 0f08 01F4 brne .L105 |
||
| 1634 | 1639 0f0a 8091 0000 lds r24,Poti4 |
||
| 1635 | 1640 0f0e 8093 0000 sts FCParam+2,r24 |
||
| 1636 | 1641 0f12 00C0 rjmp .L105 |
||
| 1637 | 1642 .L101: |
||
| 1638 | 1643 0f14 8436 cpi r24,lo8(100) |
||
| 1639 | 1644 0f16 00F0 brlo .L102 |
||
| 1640 | 1645 0f18 84E6 ldi r24,lo8(100) |
||
| 1641 | 1646 0f1a 8093 0000 sts FCParam,r24 |
||
| 1642 | 1647 0f1e 8091 0000 lds r24,ParamSet+12 |
||
| 1643 | 1648 0f22 8B3F cpi r24,lo8(-5) |
||
| 1644 | 1649 0f24 00F4 brsh .L271 |
||
| 1645 | 1650 .L103: |
||
| 1646 | 1651 0f26 8093 0000 sts FCParam+2,r24 |
||
| 1647 | 1652 .L105: |
||
| 1648 | 1653 0f2a 8091 0000 lds r24,FCParam+2 |
||
| 1649 | 1654 0f2e 8823 tst r24 |
||
| 1650 | 1655 0f30 01F4 brne .L108 |
||
| 1651 | 1656 0f32 1092 0000 sts FCParam+2,__zero_reg__ |
||
| 1652 | 1657 .L109: |
||
| 1653 | 1658 0f36 8091 0000 lds r24,ParamSet+14 |
||
| 1654 | 1659 0f3a 8B3F cpi r24,lo8(-5) |
||
| 1655 | 1660 0f3c 00F0 brlo .L110 |
||
| 1656 | 1661 .L275: |
||
| 1657 | 1662 0f3e 8B3F cpi r24,lo8(-5) |
||
| 1658 | 1663 0f40 01F4 brne .+2 |
||
| 1659 | 1664 0f42 00C0 rjmp .L272 |
||
| 1660 | 1665 0f44 8C3F cpi r24,lo8(-4) |
||
| 1661 | 1666 0f46 01F4 brne .+2 |
||
| 1662 | 1667 0f48 00C0 rjmp .L273 |
||
| 1663 | 1668 0f4a 8D3F cpi r24,lo8(-3) |
||
| 1664 | 1669 0f4c 01F4 brne .+2 |
||
| 1665 | 1670 0f4e 00C0 rjmp .L274 |
||
| 1666 | 1671 0f50 8E3F cpi r24,lo8(-2) |
||
| 1667 | 1672 0f52 01F4 brne .L112 |
||
| 1668 | 1673 0f54 8091 0000 lds r24,Poti4 |
||
| 1669 | 1674 0f58 8093 0000 sts FCParam+3,r24 |
||
| 1670 | 1675 0f5c 00C0 rjmp .L112 |
||
| 1671 | 1676 .L108: |
||
| 1672 | 1677 0f5e 8436 cpi r24,lo8(100) |
||
| 1673 | 1678 0f60 00F0 brlo .L109 |
||
| 1674 | 1679 0f62 84E6 ldi r24,lo8(100) |
||
| 1675 | 1680 0f64 8093 0000 sts FCParam+2,r24 |
||
| 1676 | 1681 0f68 8091 0000 lds r24,ParamSet+14 |
||
| 1677 | 1682 0f6c 8B3F cpi r24,lo8(-5) |
||
| 1678 | 1683 0f6e 00F4 brsh .L275 |
||
| 1679 | 1684 .L110: |
||
| 1680 | 1685 0f70 8093 0000 sts FCParam+3,r24 |
||
| 1681 | 1686 .L112: |
||
| 1682 | 1687 0f74 8091 0000 lds r24,ParamSet+16 |
||
| 1683 | 1688 0f78 8B3F cpi r24,lo8(-5) |
||
| 1684 | 1689 0f7a 00F0 brlo .L115 |
||
| 1685 | 1690 0f7c 8B3F cpi r24,lo8(-5) |
||
| 1686 | 1691 0f7e 01F4 brne .+2 |
||
| 1687 | 1692 0f80 00C0 rjmp .L276 |
||
| 1688 | 1693 0f82 8C3F cpi r24,lo8(-4) |
||
| 1689 | 1694 0f84 01F4 brne .+2 |
||
| 1690 | 1695 0f86 00C0 rjmp .L277 |
||
| 1691 | 1696 0f88 8D3F cpi r24,lo8(-3) |
||
| 1692 | 1697 0f8a 01F4 brne .+2 |
||
| 1693 | 1698 0f8c 00C0 rjmp .L278 |
||
| 1694 | 1699 0f8e 8E3F cpi r24,lo8(-2) |
||
| 1695 | 1700 0f90 01F4 brne .L117 |
||
| 1696 | 1701 0f92 8091 0000 lds r24,Poti4 |
||
| 1697 | 1702 0f96 8093 0000 sts FCParam+4,r24 |
||
| 1698 | 1703 0f9a 00C0 rjmp .L117 |
||
| 1699 | 1704 .L115: |
||
| 1700 | 1705 0f9c 8093 0000 sts FCParam+4,r24 |
||
| 1701 | 1706 .L117: |
||
| 1702 | 1707 0fa0 8091 0000 lds r24,ParamSet+24 |
||
| 1703 | 1708 0fa4 8B3F cpi r24,lo8(-5) |
||
| 1704 | 1709 0fa6 00F0 brlo .L120 |
||
| 1705 | 1710 0fa8 8B3F cpi r24,lo8(-5) |
||
| 1706 | 1711 0faa 01F4 brne .+2 |
||
| 1707 | 1712 0fac 00C0 rjmp .L279 |
||
| 1708 | 1713 0fae 8C3F cpi r24,lo8(-4) |
||
| 1709 | 1714 0fb0 01F4 brne .+2 |
||
| 1710 | 1715 0fb2 00C0 rjmp .L280 |
||
| 1711 | 1716 0fb4 8D3F cpi r24,lo8(-3) |
||
| 1712 | 1717 0fb6 01F4 brne .+2 |
||
| 1713 | 1718 0fb8 00C0 rjmp .L281 |
||
| 1714 | 1719 0fba 8E3F cpi r24,lo8(-2) |
||
| 1715 | 1720 0fbc 01F4 brne .L122 |
||
| 1716 | 1721 0fbe 8091 0000 lds r24,Poti4 |
||
| 1717 | 1722 0fc2 8093 0000 sts FCParam+5,r24 |
||
| 1718 | 1723 0fc6 00C0 rjmp .L122 |
||
| 1719 | 1724 .L120: |
||
| 1720 | 1725 0fc8 8093 0000 sts FCParam+5,r24 |
||
| 1721 | 1726 .L122: |
||
| 1722 | 1727 0fcc 8091 0000 lds r24,ParamSet+25 |
||
| 1723 | 1728 0fd0 8B3F cpi r24,lo8(-5) |
||
| 1724 | 1729 0fd2 00F0 brlo .L125 |
||
| 1725 | 1730 0fd4 8B3F cpi r24,lo8(-5) |
||
| 1726 | 1731 0fd6 01F4 brne .+2 |
||
| 1727 | 1732 0fd8 00C0 rjmp .L282 |
||
| 1728 | 1733 0fda 8C3F cpi r24,lo8(-4) |
||
| 1729 | 1734 0fdc 01F4 brne .+2 |
||
| 1730 | 1735 0fde 00C0 rjmp .L283 |
||
| 1731 | 1736 0fe0 8D3F cpi r24,lo8(-3) |
||
| 1732 | 1737 0fe2 01F4 brne .+2 |
||
| 1733 | 1738 0fe4 00C0 rjmp .L284 |
||
| 1734 | 1739 0fe6 8E3F cpi r24,lo8(-2) |
||
| 1735 | 1740 0fe8 01F4 brne .L127 |
||
| 1736 | 1741 0fea 8091 0000 lds r24,Poti4 |
||
| 1737 | 1742 0fee 8093 0000 sts FCParam+7,r24 |
||
| 1738 | 1743 0ff2 00C0 rjmp .L127 |
||
| 1739 | 1744 .L125: |
||
| 1740 | 1745 0ff4 8093 0000 sts FCParam+7,r24 |
||
| 1741 | 1746 .L127: |
||
| 1742 | 1747 0ff8 8091 0000 lds r24,FCParam+7 |
||
| 1743 | 1748 0ffc 8B30 cpi r24,lo8(11) |
||
| 1744 | 1749 0ffe 00F4 brsh .L130 |
||
| 1745 | 1750 1000 8AE0 ldi r24,lo8(10) |
||
| 1746 | 1751 1002 8093 0000 sts FCParam+7,r24 |
||
| 1747 | 1752 .L131: |
||
| 1748 | 1753 1006 8091 0000 lds r24,ParamSet+26 |
||
| 1749 | 1754 100a 8B3F cpi r24,lo8(-5) |
||
| 1750 | 1755 100c 00F0 brlo .L132 |
||
| 1751 | 1756 100e 8B3F cpi r24,lo8(-5) |
||
| 1752 | 1757 1010 01F4 brne .+2 |
||
| 1753 | 1758 1012 00C0 rjmp .L285 |
||
| 1754 | 1759 1014 8C3F cpi r24,lo8(-4) |
||
| 1755 | 1760 1016 01F4 brne .+2 |
||
| 1756 | 1761 1018 00C0 rjmp .L286 |
||
| 1757 | 1762 101a 8D3F cpi r24,lo8(-3) |
||
| 1758 | 1763 101c 01F4 brne .+2 |
||
| 1759 | 1764 101e 00C0 rjmp .L287 |
||
| 1760 | 1765 1020 8E3F cpi r24,lo8(-2) |
||
| 1761 | 1766 1022 01F4 brne .L134 |
||
| 1762 | 1767 1024 8091 0000 lds r24,Poti4 |
||
| 1763 | 1768 1028 8093 0000 sts FCParam+8,r24 |
||
| 1764 | 1769 102c 00C0 rjmp .L134 |
||
| 1765 | 1770 .L130: |
||
| 1766 | 1771 102e 8F3F cpi r24,lo8(-1) |
||
| 1767 | 1772 1030 01F4 brne .L131 |
||
| 1768 | 1773 1032 8093 0000 sts FCParam+7,r24 |
||
| 1769 | 1774 1036 00C0 rjmp .L131 |
||
| 1770 | 1775 .L132: |
||
| 1771 | 1776 1038 8093 0000 sts FCParam+8,r24 |
||
| 1772 | 1777 .L134: |
||
| 1773 | 1778 103c 8091 0000 lds r24,ParamSet+27 |
||
| 1774 | 1779 1040 8B3F cpi r24,lo8(-5) |
||
| 1775 | 1780 1042 00F0 brlo .L137 |
||
| 1776 | 1781 1044 8B3F cpi r24,lo8(-5) |
||
| 1777 | 1782 1046 01F4 brne .+2 |
||
| 1778 | 1783 1048 00C0 rjmp .L288 |
||
| 1779 | 1784 104a 8C3F cpi r24,lo8(-4) |
||
| 1780 | 1785 104c 01F4 brne .+2 |
||
| 1781 | 1786 104e 00C0 rjmp .L289 |
||
| 1782 | 1787 1050 8D3F cpi r24,lo8(-3) |
||
| 1783 | 1788 1052 01F4 brne .+2 |
||
| 1784 | 1789 1054 00C0 rjmp .L290 |
||
| 1785 | 1790 1056 8E3F cpi r24,lo8(-2) |
||
| 1786 | 1791 1058 01F4 brne .L139 |
||
| 1787 | 1792 105a 8091 0000 lds r24,Poti4 |
||
| 1788 | 1793 105e 8093 0000 sts FCParam+6,r24 |
||
| 1789 | 1794 1062 00C0 rjmp .L139 |
||
| 1790 | 1795 .L137: |
||
| 1791 | 1796 1064 8093 0000 sts FCParam+6,r24 |
||
| 1792 | 1797 .L139: |
||
| 1793 | 1798 1068 8091 0000 lds r24,ParamSet+28 |
||
| 1794 | 1799 106c 8B3F cpi r24,lo8(-5) |
||
| 1795 | 1800 106e 00F0 brlo .L142 |
||
| 1796 | 1801 1070 8B3F cpi r24,lo8(-5) |
||
| 1797 | 1802 1072 01F4 brne .+2 |
||
| 1798 | 1803 1074 00C0 rjmp .L291 |
||
| 1799 | 1804 1076 8C3F cpi r24,lo8(-4) |
||
| 1800 | 1805 1078 01F4 brne .+2 |
||
| 1801 | 1806 107a 00C0 rjmp .L292 |
||
| 1802 | 1807 107c 8D3F cpi r24,lo8(-3) |
||
| 1803 | 1808 107e 01F4 brne .+2 |
||
| 1804 | 1809 1080 00C0 rjmp .L293 |
||
| 1805 | 1810 1082 8E3F cpi r24,lo8(-2) |
||
| 1806 | 1811 1084 01F4 brne .L144 |
||
| 1807 | 1812 1086 8091 0000 lds r24,Poti4 |
||
| 1808 | 1813 108a 8093 0000 sts FCParam+9,r24 |
||
| 1809 | 1814 108e 00C0 rjmp .L144 |
||
| 1810 | 1815 .L142: |
||
| 1811 | 1816 1090 8093 0000 sts FCParam+9,r24 |
||
| 1812 | 1817 .L144: |
||
| 1813 | 1818 1094 8091 0000 lds r24,FCParam+9 |
||
| 1814 | 1819 1098 8B30 cpi r24,lo8(11) |
||
| 1815 | 1820 109a 00F4 brsh .L147 |
||
| 1816 | 1821 109c 8AE0 ldi r24,lo8(10) |
||
| 1817 | 1822 109e 8093 0000 sts FCParam+9,r24 |
||
| 1818 | 1823 .L148: |
||
| 1819 | 1824 10a2 8091 0000 lds r24,ParamSet+29 |
||
| 1820 | 1825 10a6 8B3F cpi r24,lo8(-5) |
||
| 1821 | 1826 10a8 00F0 brlo .L149 |
||
| 1822 | 1827 10aa 8B3F cpi r24,lo8(-5) |
||
| 1823 | 1828 10ac 01F4 brne .+2 |
||
| 1824 | 1829 10ae 00C0 rjmp .L294 |
||
| 1825 | 1830 10b0 8C3F cpi r24,lo8(-4) |
||
| 1826 | 1831 10b2 01F4 brne .+2 |
||
| 1827 | 1832 10b4 00C0 rjmp .L295 |
||
| 1828 | 1833 10b6 8D3F cpi r24,lo8(-3) |
||
| 1829 | 1834 10b8 01F4 brne .+2 |
||
| 1830 | 1835 10ba 00C0 rjmp .L296 |
||
| 1831 | 1836 10bc 8E3F cpi r24,lo8(-2) |
||
| 1832 | 1837 10be 01F4 brne .L151 |
||
| 1833 | 1838 10c0 8091 0000 lds r24,Poti4 |
||
| 1834 | 1839 10c4 8093 0000 sts FCParam+10,r24 |
||
| 1835 | 1840 10c8 00C0 rjmp .L151 |
||
| 1836 | 1841 .L147: |
||
| 1837 | 1842 10ca 8F3F cpi r24,lo8(-1) |
||
| 1838 | 1843 10cc 01F4 brne .L148 |
||
| 1839 | 1844 10ce 8093 0000 sts FCParam+9,r24 |
||
| 1840 | 1845 10d2 00C0 rjmp .L148 |
||
| 1841 | 1846 .L149: |
||
| 1842 | 1847 10d4 8093 0000 sts FCParam+10,r24 |
||
| 1843 | 1848 .L151: |
||
| 1844 | 1849 10d8 8091 0000 lds r24,ParamSet+34 |
||
| 1845 | 1850 10dc 8B3F cpi r24,lo8(-5) |
||
| 1846 | 1851 10de 00F0 brlo .L154 |
||
| 1847 | 1852 10e0 8B3F cpi r24,lo8(-5) |
||
| 1848 | 1853 10e2 01F4 brne .+2 |
||
| 1849 | 1854 10e4 00C0 rjmp .L297 |
||
| 1850 | 1855 10e6 8C3F cpi r24,lo8(-4) |
||
| 1851 | 1856 10e8 01F4 brne .+2 |
||
| 1852 | 1857 10ea 00C0 rjmp .L298 |
||
| 1853 | 1858 10ec 8D3F cpi r24,lo8(-3) |
||
| 1854 | 1859 10ee 01F4 brne .+2 |
||
| 1855 | 1860 10f0 00C0 rjmp .L299 |
||
| 1856 | 1861 10f2 8E3F cpi r24,lo8(-2) |
||
| 1857 | 1862 10f4 01F4 brne .L156 |
||
| 1858 | 1863 10f6 8091 0000 lds r24,Poti4 |
||
| 1859 | 1864 10fa 8093 0000 sts FCParam+12,r24 |
||
| 1860 | 1865 10fe 00C0 rjmp .L156 |
||
| 1861 | 1866 .L154: |
||
| 1862 | 1867 1100 8093 0000 sts FCParam+12,r24 |
||
| 1863 | 1868 .L156: |
||
| 1864 | 1869 1104 8091 0000 lds r24,ParamSet+35 |
||
| 1865 | 1870 1108 8B3F cpi r24,lo8(-5) |
||
| 1866 | 1871 110a 00F0 brlo .L159 |
||
| 1867 | 1872 110c 8B3F cpi r24,lo8(-5) |
||
| 1868 | 1873 110e 01F4 brne .+2 |
||
| 1869 | 1874 1110 00C0 rjmp .L300 |
||
| 1870 | 1875 1112 8C3F cpi r24,lo8(-4) |
||
| 1871 | 1876 1114 01F4 brne .+2 |
||
| 1872 | 1877 1116 00C0 rjmp .L301 |
||
| 1873 | 1878 1118 8D3F cpi r24,lo8(-3) |
||
| 1874 | 1879 111a 01F4 brne .+2 |
||
| 1875 | 1880 111c 00C0 rjmp .L302 |
||
| 1876 | 1881 111e 8E3F cpi r24,lo8(-2) |
||
| 1877 | 1882 1120 01F4 brne .L161 |
||
| 1878 | 1883 1122 8091 0000 lds r24,Poti4 |
||
| 1879 | 1884 1126 8093 0000 sts FCParam+13,r24 |
||
| 1880 | 1885 112a 00C0 rjmp .L161 |
||
| 1881 | 1886 .L159: |
||
| 1882 | 1887 112c 8093 0000 sts FCParam+13,r24 |
||
| 1883 | 1888 .L161: |
||
| 1884 | 1889 1130 8091 0000 lds r24,ParamSet+36 |
||
| 1885 | 1890 1134 8B3F cpi r24,lo8(-5) |
||
| 1886 | 1891 1136 00F0 brlo .L164 |
||
| 1887 | 1892 1138 8B3F cpi r24,lo8(-5) |
||
| 1888 | 1893 113a 01F4 brne .+2 |
||
| 1889 | 1894 113c 00C0 rjmp .L303 |
||
| 1890 | 1895 113e 8C3F cpi r24,lo8(-4) |
||
| 1891 | 1896 1140 01F4 brne .+2 |
||
| 1892 | 1897 1142 00C0 rjmp .L304 |
||
| 1893 | 1898 1144 8D3F cpi r24,lo8(-3) |
||
| 1894 | 1899 1146 01F4 brne .+2 |
||
| 1895 | 1900 1148 00C0 rjmp .L305 |
||
| 1896 | 1901 114a 8E3F cpi r24,lo8(-2) |
||
| 1897 | 1902 114c 01F4 brne .L166 |
||
| 1898 | 1903 114e 8091 0000 lds r24,Poti4 |
||
| 1899 | 1904 1152 8093 0000 sts FCParam+14,r24 |
||
| 1900 | 1905 1156 00C0 rjmp .L166 |
||
| 1901 | 1906 .L164: |
||
| 1902 | 1907 1158 8093 0000 sts FCParam+14,r24 |
||
| 1903 | 1908 .L166: |
||
| 1904 | 1909 115c 8091 0000 lds r24,ParamSet+37 |
||
| 1905 | 1910 1160 8B3F cpi r24,lo8(-5) |
||
| 1906 | 1911 1162 00F0 brlo .L169 |
||
| 1907 | 1912 1164 8B3F cpi r24,lo8(-5) |
||
| 1908 | 1913 1166 01F4 brne .+2 |
||
| 1909 | 1914 1168 00C0 rjmp .L306 |
||
| 1910 | 1915 116a 8C3F cpi r24,lo8(-4) |
||
| 1911 | 1916 116c 01F4 brne .+2 |
||
| 1912 | 1917 116e 00C0 rjmp .L307 |
||
| 1913 | 1918 1170 8D3F cpi r24,lo8(-3) |
||
| 1914 | 1919 1172 01F4 brne .+2 |
||
| 1915 | 1920 1174 00C0 rjmp .L308 |
||
| 1916 | 1921 1176 8E3F cpi r24,lo8(-2) |
||
| 1917 | 1922 1178 01F4 brne .L171 |
||
| 1918 | 1923 117a 8091 0000 lds r24,Poti4 |
||
| 1919 | 1924 117e 8093 0000 sts FCParam+15,r24 |
||
| 1920 | 1925 1182 00C0 rjmp .L171 |
||
| 1921 | 1926 .L169: |
||
| 1922 | 1927 1184 8093 0000 sts FCParam+15,r24 |
||
| 1923 | 1928 .L171: |
||
| 1924 | 1929 1188 8091 0000 lds r24,ParamSet+38 |
||
| 1925 | 1930 118c 8B3F cpi r24,lo8(-5) |
||
| 1926 | 1931 118e 00F0 brlo .L174 |
||
| 1927 | 1932 1190 8B3F cpi r24,lo8(-5) |
||
| 1928 | 1933 1192 01F4 brne .+2 |
||
| 1929 | 1934 1194 00C0 rjmp .L309 |
||
| 1930 | 1935 1196 8C3F cpi r24,lo8(-4) |
||
| 1931 | 1936 1198 01F4 brne .+2 |
||
| 1932 | 1937 119a 00C0 rjmp .L310 |
||
| 1933 | 1938 119c 8D3F cpi r24,lo8(-3) |
||
| 1934 | 1939 119e 01F4 brne .+2 |
||
| 1935 | 1940 11a0 00C0 rjmp .L311 |
||
| 1936 | 1941 11a2 8E3F cpi r24,lo8(-2) |
||
| 1937 | 1942 11a4 01F4 brne .L176 |
||
| 1938 | 1943 11a6 8091 0000 lds r24,Poti4 |
||
| 1939 | 1944 11aa 8093 0000 sts FCParam+16,r24 |
||
| 1940 | 1945 11ae 00C0 rjmp .L176 |
||
| 1941 | 1946 .L174: |
||
| 1942 | 1947 11b0 8093 0000 sts FCParam+16,r24 |
||
| 1943 | 1948 .L176: |
||
| 1944 | 1949 11b4 8091 0000 lds r24,ParamSet+59 |
||
| 1945 | 1950 11b8 8B3F cpi r24,lo8(-5) |
||
| 1946 | 1951 11ba 00F0 brlo .L179 |
||
| 1947 | 1952 11bc 8B3F cpi r24,lo8(-5) |
||
| 1948 | 1953 11be 01F4 brne .+2 |
||
| 1949 | 1954 11c0 00C0 rjmp .L312 |
||
| 1950 | 1955 11c2 8C3F cpi r24,lo8(-4) |
||
| 1951 | 1956 11c4 01F4 brne .+2 |
||
| 1952 | 1957 11c6 00C0 rjmp .L313 |
||
| 1953 | 1958 11c8 8D3F cpi r24,lo8(-3) |
||
| 1954 | 1959 11ca 01F4 brne .+2 |
||
| 1955 | 1960 11cc 00C0 rjmp .L314 |
||
| 1956 | 1961 11ce 8E3F cpi r24,lo8(-2) |
||
| 1957 | 1962 11d0 01F4 brne .L181 |
||
| 1958 | 1963 11d2 8091 0000 lds r24,Poti4 |
||
| 1959 | 1964 11d6 8093 0000 sts FCParam+17,r24 |
||
| 1960 | 1965 11da 00C0 rjmp .L181 |
||
| 1961 | 1966 .L179: |
||
| 1962 | 1967 11dc 8093 0000 sts FCParam+17,r24 |
||
| 1963 | 1968 .L181: |
||
| 1964 | 1969 11e0 8091 0000 lds r24,ParamSet+60 |
||
| 1965 | 1970 11e4 8B3F cpi r24,lo8(-5) |
||
| 1966 | 1971 11e6 00F0 brlo .L184 |
||
| 1967 | 1972 11e8 8B3F cpi r24,lo8(-5) |
||
| 1968 | 1973 11ea 01F4 brne .+2 |
||
| 1969 | 1974 11ec 00C0 rjmp .L315 |
||
| 1970 | 1975 11ee 8C3F cpi r24,lo8(-4) |
||
| 1971 | 1976 11f0 01F4 brne .+2 |
||
| 1972 | 1977 11f2 00C0 rjmp .L316 |
||
| 1973 | 1978 11f4 8D3F cpi r24,lo8(-3) |
||
| 1974 | 1979 11f6 01F4 brne .+2 |
||
| 1975 | 1980 11f8 00C0 rjmp .L317 |
||
| 1976 | 1981 11fa 8E3F cpi r24,lo8(-2) |
||
| 1977 | 1982 11fc 01F4 brne .L186 |
||
| 1978 | 1983 11fe 8091 0000 lds r24,Poti4 |
||
| 1979 | 1984 1202 8093 0000 sts FCParam+18,r24 |
||
| 1980 | 1985 1206 00C0 rjmp .L186 |
||
| 1981 | 1986 .L184: |
||
| 1982 | 1987 1208 8093 0000 sts FCParam+18,r24 |
||
| 1983 | 1988 .L186: |
||
| 1984 | 1989 120c 8091 0000 lds r24,ParamSet+61 |
||
| 1985 | 1990 1210 8B3F cpi r24,lo8(-5) |
||
| 1986 | 1991 1212 00F0 brlo .L189 |
||
| 1987 | 1992 1214 8B3F cpi r24,lo8(-5) |
||
| 1988 | 1993 1216 01F4 brne .+2 |
||
| 1989 | 1994 1218 00C0 rjmp .L318 |
||
| 1990 | 1995 121a 8C3F cpi r24,lo8(-4) |
||
| 1991 | 1996 121c 01F4 brne .+2 |
||
| 1992 | 1997 121e 00C0 rjmp .L319 |
||
| 1993 | 1998 1220 8D3F cpi r24,lo8(-3) |
||
| 1994 | 1999 1222 01F4 brne .+2 |
||
| 1995 | 2000 1224 00C0 rjmp .L320 |
||
| 1996 | 2001 1226 8E3F cpi r24,lo8(-2) |
||
| 1997 | 2002 1228 01F4 brne .L191 |
||
| 1998 | 2003 122a 8091 0000 lds r24,Poti4 |
||
| 1999 | 2004 122e 8093 0000 sts FCParam+19,r24 |
||
| 2000 | 2005 1232 00C0 rjmp .L191 |
||
| 2001 | 2006 .L189: |
||
| 2002 | 2007 1234 8093 0000 sts FCParam+19,r24 |
||
| 2003 | 2008 .L191: |
||
| 2004 | 2009 1238 8091 0000 lds r24,ParamSet+62 |
||
| 2005 | 2010 123c 8B3F cpi r24,lo8(-5) |
||
| 2006 | 2011 123e 00F0 brlo .L194 |
||
| 2007 | 2012 1240 8B3F cpi r24,lo8(-5) |
||
| 2008 | 2013 1242 01F4 brne .+2 |
||
| 2009 | 2014 1244 00C0 rjmp .L321 |
||
| 2010 | 2015 1246 8C3F cpi r24,lo8(-4) |
||
| 2011 | 2016 1248 01F4 brne .+2 |
||
| 2012 | 2017 124a 00C0 rjmp .L322 |
||
| 2013 | 2018 124c 8D3F cpi r24,lo8(-3) |
||
| 2014 | 2019 124e 01F4 brne .+2 |
||
| 2015 | 2020 1250 00C0 rjmp .L323 |
||
| 2016 | 2021 1252 8E3F cpi r24,lo8(-2) |
||
| 2017 | 2022 1254 01F4 brne .L196 |
||
| 2018 | 2023 1256 8091 0000 lds r24,Poti4 |
||
| 2019 | 2024 125a 8093 0000 sts FCParam+20,r24 |
||
| 2020 | 2025 125e 00C0 rjmp .L196 |
||
| 2021 | 2026 .L194: |
||
| 2022 | 2027 1260 8093 0000 sts FCParam+20,r24 |
||
| 2023 | 2028 .L196: |
||
| 2024 | 2029 1264 8091 0000 lds r24,ParamSet+39 |
||
| 2025 | 2030 1268 8B3F cpi r24,lo8(-5) |
||
| 2026 | 2031 126a 00F0 brlo .L199 |
||
| 2027 | 2032 126c 8B3F cpi r24,lo8(-5) |
||
| 2028 | 2033 126e 01F4 brne .+2 |
||
| 2029 | 2034 1270 00C0 rjmp .L324 |
||
| 2030 | 2035 1272 8C3F cpi r24,lo8(-4) |
||
| 2031 | 2036 1274 01F4 brne .+2 |
||
| 2032 | 2037 1276 00C0 rjmp .L325 |
||
| 2033 | 2038 1278 8D3F cpi r24,lo8(-3) |
||
| 2034 | 2039 127a 01F4 brne .+2 |
||
| 2035 | 2040 127c 00C0 rjmp .L326 |
||
| 2036 | 2041 127e 8E3F cpi r24,lo8(-2) |
||
| 2037 | 2042 1280 01F4 brne .L201 |
||
| 2038 | 2043 1282 8091 0000 lds r24,Poti4 |
||
| 2039 | 2044 1286 8093 0000 sts FCParam+21,r24 |
||
| 2040 | 2045 128a 00C0 rjmp .L201 |
||
| 2041 | 2046 .L199: |
||
| 2042 | 2047 128c 8093 0000 sts FCParam+21,r24 |
||
| 2043 | 2048 .L201: |
||
| 2044 | 2049 1290 8091 0000 lds r24,ParamSet+43 |
||
| 2045 | 2050 1294 8B3F cpi r24,lo8(-5) |
||
| 2046 | 2051 1296 00F0 brlo .L204 |
||
| 2047 | 2052 1298 8B3F cpi r24,lo8(-5) |
||
| 2048 | 2053 129a 01F4 brne .+2 |
||
| 2049 | 2054 129c 00C0 rjmp .L327 |
||
| 2050 | 2055 129e 8C3F cpi r24,lo8(-4) |
||
| 2051 | 2056 12a0 01F4 brne .+2 |
||
| 2052 | 2057 12a2 00C0 rjmp .L328 |
||
| 2053 | 2058 12a4 8D3F cpi r24,lo8(-3) |
||
| 2054 | 2059 12a6 01F4 brne .+2 |
||
| 2055 | 2060 12a8 00C0 rjmp .L329 |
||
| 2056 | 2061 12aa 8E3F cpi r24,lo8(-2) |
||
| 2057 | 2062 12ac 01F4 brne .L206 |
||
| 2058 | 2063 12ae 8091 0000 lds r24,Poti4 |
||
| 2059 | 2064 12b2 8093 0000 sts FCParam+22,r24 |
||
| 2060 | 2065 12b6 00C0 rjmp .L206 |
||
| 2061 | 2066 .L204: |
||
| 2062 | 2067 12b8 8093 0000 sts FCParam+22,r24 |
||
| 2063 | 2068 .L206: |
||
| 2064 | 2069 12bc 8091 0000 lds r24,ParamSet+48 |
||
| 2065 | 2070 12c0 8B3F cpi r24,lo8(-5) |
||
| 2066 | 2071 12c2 00F0 brlo .L209 |
||
| 2067 | 2072 12c4 8B3F cpi r24,lo8(-5) |
||
| 2068 | 2073 12c6 01F4 brne .+2 |
||
| 2069 | 2074 12c8 00C0 rjmp .L330 |
||
| 2070 | 2075 12ca 8C3F cpi r24,lo8(-4) |
||
| 2071 | 2076 12cc 01F4 brne .+2 |
||
| 2072 | 2077 12ce 00C0 rjmp .L331 |
||
| 2073 | 2078 12d0 8D3F cpi r24,lo8(-3) |
||
| 2074 | 2079 12d2 01F4 brne .+2 |
||
| 2075 | 2080 12d4 00C0 rjmp .L332 |
||
| 2076 | 2081 12d6 8E3F cpi r24,lo8(-2) |
||
| 2077 | 2082 12d8 01F4 brne .L211 |
||
| 2078 | 2083 12da 8091 0000 lds r24,Poti4 |
||
| 2079 | 2084 12de 8093 0000 sts FCParam+23,r24 |
||
| 2080 | 2085 12e2 00C0 rjmp .L211 |
||
| 2081 | 2086 .L209: |
||
| 2082 | 2087 12e4 8093 0000 sts FCParam+23,r24 |
||
| 2083 | 2088 .L211: |
||
| 2084 | 2089 12e8 8091 0000 lds r24,ParamSet+51 |
||
| 2085 | 2090 12ec 8B3F cpi r24,lo8(-5) |
||
| 2086 | 2091 12ee 00F0 brlo .L214 |
||
| 2087 | 2092 12f0 8B3F cpi r24,lo8(-5) |
||
| 2088 | 2093 12f2 01F4 brne .+2 |
||
| 2089 | 2094 12f4 00C0 rjmp .L333 |
||
| 2090 | 2095 12f6 8C3F cpi r24,lo8(-4) |
||
| 2091 | 2096 12f8 01F4 brne .+2 |
||
| 2092 | 2097 12fa 00C0 rjmp .L334 |
||
| 2093 | 2098 12fc 8D3F cpi r24,lo8(-3) |
||
| 2094 | 2099 12fe 01F4 brne .+2 |
||
| 2095 | 2100 1300 00C0 rjmp .L335 |
||
| 2096 | 2101 1302 8E3F cpi r24,lo8(-2) |
||
| 2097 | 2102 1304 01F4 brne .L216 |
||
| 2098 | 2103 1306 8091 0000 lds r24,Poti4 |
||
| 2099 | 2104 130a 8093 0000 sts FCParam+24,r24 |
||
| 2100 | 2105 130e 00C0 rjmp .L216 |
||
| 2101 | 2106 .L214: |
||
| 2102 | 2107 1310 8093 0000 sts FCParam+24,r24 |
||
| 2103 | 2108 .L216: |
||
| 2104 | 2109 1314 8091 0000 lds r24,ParamSet+52 |
||
| 2105 | 2110 1318 8B3F cpi r24,lo8(-5) |
||
| 2106 | 2111 131a 00F0 brlo .L219 |
||
| 2107 | 2112 131c 8B3F cpi r24,lo8(-5) |
||
| 2108 | 2113 131e 01F4 brne .+2 |
||
| 2109 | 2114 1320 00C0 rjmp .L336 |
||
| 2110 | 2115 1322 8C3F cpi r24,lo8(-4) |
||
| 2111 | 2116 1324 01F4 brne .+2 |
||
| 2112 | 2117 1326 00C0 rjmp .L337 |
||
| 2113 | 2118 1328 8D3F cpi r24,lo8(-3) |
||
| 2114 | 2119 132a 01F4 brne .+2 |
||
| 2115 | 2120 132c 00C0 rjmp .L338 |
||
| 2116 | 2121 132e 8E3F cpi r24,lo8(-2) |
||
| 2117 | 2122 1330 01F4 brne .L221 |
||
| 2118 | 2123 1332 8091 0000 lds r24,Poti4 |
||
| 2119 | 2124 1336 8093 0000 sts FCParam+25,r24 |
||
| 2120 | 2125 133a 00C0 rjmp .L221 |
||
| 2121 | 2126 .L219: |
||
| 2122 | 2127 133c 8093 0000 sts FCParam+25,r24 |
||
| 2123 | 2128 .L221: |
||
| 2124 | 2129 1340 8091 0000 lds r24,ParamSet+53 |
||
| 2125 | 2130 1344 8B3F cpi r24,lo8(-5) |
||
| 2126 | 2131 1346 00F0 brlo .L224 |
||
| 2127 | 2132 1348 8B3F cpi r24,lo8(-5) |
||
| 2128 | 2133 134a 01F4 brne .+2 |
||
| 2129 | 2134 134c 00C0 rjmp .L339 |
||
| 2130 | 2135 134e 8C3F cpi r24,lo8(-4) |
||
| 2131 | 2136 1350 01F4 brne .+2 |
||
| 2132 | 2137 1352 00C0 rjmp .L340 |
||
| 2133 | 2138 1354 8D3F cpi r24,lo8(-3) |
||
| 2134 | 2139 1356 01F4 brne .+2 |
||
| 2135 | 2140 1358 00C0 rjmp .L341 |
||
| 2136 | 2141 135a 8E3F cpi r24,lo8(-2) |
||
| 2137 | 2142 135c 01F4 brne .L226 |
||
| 2138 | 2143 135e 8091 0000 lds r24,Poti4 |
||
| 2139 | 2144 1362 8093 0000 sts FCParam+26,r24 |
||
| 2140 | 2145 1366 00C0 rjmp .L226 |
||
| 2141 | 2146 .L224: |
||
| 2142 | 2147 1368 8093 0000 sts FCParam+26,r24 |
||
| 2143 | 2148 .L226: |
||
| 2144 | 2149 136c 8091 0000 lds r24,ParamSet+58 |
||
| 2145 | 2150 1370 8B3F cpi r24,lo8(-5) |
||
| 2146 | 2151 1372 00F0 brlo .L229 |
||
| 2147 | 2152 1374 8B3F cpi r24,lo8(-5) |
||
| 2148 | 2153 1376 01F4 brne .+2 |
||
| 2149 | 2154 1378 00C0 rjmp .L342 |
||
| 2150 | 2155 137a 8C3F cpi r24,lo8(-4) |
||
| 2151 | 2156 137c 01F4 brne .+2 |
||
| 2152 | 2157 137e 00C0 rjmp .L343 |
||
| 2153 | 2158 1380 8D3F cpi r24,lo8(-3) |
||
| 2154 | 2159 1382 01F4 brne .+2 |
||
| 2155 | 2160 1384 00C0 rjmp .L344 |
||
| 2156 | 2161 1386 8E3F cpi r24,lo8(-2) |
||
| 2157 | 2162 1388 01F4 brne .L231 |
||
| 2158 | 2163 138a 8091 0000 lds r24,Poti4 |
||
| 2159 | 2164 138e 8093 0000 sts FCParam+27,r24 |
||
| 2160 | 2165 1392 00C0 rjmp .L231 |
||
| 2161 | 2166 .L229: |
||
| 2162 | 2167 1394 8093 0000 sts FCParam+27,r24 |
||
| 2163 | 2168 .L231: |
||
| 2164 | 2169 1398 8091 0000 lds r24,ParamSet+64 |
||
| 2165 | 2170 139c 8B3F cpi r24,lo8(-5) |
||
| 2166 | 2171 139e 00F0 brlo .L234 |
||
| 2167 | 2172 13a0 8B3F cpi r24,lo8(-5) |
||
| 2168 | 2173 13a2 01F4 brne .+2 |
||
| 2169 | 2174 13a4 00C0 rjmp .L345 |
||
| 2170 | 2175 13a6 8C3F cpi r24,lo8(-4) |
||
| 2171 | 2176 13a8 01F4 brne .+2 |
||
| 2172 | 2177 13aa 00C0 rjmp .L346 |
||
| 2173 | 2178 13ac 8D3F cpi r24,lo8(-3) |
||
| 2174 | 2179 13ae 01F4 brne .+2 |
||
| 2175 | 2180 13b0 00C0 rjmp .L347 |
||
| 2176 | 2181 13b2 8E3F cpi r24,lo8(-2) |
||
| 2177 | 2182 13b4 01F4 brne .L236 |
||
| 2178 | 2183 13b6 8091 0000 lds r24,Poti4 |
||
| 2179 | 2184 13ba 8093 0000 sts FCParam+29,r24 |
||
| 2180 | 2185 13be 00C0 rjmp .L236 |
||
| 2181 | 2186 .L234: |
||
| 2182 | 2187 13c0 8093 0000 sts FCParam+29,r24 |
||
| 2183 | 2188 .L236: |
||
| 2184 | 2189 13c4 8091 0000 lds r24,FCParam+29 |
||
| 2185 | 2190 13c8 8230 cpi r24,lo8(2) |
||
| 2186 | 2191 13ca 00F4 brsh .+2 |
||
| 2187 | 2192 13cc 00C0 rjmp .L348 |
||
| 2188 | 2193 13ce 8F3F cpi r24,lo8(-1) |
||
| 2189 | 2194 13d0 01F4 brne .+2 |
||
| 2190 | 2195 13d2 00C0 rjmp .L349 |
||
| 2191 | 2196 .L240: |
||
| 2192 | 2197 13d4 8091 0000 lds r24,ParamSet+66 |
||
| 2193 | 2198 13d8 8B3F cpi r24,lo8(-5) |
||
| 2194 | 2199 13da 00F0 brlo .L241 |
||
| 2195 | 2200 13dc 8B3F cpi r24,lo8(-5) |
||
| 2196 | 2201 13de 01F4 brne .+2 |
||
| 2197 | 2202 13e0 00C0 rjmp .L350 |
||
| 2198 | 2203 13e2 8C3F cpi r24,lo8(-4) |
||
| 2199 | 2204 13e4 01F4 brne .+2 |
||
| 2200 | 2205 13e6 00C0 rjmp .L351 |
||
| 2201 | 2206 13e8 8D3F cpi r24,lo8(-3) |
||
| 2202 | 2207 13ea 01F4 brne .+2 |
||
| 2203 | 2208 13ec 00C0 rjmp .L352 |
||
| 2204 | 2209 13ee 8E3F cpi r24,lo8(-2) |
||
| 2205 | 2210 13f0 01F4 brne .L243 |
||
| 2206 | 2211 13f2 8091 0000 lds r24,Poti4 |
||
| 2207 | 2212 13f6 8093 0000 sts FCParam+30,r24 |
||
| 2208 | 2213 13fa 00C0 rjmp .L243 |
||
| 2209 | 2214 .L241: |
||
| 2210 | 2215 13fc 8093 0000 sts FCParam+30,r24 |
||
| 2211 | 2216 .L243: |
||
| 2212 | 2217 1400 8091 0000 lds r24,FCParam+30 |
||
| 2213 | 2218 1404 8230 cpi r24,lo8(2) |
||
| 2214 | 2219 1406 00F4 brsh .+2 |
||
| 2215 | 2220 1408 00C0 rjmp .L353 |
||
| 2216 | 2221 140a 8F3F cpi r24,lo8(-1) |
||
| 2217 | 2222 140c 01F4 brne .+2 |
||
| 2218 | 2223 140e 00C0 rjmp .L354 |
||
| 2219 | 2224 .L247: |
||
| 2220 | 2225 1410 8091 0000 lds r24,ParamSet+85 |
||
| 2221 | 2226 1414 8B3F cpi r24,lo8(-5) |
||
| 2222 | 2227 1416 00F4 brsh .+2 |
||
| 2223 | 2228 1418 00C0 rjmp .L248 |
||
| 2224 | 2229 141a 8B3F cpi r24,lo8(-5) |
||
| 2225 | 2230 141c 01F0 breq .L355 |
||
| 2226 | 2231 141e 8C3F cpi r24,lo8(-4) |
||
| 2227 | 2232 1420 01F4 brne .+2 |
||
| 2228 | 2233 1422 00C0 rjmp .L356 |
||
| 2229 | 2234 1424 8D3F cpi r24,lo8(-3) |
||
| 2230 | 2235 1426 01F4 brne .+2 |
||
| 2231 | 2236 1428 00C0 rjmp .L357 |
||
| 2232 | 2237 142a 8E3F cpi r24,lo8(-2) |
||
| 2233 | 2238 142c 01F0 breq .+2 |
||
| 2234 | 2239 142e 00C0 rjmp .L250 |
||
| 2235 | 2240 1430 8091 0000 lds r24,Poti4 |
||
| 2236 | 2241 1434 8093 0000 sts FCParam+28,r24 |
||
| 2237 | 2242 1438 00C0 rjmp .L250 |
||
| 2238 | 2243 .L355: |
||
| 2239 | 2244 143a 8091 0000 lds r24,Poti1 |
||
| 2240 | 2245 143e 8093 0000 sts FCParam+28,r24 |
||
| 2241 | 2246 1442 00C0 rjmp .L250 |
||
| 2242 | 2247 .L276: |
||
| 2243 | 2248 1444 8091 0000 lds r24,Poti1 |
||
| 2244 | 2249 1448 8093 0000 sts FCParam+4,r24 |
||
| 2245 | 2250 144c 00C0 rjmp .L117 |
||
| 2246 | 2251 .L282: |
||
| 2247 | 2252 144e 8091 0000 lds r24,Poti1 |
||
| 2248 | 2253 1452 8093 0000 sts FCParam+7,r24 |
||
| 2249 | 2254 1456 00C0 rjmp .L127 |
||
| 2250 | 2255 .L279: |
||
| 2251 | 2256 1458 8091 0000 lds r24,Poti1 |
||
| 2252 | 2257 145c 8093 0000 sts FCParam+5,r24 |
||
| 2253 | 2258 1460 00C0 rjmp .L122 |
||
| 2254 | 2259 .L265: |
||
| 2255 | 2260 1462 8091 0000 lds r24,Poti1 |
||
| 2256 | 2261 1466 8093 0000 sts FCParam+1,r24 |
||
| 2257 | 2262 146a 00C0 rjmp .L93 |
||
| 2258 | 2263 .L262: |
||
| 2259 | 2264 146c 8091 0000 lds r24,Poti1 |
||
| 2260 | 2265 1470 8093 0000 sts FCParam,r24 |
||
| 2261 | 2266 1474 00C0 rjmp .L98 |
||
| 2262 | 2267 .L268: |
||
| 2263 | 2268 1476 8091 0000 lds r24,Poti1 |
||
| 2264 | 2269 147a 8093 0000 sts FCParam+2,r24 |
||
| 2265 | 2270 147e 00C0 rjmp .L105 |
||
| 2266 | 2271 .L272: |
||
| 2267 | 2272 1480 8091 0000 lds r24,Poti1 |
||
| 2268 | 2273 1484 8093 0000 sts FCParam+3,r24 |
||
| 2269 | 2274 1488 00C0 rjmp .L112 |
||
| 2270 | 2275 .L288: |
||
| 2271 | 2276 148a 8091 0000 lds r24,Poti1 |
||
| 2272 | 2277 148e 8093 0000 sts FCParam+6,r24 |
||
| 2273 | 2278 1492 00C0 rjmp .L139 |
||
| 2274 | 2279 .L285: |
||
| 2275 | 2280 1494 8091 0000 lds r24,Poti1 |
||
| 2276 | 2281 1498 8093 0000 sts FCParam+8,r24 |
||
| 2277 | 2282 149c 00C0 rjmp .L134 |
||
| 2278 | 2283 .L294: |
||
| 2279 | 2284 149e 8091 0000 lds r24,Poti1 |
||
| 2280 | 2285 14a2 8093 0000 sts FCParam+10,r24 |
||
| 2281 | 2286 14a6 00C0 rjmp .L151 |
||
| 2282 | 2287 .L291: |
||
| 2283 | 2288 14a8 8091 0000 lds r24,Poti1 |
||
| 2284 | 2289 14ac 8093 0000 sts FCParam+9,r24 |
||
| 2285 | 2290 14b0 00C0 rjmp .L144 |
||
| 2286 | 2291 .L303: |
||
| 2287 | 2292 14b2 8091 0000 lds r24,Poti1 |
||
| 2288 | 2293 14b6 8093 0000 sts FCParam+14,r24 |
||
| 2289 | 2294 14ba 00C0 rjmp .L166 |
||
| 2290 | 2295 .L300: |
||
| 2291 | 2296 14bc 8091 0000 lds r24,Poti1 |
||
| 2292 | 2297 14c0 8093 0000 sts FCParam+13,r24 |
||
| 2293 | 2298 14c4 00C0 rjmp .L161 |
||
| 2294 | 2299 .L297: |
||
| 2295 | 2300 14c6 8091 0000 lds r24,Poti1 |
||
| 2296 | 2301 14ca 8093 0000 sts FCParam+12,r24 |
||
| 2297 | 2302 14ce 00C0 rjmp .L156 |
||
| 2298 | 2303 .L350: |
||
| 2299 | 2304 14d0 8091 0000 lds r24,Poti1 |
||
| 2300 | 2305 14d4 8093 0000 sts FCParam+30,r24 |
||
| 2301 | 2306 14d8 00C0 rjmp .L243 |
||
| 2302 | 2307 .L345: |
||
| 2303 | 2308 14da 8091 0000 lds r24,Poti1 |
||
| 2304 | 2309 14de 8093 0000 sts FCParam+29,r24 |
||
| 2305 | 2310 14e2 00C0 rjmp .L236 |
||
| 2306 | 2311 .L342: |
||
| 2307 | 2312 14e4 8091 0000 lds r24,Poti1 |
||
| 2308 | 2313 14e8 8093 0000 sts FCParam+27,r24 |
||
| 2309 | 2314 14ec 00C0 rjmp .L231 |
||
| 2310 | 2315 .L339: |
||
| 2311 | 2316 14ee 8091 0000 lds r24,Poti1 |
||
| 2312 | 2317 14f2 8093 0000 sts FCParam+26,r24 |
||
| 2313 | 2318 14f6 00C0 rjmp .L226 |
||
| 2314 | 2319 .L336: |
||
| 2315 | 2320 14f8 8091 0000 lds r24,Poti1 |
||
| 2316 | 2321 14fc 8093 0000 sts FCParam+25,r24 |
||
| 2317 | 2322 1500 00C0 rjmp .L221 |
||
| 2318 | 2323 .L333: |
||
| 2319 | 2324 1502 8091 0000 lds r24,Poti1 |
||
| 2320 | 2325 1506 8093 0000 sts FCParam+24,r24 |
||
| 2321 | 2326 150a 00C0 rjmp .L216 |
||
| 2322 | 2327 .L330: |
||
| 2323 | 2328 150c 8091 0000 lds r24,Poti1 |
||
| 2324 | 2329 1510 8093 0000 sts FCParam+23,r24 |
||
| 2325 | 2330 1514 00C0 rjmp .L211 |
||
| 2326 | 2331 .L327: |
||
| 2327 | 2332 1516 8091 0000 lds r24,Poti1 |
||
| 2328 | 2333 151a 8093 0000 sts FCParam+22,r24 |
||
| 2329 | 2334 151e 00C0 rjmp .L206 |
||
| 2330 | 2335 .L324: |
||
| 2331 | 2336 1520 8091 0000 lds r24,Poti1 |
||
| 2332 | 2337 1524 8093 0000 sts FCParam+21,r24 |
||
| 2333 | 2338 1528 00C0 rjmp .L201 |
||
| 2334 | 2339 .L321: |
||
| 2335 | 2340 152a 8091 0000 lds r24,Poti1 |
||
| 2336 | 2341 152e 8093 0000 sts FCParam+20,r24 |
||
| 2337 | 2342 1532 00C0 rjmp .L196 |
||
| 2338 | 2343 .L318: |
||
| 2339 | 2344 1534 8091 0000 lds r24,Poti1 |
||
| 2340 | 2345 1538 8093 0000 sts FCParam+19,r24 |
||
| 2341 | 2346 153c 00C0 rjmp .L191 |
||
| 2342 | 2347 .L315: |
||
| 2343 | 2348 153e 8091 0000 lds r24,Poti1 |
||
| 2344 | 2349 1542 8093 0000 sts FCParam+18,r24 |
||
| 2345 | 2350 1546 00C0 rjmp .L186 |
||
| 2346 | 2351 .L312: |
||
| 2347 | 2352 1548 8091 0000 lds r24,Poti1 |
||
| 2348 | 2353 154c 8093 0000 sts FCParam+17,r24 |
||
| 2349 | 2354 1550 00C0 rjmp .L181 |
||
| 2350 | 2355 .L309: |
||
| 2351 | 2356 1552 8091 0000 lds r24,Poti1 |
||
| 2352 | 2357 1556 8093 0000 sts FCParam+16,r24 |
||
| 2353 | 2358 155a 00C0 rjmp .L176 |
||
| 2354 | 2359 .L306: |
||
| 2355 | 2360 155c 8091 0000 lds r24,Poti1 |
||
| 2356 | 2361 1560 8093 0000 sts FCParam+15,r24 |
||
| 2357 | 2362 1564 00C0 rjmp .L171 |
||
| 2358 | 2363 .L348: |
||
| 2359 | 2364 1566 81E0 ldi r24,lo8(1) |
||
| 2360 | 2365 1568 8093 0000 sts FCParam+29,r24 |
||
| 2361 | 2366 156c 00C0 rjmp .L240 |
||
| 2362 | 2367 .L353: |
||
| 2363 | 2368 156e 81E0 ldi r24,lo8(1) |
||
| 2364 | 2369 1570 8093 0000 sts FCParam+30,r24 |
||
| 2365 | 2370 1574 00C0 rjmp .L247 |
||
| 2366 | 2371 .L349: |
||
| 2367 | 2372 1576 8093 0000 sts FCParam+29,r24 |
||
| 2368 | 2373 157a 00C0 rjmp .L240 |
||
| 2369 | 2374 .L354: |
||
| 2370 | 2375 157c 8093 0000 sts FCParam+30,r24 |
||
| 2371 | 2376 1580 00C0 rjmp .L247 |
||
| 2372 | 2377 .L319: |
||
| 2373 | 2378 1582 8091 0000 lds r24,Poti2 |
||
| 2374 | 2379 1586 8093 0000 sts FCParam+19,r24 |
||
| 2375 | 2380 158a 00C0 rjmp .L191 |
||
| 2376 | 2381 .L322: |
||
| 2377 | 2382 158c 8091 0000 lds r24,Poti2 |
||
| 2378 | 2383 1590 8093 0000 sts FCParam+20,r24 |
||
| 2379 | 2384 1594 00C0 rjmp .L196 |
||
| 2380 | 2385 .L310: |
||
| 2381 | 2386 1596 8091 0000 lds r24,Poti2 |
||
| 2382 | 2387 159a 8093 0000 sts FCParam+16,r24 |
||
| 2383 | 2388 159e 00C0 rjmp .L176 |
||
| 2384 | 2389 .L313: |
||
| 2385 | 2390 15a0 8091 0000 lds r24,Poti2 |
||
| 2386 | 2391 15a4 8093 0000 sts FCParam+17,r24 |
||
| 2387 | 2392 15a8 00C0 rjmp .L181 |
||
| 2388 | 2393 .L328: |
||
| 2389 | 2394 15aa 8091 0000 lds r24,Poti2 |
||
| 2390 | 2395 15ae 8093 0000 sts FCParam+22,r24 |
||
| 2391 | 2396 15b2 00C0 rjmp .L206 |
||
| 2392 | 2397 .L325: |
||
| 2393 | 2398 15b4 8091 0000 lds r24,Poti2 |
||
| 2394 | 2399 15b8 8093 0000 sts FCParam+21,r24 |
||
| 2395 | 2400 15bc 00C0 rjmp .L201 |
||
| 2396 | 2401 .L337: |
||
| 2397 | 2402 15be 8091 0000 lds r24,Poti2 |
||
| 2398 | 2403 15c2 8093 0000 sts FCParam+25,r24 |
||
| 2399 | 2404 15c6 00C0 rjmp .L221 |
||
| 2400 | 2405 .L351: |
||
| 2401 | 2406 15c8 8091 0000 lds r24,Poti2 |
||
| 2402 | 2407 15cc 8093 0000 sts FCParam+30,r24 |
||
| 2403 | 2408 15d0 00C0 rjmp .L243 |
||
| 2404 | 2409 .L343: |
||
| 2405 | 2410 15d2 8091 0000 lds r24,Poti2 |
||
| 2406 | 2411 15d6 8093 0000 sts FCParam+27,r24 |
||
| 2407 | 2412 15da 00C0 rjmp .L231 |
||
| 2408 | 2413 .L346: |
||
| 2409 | 2414 15dc 8091 0000 lds r24,Poti2 |
||
| 2410 | 2415 15e0 8093 0000 sts FCParam+29,r24 |
||
| 2411 | 2416 15e4 00C0 rjmp .L236 |
||
| 2412 | 2417 .L316: |
||
| 2413 | 2418 15e6 8091 0000 lds r24,Poti2 |
||
| 2414 | 2419 15ea 8093 0000 sts FCParam+18,r24 |
||
| 2415 | 2420 15ee 00C0 rjmp .L186 |
||
| 2416 | 2421 .L307: |
||
| 2417 | 2422 15f0 8091 0000 lds r24,Poti2 |
||
| 2418 | 2423 15f4 8093 0000 sts FCParam+15,r24 |
||
| 2419 | 2424 15f8 00C0 rjmp .L171 |
||
| 2420 | 2425 .L334: |
||
| 2421 | 2426 15fa 8091 0000 lds r24,Poti2 |
||
| 2422 | 2427 15fe 8093 0000 sts FCParam+24,r24 |
||
| 2423 | 2428 1602 00C0 rjmp .L216 |
||
| 2424 | 2429 .L340: |
||
| 2425 | 2430 1604 8091 0000 lds r24,Poti2 |
||
| 2426 | 2431 1608 8093 0000 sts FCParam+26,r24 |
||
| 2427 | 2432 160c 00C0 rjmp .L226 |
||
| 2428 | 2433 .L286: |
||
| 2429 | 2434 160e 8091 0000 lds r24,Poti2 |
||
| 2430 | 2435 1612 8093 0000 sts FCParam+8,r24 |
||
| 2431 | 2436 1616 00C0 rjmp .L134 |
||
| 2432 | 2437 .L273: |
||
| 2433 | 2438 1618 8091 0000 lds r24,Poti2 |
||
| 2434 | 2439 161c 8093 0000 sts FCParam+3,r24 |
||
| 2435 | 2440 1620 00C0 rjmp .L112 |
||
| 2436 | 2441 .L331: |
||
| 2437 | 2442 1622 8091 0000 lds r24,Poti2 |
||
| 2438 | 2443 1626 8093 0000 sts FCParam+23,r24 |
||
| 2439 | 2444 162a 00C0 rjmp .L211 |
||
| 2440 | 2445 .L356: |
||
| 2441 | 2446 162c 8091 0000 lds r24,Poti2 |
||
| 2442 | 2447 1630 8093 0000 sts FCParam+28,r24 |
||
| 2443 | 2448 1634 00C0 rjmp .L250 |
||
| 2444 | 2449 .L283: |
||
| 2445 | 2450 1636 8091 0000 lds r24,Poti2 |
||
| 2446 | 2451 163a 8093 0000 sts FCParam+7,r24 |
||
| 2447 | 2452 163e 00C0 rjmp .L127 |
||
| 2448 | 2453 .L280: |
||
| 2449 | 2454 1640 8091 0000 lds r24,Poti2 |
||
| 2450 | 2455 1644 8093 0000 sts FCParam+5,r24 |
||
| 2451 | 2456 1648 00C0 rjmp .L122 |
||
| 2452 | 2457 .L269: |
||
| 2453 | 2458 164a 8091 0000 lds r24,Poti2 |
||
| 2454 | 2459 164e 8093 0000 sts FCParam+2,r24 |
||
| 2455 | 2460 1652 00C0 rjmp .L105 |
||
| 2456 | 2461 .L266: |
||
| 2457 | 2462 1654 8091 0000 lds r24,Poti2 |
||
| 2458 | 2463 1658 8093 0000 sts FCParam+1,r24 |
||
| 2459 | 2464 165c 00C0 rjmp .L93 |
||
| 2460 | 2465 .L304: |
||
| 2461 | 2466 165e 8091 0000 lds r24,Poti2 |
||
| 2462 | 2467 1662 8093 0000 sts FCParam+14,r24 |
||
| 2463 | 2468 1666 00C0 rjmp .L166 |
||
| 2464 | 2469 .L301: |
||
| 2465 | 2470 1668 8091 0000 lds r24,Poti2 |
||
| 2466 | 2471 166c 8093 0000 sts FCParam+13,r24 |
||
| 2467 | 2472 1670 00C0 rjmp .L161 |
||
| 2468 | 2473 .L277: |
||
| 2469 | 2474 1672 8091 0000 lds r24,Poti2 |
||
| 2470 | 2475 1676 8093 0000 sts FCParam+4,r24 |
||
| 2471 | 2476 167a 00C0 rjmp .L117 |
||
| 2472 | 2477 .L263: |
||
| 2473 | 2478 167c 8091 0000 lds r24,Poti2 |
||
| 2474 | 2479 1680 8093 0000 sts FCParam,r24 |
||
| 2475 | 2480 1684 00C0 rjmp .L98 |
||
| 2476 | 2481 .L292: |
||
| 2477 | 2482 1686 8091 0000 lds r24,Poti2 |
||
| 2478 | 2483 168a 8093 0000 sts FCParam+9,r24 |
||
| 2479 | 2484 168e 00C0 rjmp .L144 |
||
| 2480 | 2485 .L289: |
||
| 2481 | 2486 1690 8091 0000 lds r24,Poti2 |
||
| 2482 | 2487 1694 8093 0000 sts FCParam+6,r24 |
||
| 2483 | 2488 1698 00C0 rjmp .L139 |
||
| 2484 | 2489 .L298: |
||
| 2485 | 2490 169a 8091 0000 lds r24,Poti2 |
||
| 2486 | 2491 169e 8093 0000 sts FCParam+12,r24 |
||
| 2487 | 2492 16a2 00C0 rjmp .L156 |
||
| 2488 | 2493 .L295: |
||
| 2489 | 2494 16a4 8091 0000 lds r24,Poti2 |
||
| 2490 | 2495 16a8 8093 0000 sts FCParam+10,r24 |
||
| 2491 | 2496 16ac 00C0 rjmp .L151 |
||
| 2492 | 2497 .L352: |
||
| 2493 | 2498 16ae 8091 0000 lds r24,Poti3 |
||
| 2494 | 2499 16b2 8093 0000 sts FCParam+30,r24 |
||
| 2495 | 2500 16b6 00C0 rjmp .L243 |
||
| 2496 | 2501 .L357: |
||
| 2497 | 2502 16b8 8091 0000 lds r24,Poti3 |
||
| 2498 | 2503 16bc 8093 0000 sts FCParam+28,r24 |
||
| 2499 | 2504 16c0 00C0 rjmp .L250 |
||
| 2500 | 2505 .L329: |
||
| 2501 | 2506 16c2 8091 0000 lds r24,Poti3 |
||
| 2502 | 2507 16c6 8093 0000 sts FCParam+22,r24 |
||
| 2503 | 2508 16ca 00C0 rjmp .L206 |
||
| 2504 | 2509 .L305: |
||
| 2505 | 2510 16cc 8091 0000 lds r24,Poti3 |
||
| 2506 | 2511 16d0 8093 0000 sts FCParam+14,r24 |
||
| 2507 | 2512 16d4 00C0 rjmp .L166 |
||
| 2508 | 2513 .L341: |
||
| 2509 | 2514 16d6 8091 0000 lds r24,Poti3 |
||
| 2510 | 2515 16da 8093 0000 sts FCParam+26,r24 |
||
| 2511 | 2516 16de 00C0 rjmp .L226 |
||
| 2512 | 2517 .L284: |
||
| 2513 | 2518 16e0 8091 0000 lds r24,Poti3 |
||
| 2514 | 2519 16e4 8093 0000 sts FCParam+7,r24 |
||
| 2515 | 2520 16e8 00C0 rjmp .L127 |
||
| 2516 | 2521 .L323: |
||
| 2517 | 2522 16ea 8091 0000 lds r24,Poti3 |
||
| 2518 | 2523 16ee 8093 0000 sts FCParam+20,r24 |
||
| 2519 | 2524 16f2 00C0 rjmp .L196 |
||
| 2520 | 2525 .L299: |
||
| 2521 | 2526 16f4 8091 0000 lds r24,Poti3 |
||
| 2522 | 2527 16f8 8093 0000 sts FCParam+12,r24 |
||
| 2523 | 2528 16fc 00C0 rjmp .L156 |
||
| 2524 | 2529 .L335: |
||
| 2525 | 2530 16fe 8091 0000 lds r24,Poti3 |
||
| 2526 | 2531 1702 8093 0000 sts FCParam+24,r24 |
||
| 2527 | 2532 1706 00C0 rjmp .L216 |
||
| 2528 | 2533 .L278: |
||
| 2529 | 2534 1708 8091 0000 lds r24,Poti3 |
||
| 2530 | 2535 170c 8093 0000 sts FCParam+4,r24 |
||
| 2531 | 2536 1710 00C0 rjmp .L117 |
||
| 2532 | 2537 .L317: |
||
| 2533 | 2538 1712 8091 0000 lds r24,Poti3 |
||
| 2534 | 2539 1716 8093 0000 sts FCParam+18,r24 |
||
| 2535 | 2540 171a 00C0 rjmp .L186 |
||
| 2536 | 2541 .L293: |
||
| 2537 | 2542 171c 8091 0000 lds r24,Poti3 |
||
| 2538 | 2543 1720 8093 0000 sts FCParam+9,r24 |
||
| 2539 | 2544 1724 00C0 rjmp .L144 |
||
| 2540 | 2545 .L347: |
||
| 2541 | 2546 1726 8091 0000 lds r24,Poti3 |
||
| 2542 | 2547 172a 8093 0000 sts FCParam+29,r24 |
||
| 2543 | 2548 172e 00C0 rjmp .L236 |
||
| 2544 | 2549 .L270: |
||
| 2545 | 2550 1730 8091 0000 lds r24,Poti3 |
||
| 2546 | 2551 1734 8093 0000 sts FCParam+2,r24 |
||
| 2547 | 2552 1738 00C0 rjmp .L105 |
||
| 2548 | 2553 .L320: |
||
| 2549 | 2554 173a 8091 0000 lds r24,Poti3 |
||
| 2550 | 2555 173e 8093 0000 sts FCParam+19,r24 |
||
| 2551 | 2556 1742 00C0 rjmp .L191 |
||
| 2552 | 2557 .L296: |
||
| 2553 | 2558 1744 8091 0000 lds r24,Poti3 |
||
| 2554 | 2559 1748 8093 0000 sts FCParam+10,r24 |
||
| 2555 | 2560 174c 00C0 rjmp .L151 |
||
| 2556 | 2561 .L308: |
||
| 2557 | 2562 174e 8091 0000 lds r24,Poti3 |
||
| 2558 | 2563 1752 8093 0000 sts FCParam+15,r24 |
||
| 2559 | 2564 1756 00C0 rjmp .L171 |
||
| 2560 | 2565 .L274: |
||
| 2561 | 2566 1758 8091 0000 lds r24,Poti3 |
||
| 2562 | 2567 175c 8093 0000 sts FCParam+3,r24 |
||
| 2563 | 2568 1760 00C0 rjmp .L112 |
||
| 2564 | 2569 .L314: |
||
| 2565 | 2570 1762 8091 0000 lds r24,Poti3 |
||
| 2566 | 2571 1766 8093 0000 sts FCParam+17,r24 |
||
| 2567 | 2572 176a 00C0 rjmp .L181 |
||
| 2568 | 2573 .L290: |
||
| 2569 | 2574 176c 8091 0000 lds r24,Poti3 |
||
| 2570 | 2575 1770 8093 0000 sts FCParam+6,r24 |
||
| 2571 | 2576 1774 00C0 rjmp .L139 |
||
| 2572 | 2577 .L332: |
||
| 2573 | 2578 1776 8091 0000 lds r24,Poti3 |
||
| 2574 | 2579 177a 8093 0000 sts FCParam+23,r24 |
||
| 2575 | 2580 177e 00C0 rjmp .L211 |
||
| 2576 | 2581 .L264: |
||
| 2577 | 2582 1780 8091 0000 lds r24,Poti3 |
||
| 2578 | 2583 1784 8093 0000 sts FCParam,r24 |
||
| 2579 | 2584 1788 00C0 rjmp .L98 |
||
| 2580 | 2585 .L326: |
||
| 2581 | 2586 178a 8091 0000 lds r24,Poti3 |
||
| 2582 | 2587 178e 8093 0000 sts FCParam+21,r24 |
||
| 2583 | 2588 1792 00C0 rjmp .L201 |
||
| 2584 | 2589 .L302: |
||
| 2585 | 2590 1794 8091 0000 lds r24,Poti3 |
||
| 2586 | 2591 1798 8093 0000 sts FCParam+13,r24 |
||
| 2587 | 2592 179c 00C0 rjmp .L161 |
||
| 2588 | 2593 .L338: |
||
| 2589 | 2594 179e 8091 0000 lds r24,Poti3 |
||
| 2590 | 2595 17a2 8093 0000 sts FCParam+25,r24 |
||
| 2591 | 2596 17a6 00C0 rjmp .L221 |
||
| 2592 | 2597 .L281: |
||
| 2593 | 2598 17a8 8091 0000 lds r24,Poti3 |
||
| 2594 | 2599 17ac 8093 0000 sts FCParam+5,r24 |
||
| 2595 | 2600 17b0 00C0 rjmp .L122 |
||
| 2596 | 2601 .L311: |
||
| 2597 | 2602 17b2 8091 0000 lds r24,Poti3 |
||
| 2598 | 2603 17b6 8093 0000 sts FCParam+16,r24 |
||
| 2599 | 2604 17ba 00C0 rjmp .L176 |
||
| 2600 | 2605 .L287: |
||
| 2601 | 2606 17bc 8091 0000 lds r24,Poti3 |
||
| 2602 | 2607 17c0 8093 0000 sts FCParam+8,r24 |
||
| 2603 | 2608 17c4 00C0 rjmp .L134 |
||
| 2604 | 2609 .L344: |
||
| 2605 | 2610 17c6 8091 0000 lds r24,Poti3 |
||
| 2606 | 2611 17ca 8093 0000 sts FCParam+27,r24 |
||
| 2607 | 2612 17ce 00C0 rjmp .L231 |
||
| 2608 | 2613 .L267: |
||
| 2609 | 2614 17d0 8091 0000 lds r24,Poti3 |
||
| 2610 | 2615 17d4 8093 0000 sts FCParam+1,r24 |
||
| 2611 | 2616 17d8 00C0 rjmp .L93 |
||
| 2612 | 2618 .global SendMotorData |
||
| 2613 | 2620 SendMotorData: |
||
| 2614 | 2621 /* prologue: function */ |
||
| 2615 | 2622 /* frame size = 0 */ |
||
| 2616 | 2623 17da 8091 0000 lds r24,MKFlags |
||
| 2617 | 2624 17de 80FD sbrc r24,0 |
||
| 2618 | 2625 17e0 00C0 rjmp .L359 |
||
| 2619 | 2626 17e2 8091 0000 lds r24,MKFlags |
||
| 2620 | 2627 17e6 857F andi r24,lo8(-11) |
||
| 2621 | 2628 17e8 8093 0000 sts MKFlags,r24 |
||
| 2622 | 2629 17ec 9091 0000 lds r25,MotorTest_Active |
||
| 2623 | 2630 17f0 E0E0 ldi r30,lo8(Motor) |
||
| 2624 | 2631 17f2 F0E0 ldi r31,hi8(Motor) |
||
| 2625 | 2632 17f4 A0E0 ldi r26,lo8(MotorTest) |
||
| 2626 | 2633 17f6 B0E0 ldi r27,hi8(MotorTest) |
||
| 2627 | 2634 17f8 00C0 rjmp .L362 |
||
| 2628 | 2635 .L367: |
||
| 2629 | 2636 17fa 1082 st Z,__zero_reg__ |
||
| 2630 | 2637 17fc 3596 adiw r30,5 |
||
| 2631 | 2638 17fe 1196 adiw r26,1 |
||
| 2632 | 2639 1800 80E0 ldi r24,hi8(Motor+60) |
||
| 2633 | 2640 1802 E030 cpi r30,lo8(Motor+60) |
||
| 2634 | 2641 1804 F807 cpc r31,r24 |
||
| 2635 | 2642 1806 01F0 breq .L366 |
||
| 2636 | 2643 .L362: |
||
| 2637 | 2644 1808 9923 tst r25 |
||
| 2638 | 2645 180a 01F0 breq .L367 |
||
| 2639 | 2646 180c 8C91 ld r24,X |
||
| 2640 | 2647 180e 8083 st Z,r24 |
||
| 2641 | 2648 1810 3596 adiw r30,5 |
||
| 2642 | 2649 1812 1196 adiw r26,1 |
||
| 2643 | 2650 1814 80E0 ldi r24,hi8(Motor+60) |
||
| 2644 | 2651 1816 E030 cpi r30,lo8(Motor+60) |
||
| 2645 | 2652 1818 F807 cpc r31,r24 |
||
| 2646 | 2653 181a 01F4 brne .L362 |
||
| 2647 | 2654 .L366: |
||
| 2648 | 2655 181c 9923 tst r25 |
||
| 2649 | 2656 181e 01F0 breq .L359 |
||
| 2650 | 2657 1820 9150 subi r25,lo8(-(-1)) |
||
| 2651 | 2658 1822 9093 0000 sts MotorTest_Active,r25 |
||
| 2652 | 2659 .L359: |
||
| 2653 | 2660 1826 E0E0 ldi r30,lo8(DebugOut+26) |
||
| 2654 | 2661 1828 F0E0 ldi r31,hi8(DebugOut+26) |
||
| 2655 | 2662 182a 8091 0000 lds r24,Motor |
||
| 2656 | 2663 182e 8093 0000 sts DebugOut+26,r24 |
||
| 2657 | 2664 1832 1092 0000 sts DebugOut+27,__zero_reg__ |
||
| 2658 | 2665 1836 8091 0000 lds r24,Motor+5 |
||
| 2659 | 2666 183a 8093 0000 sts DebugOut+28,r24 |
||
| 2660 | 2667 183e 1382 std Z+3,__zero_reg__ |
||
| 2661 | 2668 1840 8091 0000 lds r24,Motor+15 |
||
| 2662 | 2669 1844 8093 0000 sts DebugOut+30,r24 |
||
| 2663 | 2670 1848 1582 std Z+5,__zero_reg__ |
||
| 2664 | 2671 184a 8091 0000 lds r24,Motor+10 |
||
| 2665 | 2672 184e 8093 0000 sts DebugOut+32,r24 |
||
| 2666 | 2673 1852 1782 std Z+7,__zero_reg__ |
||
| 2667 | 2674 1854 80E0 ldi r24,lo8(0) |
||
| 2668 | 2675 1856 0E94 0000 call I2C_Start |
||
| 2669 | 2676 /* epilogue start */ |
||
| 2670 | 2677 185a 0895 ret |
||
| 2671 | 2679 .global SetNeutral |
||
| 2672 | 2681 SetNeutral: |
||
| 2673 | 2682 185c 2F92 push r2 |
||
| 2674 | 2683 185e 3F92 push r3 |
||
| 2675 | 2684 1860 4F92 push r4 |
||
| 2676 | 2685 1862 5F92 push r5 |
||
| 2677 | 2686 1864 6F92 push r6 |
||
| 2678 | 2687 1866 7F92 push r7 |
||
| 2679 | 2688 1868 8F92 push r8 |
||
| 2680 | 2689 186a 9F92 push r9 |
||
| 2681 | 2690 186c AF92 push r10 |
||
| 2682 | 2691 186e BF92 push r11 |
||
| 2683 | 2692 1870 CF92 push r12 |
||
| 2684 | 2693 1872 DF92 push r13 |
||
| 2685 | 2694 1874 EF92 push r14 |
||
| 2686 | 2695 1876 FF92 push r15 |
||
| 2687 | 2696 1878 0F93 push r16 |
||
| 2688 | 2697 187a 1F93 push r17 |
||
| 2689 | 2698 /* prologue: function */ |
||
| 2690 | 2699 /* frame size = 0 */ |
||
| 2691 | 2700 187c 582E mov r5,r24 |
||
| 2692 | 2701 187e 1092 0000 sts (AdBiasAccNick)+1,__zero_reg__ |
||
| 2693 | 2702 1882 1092 0000 sts AdBiasAccNick,__zero_reg__ |
||
| 2694 | 2703 1886 1092 0000 sts (AdBiasAccRoll)+1,__zero_reg__ |
||
| 2695 | 2704 188a 1092 0000 sts AdBiasAccRoll,__zero_reg__ |
||
| 2696 | 2705 188e 80E0 ldi r24,lo8(0x0) |
||
| 2697 | 2706 1890 90E0 ldi r25,hi8(0x0) |
||
| 2698 | 2707 1892 A0E0 ldi r26,hlo8(0x0) |
||
| 2699 | 2708 1894 B0E0 ldi r27,hhi8(0x0) |
||
| 2700 | 2709 1896 8093 0000 sts AdBiasAccTop,r24 |
||
| 2701 | 2710 189a 9093 0000 sts (AdBiasAccTop)+1,r25 |
||
| 2702 | 2711 189e A093 0000 sts (AdBiasAccTop)+2,r26 |
||
| 2703 | 2712 18a2 B093 0000 sts (AdBiasAccTop)+3,r27 |
||
| 2704 | 2713 18a6 1092 0000 sts (BiasHiResGyroNick)+1,__zero_reg__ |
||
| 2705 | 2714 18aa 1092 0000 sts BiasHiResGyroNick,__zero_reg__ |
||
| 2706 | 2715 18ae 1092 0000 sts (BiasHiResGyroRoll)+1,__zero_reg__ |
||
| 2707 | 2716 18b2 1092 0000 sts BiasHiResGyroRoll,__zero_reg__ |
||
| 2708 | 2717 18b6 1092 0000 sts (AdBiasGyroYaw)+1,__zero_reg__ |
||
| 2709 | 2718 18ba 1092 0000 sts AdBiasGyroYaw,__zero_reg__ |
||
| 2710 | 2719 18be 1092 0000 sts FCParam+24,__zero_reg__ |
||
| 2711 | 2720 18c2 1092 0000 sts FCParam+25,__zero_reg__ |
||
| 2712 | 2721 18c6 1092 0000 sts ExpandBaro,__zero_reg__ |
||
| 2713 | 2722 18ca 84E6 ldi r24,lo8(100) |
||
| 2714 | 2723 18cc 90E0 ldi r25,hi8(100) |
||
| 2715 | 2724 18ce 0E94 0000 call Delay_ms_Mess |
||
| 2716 | 2725 18d2 8091 0000 lds r24,BoardRelease |
||
| 2717 | 2726 18d6 8D30 cpi r24,lo8(13) |
||
| 2718 | 2727 18d8 01F4 brne .+2 |
||
| 2719 | 2728 18da 00C0 rjmp .L384 |
||
| 2720 | 2729 .L369: |
||
| 2721 | 2730 18dc 8091 0000 lds r24,ParamSet+8 |
||
| 2722 | 2731 18e0 80FF sbrs r24,0 |
||
| 2723 | 2732 18e2 00C0 rjmp .L370 |
||
| 2724 | 2733 18e4 8091 0000 lds r24,AdAirPressure |
||
| 2725 | 2734 18e8 9091 0000 lds r25,(AdAirPressure)+1 |
||
| 2726 | 2735 18ec 875B subi r24,lo8(951) |
||
| 2727 | 2736 18ee 9340 sbci r25,hi8(951) |
||
| 2728 | 2737 18f0 04F0 brlt .+2 |
||
| 2729 | 2738 18f2 00C0 rjmp .L371 |
||
| 2730 | 2739 18f4 8091 0000 lds r24,AdAirPressure |
||
| 2731 | 2740 18f8 9091 0000 lds r25,(AdAirPressure)+1 |
||
| 2732 | 2741 18fc 8E5E subi r24,lo8(750) |
||
| 2733 | 2742 18fe 9240 sbci r25,hi8(750) |
||
| 2734 | 2743 1900 04F4 brge .+2 |
||
| 2735 | 2744 1902 00C0 rjmp .L371 |
||
| 2736 | 2745 .L370: |
||
| 2737 | 2746 1904 2224 clr r2 |
||
| 2738 | 2747 1906 EE24 clr r14 |
||
| 2739 | 2748 1908 FF24 clr r15 |
||
| 2740 | 2749 190a 8701 movw r16,r14 |
||
| 2741 | 2750 190c AA24 clr r10 |
||
| 2742 | 2751 190e BB24 clr r11 |
||
| 2743 | 2752 1910 6501 movw r12,r10 |
||
| 2744 | 2753 1912 6624 clr r6 |
||
| 2745 | 2754 1914 7724 clr r7 |
||
| 2746 | 2755 1916 4301 movw r8,r6 |
||
| 2747 | 2756 .L372: |
||
| 2748 | 2757 1918 8AE0 ldi r24,lo8(10) |
||
| 2749 | 2758 191a 90E0 ldi r25,hi8(10) |
||
| 2750 | 2759 191c 0E94 0000 call Delay_ms_Mess |
||
| 2751 | 2760 1920 8091 0000 lds r24,AdValueGyroNick |
||
| 2752 | 2761 1924 9091 0000 lds r25,(AdValueGyroNick)+1 |
||
| 2753 | 2762 1928 880F lsl r24 |
||
| 2754 | 2763 192a 991F rol r25 |
||
| 2755 | 2764 192c 880F lsl r24 |
||
| 2756 | 2765 192e 991F rol r25 |
||
| 2757 | 2766 1930 880F lsl r24 |
||
| 2758 | 2767 1932 991F rol r25 |
||
| 2759 | 2768 1934 AA27 clr r26 |
||
| 2760 | 2769 1936 97FD sbrc r25,7 |
||
| 2761 | 2770 1938 A095 com r26 |
||
| 2762 | 2771 193a BA2F mov r27,r26 |
||
| 2763 | 2772 193c E80E add r14,r24 |
||
| 2764 | 2773 193e F91E adc r15,r25 |
||
| 2765 | 2774 1940 0A1F adc r16,r26 |
||
| 2766 | 2775 1942 1B1F adc r17,r27 |
||
| 2767 | 2776 1944 8091 0000 lds r24,AdValueGyroRoll |
||
| 2768 | 2777 1948 9091 0000 lds r25,(AdValueGyroRoll)+1 |
||
| 2769 | 2778 194c 880F lsl r24 |
||
| 2770 | 2779 194e 991F rol r25 |
||
| 2771 | 2780 1950 880F lsl r24 |
||
| 2772 | 2781 1952 991F rol r25 |
||
| 2773 | 2782 1954 880F lsl r24 |
||
| 2774 | 2783 1956 991F rol r25 |
||
| 2775 | 2784 1958 AA27 clr r26 |
||
| 2776 | 2785 195a 97FD sbrc r25,7 |
||
| 2777 | 2786 195c A095 com r26 |
||
| 2778 | 2787 195e BA2F mov r27,r26 |
||
| 2779 | 2788 1960 A80E add r10,r24 |
||
| 2780 | 2789 1962 B91E adc r11,r25 |
||
| 2781 | 2790 1964 CA1E adc r12,r26 |
||
| 2782 | 2791 1966 DB1E adc r13,r27 |
||
| 2783 | 2792 1968 8091 0000 lds r24,AdValueGyroYaw |
||
| 2784 | 2793 196c 9091 0000 lds r25,(AdValueGyroYaw)+1 |
||
| 2785 | 2794 1970 AA27 clr r26 |
||
| 2786 | 2795 1972 97FD sbrc r25,7 |
||
| 2787 | 2796 1974 A095 com r26 |
||
| 2788 | 2797 1976 BA2F mov r27,r26 |
||
| 2789 | 2798 1978 680E add r6,r24 |
||
| 2790 | 2799 197a 791E adc r7,r25 |
||
| 2791 | 2800 197c 8A1E adc r8,r26 |
||
| 2792 | 2801 197e 9B1E adc r9,r27 |
||
| 2793 | 2802 1980 2394 inc r2 |
||
| 2794 | 2803 1982 B0E2 ldi r27,lo8(32) |
||
| 2795 | 2804 1984 2B16 cp r2,r27 |
||
| 2796 | 2805 1986 01F4 brne .L372 |
||
| 2797 | 2806 1988 80E1 ldi r24,lo8(16) |
||
| 2798 | 2807 198a 90E0 ldi r25,hi8(16) |
||
| 2799 | 2808 198c A0E0 ldi r26,hlo8(16) |
||
| 2800 | 2809 198e B0E0 ldi r27,hhi8(16) |
||
| 2801 | 2810 1990 E80E add r14,r24 |
||
| 2802 | 2811 1992 F91E adc r15,r25 |
||
| 2803 | 2812 1994 0A1F adc r16,r26 |
||
| 2804 | 2813 1996 1B1F adc r17,r27 |
||
| 2805 | 2814 1998 C801 movw r24,r16 |
||
| 2806 | 2815 199a B701 movw r22,r14 |
||
| 2807 | 2816 199c 20E2 ldi r18,lo8(32) |
||
| 2808 | 2817 199e 30E0 ldi r19,hi8(32) |
||
| 2809 | 2818 19a0 40E0 ldi r20,hlo8(32) |
||
| 2810 | 2819 19a2 50E0 ldi r21,hhi8(32) |
||
| 2811 | 2820 19a4 0E94 0000 call __divmodsi4 |
||
| 2812 | 2821 19a8 3093 0000 sts (BiasHiResGyroNick)+1,r19 |
||
| 2813 | 2822 19ac 2093 0000 sts BiasHiResGyroNick,r18 |
||
| 2814 | 2823 19b0 80E1 ldi r24,lo8(16) |
||
| 2815 | 2824 19b2 90E0 ldi r25,hi8(16) |
||
| 2816 | 2825 19b4 A0E0 ldi r26,hlo8(16) |
||
| 2817 | 2826 19b6 B0E0 ldi r27,hhi8(16) |
||
| 2818 | 2827 19b8 A80E add r10,r24 |
||
| 2819 | 2828 19ba B91E adc r11,r25 |
||
| 2820 | 2829 19bc CA1E adc r12,r26 |
||
| 2821 | 2830 19be DB1E adc r13,r27 |
||
| 2822 | 2831 19c0 C601 movw r24,r12 |
||
| 2823 | 2832 19c2 B501 movw r22,r10 |
||
| 2824 | 2833 19c4 20E2 ldi r18,lo8(32) |
||
| 2825 | 2834 19c6 30E0 ldi r19,hi8(32) |
||
| 2826 | 2835 19c8 40E0 ldi r20,hlo8(32) |
||
| 2827 | 2836 19ca 50E0 ldi r21,hhi8(32) |
||
| 2828 | 2837 19cc 0E94 0000 call __divmodsi4 |
||
| 2829 | 2838 19d0 3093 0000 sts (BiasHiResGyroRoll)+1,r19 |
||
| 2830 | 2839 19d4 2093 0000 sts BiasHiResGyroRoll,r18 |
||
| 2831 | 2840 19d8 80E1 ldi r24,lo8(16) |
||
| 2832 | 2841 19da 90E0 ldi r25,hi8(16) |
||
| 2833 | 2842 19dc A0E0 ldi r26,hlo8(16) |
||
| 2834 | 2843 19de B0E0 ldi r27,hhi8(16) |
||
| 2835 | 2844 19e0 680E add r6,r24 |
||
| 2836 | 2845 19e2 791E adc r7,r25 |
||
| 2837 | 2846 19e4 8A1E adc r8,r26 |
||
| 2838 | 2847 19e6 9B1E adc r9,r27 |
||
| 2839 | 2848 19e8 C401 movw r24,r8 |
||
| 2840 | 2849 19ea B301 movw r22,r6 |
||
| 2841 | 2850 19ec 20E2 ldi r18,lo8(32) |
||
| 2842 | 2851 19ee 30E0 ldi r19,hi8(32) |
||
| 2843 | 2852 19f0 40E0 ldi r20,hlo8(32) |
||
| 2844 | 2853 19f2 50E0 ldi r21,hhi8(32) |
||
| 2845 | 2854 19f4 0E94 0000 call __divmodsi4 |
||
| 2846 | 2855 19f8 3093 0000 sts (AdBiasGyroYaw)+1,r19 |
||
| 2847 | 2856 19fc 2093 0000 sts AdBiasGyroYaw,r18 |
||
| 2848 | 2857 1a00 5520 tst r5 |
||
| 2849 | 2858 1a02 01F4 brne .+2 |
||
| 2850 | 2859 1a04 00C0 rjmp .L373 |
||
| 2851 | 2860 1a06 2224 clr r2 |
||
| 2852 | 2861 1a08 EE24 clr r14 |
||
| 2853 | 2862 1a0a FF24 clr r15 |
||
| 2854 | 2863 1a0c 8701 movw r16,r14 |
||
| 2855 | 2864 1a0e AA24 clr r10 |
||
| 2856 | 2865 1a10 BB24 clr r11 |
||
| 2857 | 2866 1a12 6501 movw r12,r10 |
||
| 2858 | 2867 1a14 6624 clr r6 |
||
| 2859 | 2868 1a16 7724 clr r7 |
||
| 2860 | 2869 1a18 4301 movw r8,r6 |
||
| 2861 | 2870 .L374: |
||
| 2862 | 2871 1a1a 8AE0 ldi r24,lo8(10) |
||
| 2863 | 2872 1a1c 90E0 ldi r25,hi8(10) |
||
| 2864 | 2873 1a1e 0E94 0000 call Delay_ms_Mess |
||
| 2865 | 2874 1a22 8091 0000 lds r24,AdValueAccNick |
||
| 2866 | 2875 1a26 9091 0000 lds r25,(AdValueAccNick)+1 |
||
| 2867 | 2876 1a2a AA27 clr r26 |
||
| 2868 | 2877 1a2c 97FD sbrc r25,7 |
||
| 2869 | 2878 1a2e A095 com r26 |
||
| 2870 | 2879 1a30 BA2F mov r27,r26 |
||
| 2871 | 2880 1a32 E80E add r14,r24 |
||
| 2872 | 2881 1a34 F91E adc r15,r25 |
||
| 2873 | 2882 1a36 0A1F adc r16,r26 |
||
| 2874 | 2883 1a38 1B1F adc r17,r27 |
||
| 2875 | 2884 1a3a 8091 0000 lds r24,AdValueAccRoll |
||
| 2876 | 2885 1a3e 9091 0000 lds r25,(AdValueAccRoll)+1 |
||
| 2877 | 2886 1a42 AA27 clr r26 |
||
| 2878 | 2887 1a44 97FD sbrc r25,7 |
||
| 2879 | 2888 1a46 A095 com r26 |
||
| 2880 | 2889 1a48 BA2F mov r27,r26 |
||
| 2881 | 2890 1a4a A80E add r10,r24 |
||
| 2882 | 2891 1a4c B91E adc r11,r25 |
||
| 2883 | 2892 1a4e CA1E adc r12,r26 |
||
| 2884 | 2893 1a50 DB1E adc r13,r27 |
||
| 2885 | 2894 1a52 8091 0000 lds r24,AdValueAccZ |
||
| 2886 | 2895 1a56 9091 0000 lds r25,(AdValueAccZ)+1 |
||
| 2887 | 2896 1a5a AA27 clr r26 |
||
| 2888 | 2897 1a5c 97FD sbrc r25,7 |
||
| 2889 | 2898 1a5e A095 com r26 |
||
| 2890 | 2899 1a60 BA2F mov r27,r26 |
||
| 2891 | 2900 1a62 680E add r6,r24 |
||
| 2892 | 2901 1a64 791E adc r7,r25 |
||
| 2893 | 2902 1a66 8A1E adc r8,r26 |
||
| 2894 | 2903 1a68 9B1E adc r9,r27 |
||
| 2895 | 2904 1a6a 2394 inc r2 |
||
| 2896 | 2905 1a6c 9AE0 ldi r25,lo8(10) |
||
| 2897 | 2906 1a6e 2916 cp r2,r25 |
||
| 2898 | 2907 1a70 01F4 brne .L374 |
||
| 2899 | 2908 1a72 C701 movw r24,r14 |
||
| 2900 | 2909 1a74 F7FC sbrc r15,7 |
||
| 2901 | 2910 1a76 00C0 rjmp .L385 |
||
| 2902 | 2911 .L375: |
||
| 2903 | 2912 1a78 0596 adiw r24,5 |
||
| 2904 | 2913 1a7a 6AE0 ldi r22,lo8(10) |
||
| 2905 | 2914 1a7c 70E0 ldi r23,hi8(10) |
||
| 2906 | 2915 1a7e 0E94 0000 call __divmodhi4 |
||
| 2907 | 2916 1a82 162F mov r17,r22 |
||
| 2908 | 2917 1a84 072F mov r16,r23 |
||
| 2909 | 2918 1a86 6093 0000 sts AdBiasAccNick,r22 |
||
| 2910 | 2919 1a8a 7093 0000 sts AdBiasAccNick+1,r23 |
||
| 2911 | 2920 1a8e C501 movw r24,r10 |
||
| 2912 | 2921 1a90 B7FC sbrc r11,7 |
||
| 2913 | 2922 1a92 00C0 rjmp .L386 |
||
| 2914 | 2923 .L376: |
||
| 2915 | 2924 1a94 0596 adiw r24,5 |
||
| 2916 | 2925 1a96 6AE0 ldi r22,lo8(10) |
||
| 2917 | 2926 1a98 70E0 ldi r23,hi8(10) |
||
| 2918 | 2927 1a9a 0E94 0000 call __divmodhi4 |
||
| 2919 | 2928 1a9e 7093 0000 sts (AdBiasAccRoll)+1,r23 |
||
| 2920 | 2929 1aa2 6093 0000 sts AdBiasAccRoll,r22 |
||
| 2921 | 2930 1aa6 C301 movw r24,r6 |
||
| 2922 | 2931 1aa8 77FC sbrc r7,7 |
||
| 2923 | 2932 1aaa 00C0 rjmp .L387 |
||
| 2924 | 2933 .L377: |
||
| 2925 | 2934 1aac 0596 adiw r24,5 |
||
| 2926 | 2935 1aae 6AE0 ldi r22,lo8(10) |
||
| 2927 | 2936 1ab0 70E0 ldi r23,hi8(10) |
||
| 2928 | 2937 1ab2 0E94 0000 call __divmodhi4 |
||
| 2929 | 2938 1ab6 8827 clr r24 |
||
| 2930 | 2939 1ab8 77FD sbrc r23,7 |
||
| 2931 | 2940 1aba 8095 com r24 |
||
| 2932 | 2941 1abc 982F mov r25,r24 |
||
| 2933 | 2942 1abe 0E94 0000 call __floatsisf |
||
| 2934 | 2943 1ac2 6093 0000 sts AdBiasAccTop,r22 |
||
| 2935 | 2944 1ac6 7093 0000 sts (AdBiasAccTop)+1,r23 |
||
| 2936 | 2945 1aca 8093 0000 sts (AdBiasAccTop)+2,r24 |
||
| 2937 | 2946 1ace 9093 0000 sts (AdBiasAccTop)+3,r25 |
||
| 2938 | 2947 1ad2 84E0 ldi r24,lo8(4) |
||
| 2939 | 2948 1ad4 90E0 ldi r25,hi8(4) |
||
| 2940 | 2949 1ad6 612F mov r22,r17 |
||
| 2941 | 2950 1ad8 702F mov r23,r16 |
||
| 2942 | 2951 1ada 0E94 0000 call SetParamWord |
||
| 2943 | 2952 1ade 6091 0000 lds r22,AdBiasAccRoll |
||
| 2944 | 2953 1ae2 7091 0000 lds r23,(AdBiasAccRoll)+1 |
||
| 2945 | 2954 1ae6 86E0 ldi r24,lo8(6) |
||
| 2946 | 2955 1ae8 90E0 ldi r25,hi8(6) |
||
| 2947 | 2956 1aea 0E94 0000 call SetParamWord |
||
| 2948 | 2957 1aee 6091 0000 lds r22,AdBiasAccTop |
||
| 2949 | 2958 1af2 7091 0000 lds r23,(AdBiasAccTop)+1 |
||
| 2950 | 2959 1af6 8091 0000 lds r24,(AdBiasAccTop)+2 |
||
| 2951 | 2960 1afa 9091 0000 lds r25,(AdBiasAccTop)+3 |
||
| 2952 | 2961 1afe 0E94 0000 call __fixunssfsi |
||
| 2953 | 2962 1b02 9B01 movw r18,r22 |
||
| 2954 | 2963 1b04 AC01 movw r20,r24 |
||
| 2955 | 2964 1b06 88E0 ldi r24,lo8(8) |
||
| 2956 | 2965 1b08 90E0 ldi r25,hi8(8) |
||
| 2957 | 2966 1b0a B901 movw r22,r18 |
||
| 2958 | 2967 1b0c 0E94 0000 call SetParamWord |
||
| 2959 | 2968 .L378: |
||
| 2960 | 2969 1b10 8091 0000 lds r24,AirPressure |
||
| 2961 | 2970 1b14 9091 0000 lds r25,(AirPressure)+1 |
||
| 2962 | 2971 1b18 A091 0000 lds r26,(AirPressure)+2 |
||
| 2963 | 2972 1b1c B091 0000 lds r27,(AirPressure)+3 |
||
| 2964 | 2973 1b20 8093 0000 sts StartAirPressure,r24 |
||
| 2965 | 2974 1b24 9093 0000 sts (StartAirPressure)+1,r25 |
||
| 2966 | 2975 1b28 A093 0000 sts (StartAirPressure)+2,r26 |
||
| 2967 | 2976 1b2c B093 0000 sts (StartAirPressure)+3,r27 |
||
| 2968 | 2977 1b30 84E6 ldi r24,lo8(100) |
||
| 2969 | 2978 1b32 90E0 ldi r25,hi8(100) |
||
| 2970 | 2979 1b34 0E94 0000 call Delay_ms_Mess |
||
| 2971 | 2980 1b38 1092 0000 sts (ReadingVario)+1,__zero_reg__ |
||
| 2972 | 2981 1b3c 1092 0000 sts ReadingVario,__zero_reg__ |
||
| 2973 | 2982 1b40 6091 0000 lds r22,AdValueAccNick |
||
| 2974 | 2983 1b44 7091 0000 lds r23,(AdValueAccNick)+1 |
||
| 2975 | 2984 1b48 8827 clr r24 |
||
| 2976 | 2985 1b4a 77FD sbrc r23,7 |
||
| 2977 | 2986 1b4c 8095 com r24 |
||
| 2978 | 2987 1b4e 982F mov r25,r24 |
||
| 2979 | 2988 1b50 26E0 ldi r18,lo8(6) |
||
| 2980 | 2989 1b52 30E0 ldi r19,hi8(6) |
||
| 2981 | 2990 1b54 40E0 ldi r20,hlo8(6) |
||
| 2982 | 2991 1b56 50E0 ldi r21,hhi8(6) |
||
| 2983 | 2992 1b58 0E94 0000 call __mulsi3 |
||
| 2984 | 2993 1b5c 3B01 movw r6,r22 |
||
| 2985 | 2994 1b5e 4C01 movw r8,r24 |
||
| 2986 | 2995 1b60 7093 0000 sts (AccNick)+1,r23 |
||
| 2987 | 2996 1b64 6093 0000 sts AccNick,r22 |
||
| 2988 | 2997 1b68 6091 0000 lds r22,AdValueAccRoll |
||
| 2989 | 2998 1b6c 7091 0000 lds r23,(AdValueAccRoll)+1 |
||
| 2990 | 2999 1b70 8827 clr r24 |
||
| 2991 | 3000 1b72 77FD sbrc r23,7 |
||
| 2992 | 3001 1b74 8095 com r24 |
||
| 2993 | 3002 1b76 982F mov r25,r24 |
||
| 2994 | 3003 1b78 0E94 0000 call __mulsi3 |
||
| 2995 | 3004 1b7c 5B01 movw r10,r22 |
||
| 2996 | 3005 1b7e 6C01 movw r12,r24 |
||
| 2997 | 3006 1b80 7093 0000 sts (AccRoll)+1,r23 |
||
| 2998 | 3007 1b84 6093 0000 sts AccRoll,r22 |
||
| 2999 | 3008 1b88 8091 0000 lds r24,AdValueAccTop |
||
| 3000 | 3009 1b8c 9091 0000 lds r25,(AdValueAccTop)+1 |
||
| 3001 | 3010 1b90 9093 0000 sts (AccTop)+1,r25 |
||
| 3002 | 3011 1b94 8093 0000 sts AccTop,r24 |
||
| 3003 | 3012 1b98 8091 0000 lds r24,AdValueAccTop |
||
| 3004 | 3013 1b9c 9091 0000 lds r25,(AdValueAccTop)+1 |
||
| 3005 | 3014 1ba0 982F mov r25,r24 |
||
| 3006 | 3015 1ba2 8827 clr r24 |
||
| 3007 | 3016 1ba4 990F lsl r25 |
||
| 3008 | 3017 1ba6 990F lsl r25 |
||
| 3009 | 3018 1ba8 AA27 clr r26 |
||
| 3010 | 3019 1baa 97FD sbrc r25,7 |
||
| 3011 | 3020 1bac A095 com r26 |
||
| 3012 | 3021 1bae BA2F mov r27,r26 |
||
| 3013 | 3022 1bb0 8093 0000 sts ReadingIntegralTop,r24 |
||
| 3014 | 3023 1bb4 9093 0000 sts (ReadingIntegralTop)+1,r25 |
||
| 3015 | 3024 1bb8 A093 0000 sts (ReadingIntegralTop)+2,r26 |
||
| 3016 | 3025 1bbc B093 0000 sts (ReadingIntegralTop)+3,r27 |
||
| 3017 | 3026 1bc0 1092 0000 sts (GyroNick)+1,__zero_reg__ |
||
| 3018 | 3027 1bc4 1092 0000 sts GyroNick,__zero_reg__ |
||
| 3019 | 3028 1bc8 1092 0000 sts (GyroRoll)+1,__zero_reg__ |
||
| 3020 | 3029 1bcc 1092 0000 sts GyroRoll,__zero_reg__ |
||
| 3021 | 3030 1bd0 1092 0000 sts (GyroYaw)+1,__zero_reg__ |
||
| 3022 | 3031 1bd4 1092 0000 sts GyroYaw,__zero_reg__ |
||
| 3023 | 3032 1bd8 E090 0000 lds r14,ParamSet+23 |
||
| 3024 | 3033 1bdc 2E2C mov r2,r14 |
||
| 3025 | 3034 1bde 3324 clr r3 |
||
| 3026 | 3035 1be0 4424 clr r4 |
||
| 3027 | 3036 1be2 5524 clr r5 |
||
| 3028 | 3037 1be4 8824 clr r8 |
||
| 3029 | 3038 1be6 77FC sbrc r7,7 |
||
| 3030 | 3039 1be8 8094 com r8 |
||
| 3031 | 3040 1bea 982C mov r9,r8 |
||
| 3032 | 3041 1bec C401 movw r24,r8 |
||
| 3033 | 3042 1bee B301 movw r22,r6 |
||
| 3034 | 3043 1bf0 A201 movw r20,r4 |
||
| 3035 | 3044 1bf2 9101 movw r18,r2 |
||
| 3036 | 3045 1bf4 0E94 0000 call __mulsi3 |
||
| 3037 | 3046 1bf8 3B01 movw r6,r22 |
||
| 3038 | 3047 1bfa 4C01 movw r8,r24 |
||
| 3039 | 3048 1bfc 6093 0000 sts IntegralGyroNick,r22 |
||
| 3040 | 3049 1c00 7093 0000 sts (IntegralGyroNick)+1,r23 |
||
| 3041 | 3050 1c04 8093 0000 sts (IntegralGyroNick)+2,r24 |
||
| 3042 | 3051 1c08 9093 0000 sts (IntegralGyroNick)+3,r25 |
||
| 3043 | 3052 1c0c CC24 clr r12 |
||
| 3044 | 3053 1c0e B7FC sbrc r11,7 |
||
| 3045 | 3054 1c10 C094 com r12 |
||
| 3046 | 3055 1c12 DC2C mov r13,r12 |
||
| 3047 | 3056 1c14 C601 movw r24,r12 |
||
| 3048 | 3057 1c16 B501 movw r22,r10 |
||
| 3049 | 3058 1c18 0E94 0000 call __mulsi3 |
||
| 3050 | 3059 1c1c 6093 0000 sts IntegralGyroRoll,r22 |
||
| 3051 | 3060 1c20 7093 0000 sts (IntegralGyroRoll)+1,r23 |
||
| 3052 | 3061 1c24 8093 0000 sts (IntegralGyroRoll)+2,r24 |
||
| 3053 | 3062 1c28 9093 0000 sts (IntegralGyroRoll)+3,r25 |
||
| 3054 | 3063 1c2c 6092 0000 sts ReadingIntegralGyroNick2,r6 |
||
| 3055 | 3064 1c30 7092 0000 sts (ReadingIntegralGyroNick2)+1,r7 |
||
| 3056 | 3065 1c34 8092 0000 sts (ReadingIntegralGyroNick2)+2,r8 |
||
| 3057 | 3066 1c38 9092 0000 sts (ReadingIntegralGyroNick2)+3,r9 |
||
| 3058 | 3067 1c3c 6093 0000 sts ReadingIntegralGyroRoll2,r22 |
||
| 3059 | 3068 1c40 7093 0000 sts (ReadingIntegralGyroRoll2)+1,r23 |
||
| 3060 | 3069 1c44 8093 0000 sts (ReadingIntegralGyroRoll2)+2,r24 |
||
| 3061 | 3070 1c48 9093 0000 sts (ReadingIntegralGyroRoll2)+3,r25 |
||
| 3062 | 3071 1c4c 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__ |
||
| 3063 | 3072 1c50 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__ |
||
| 3064 | 3073 1c54 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__ |
||
| 3065 | 3074 1c58 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__ |
||
| 3066 | 3075 1c5c 2091 0000 lds r18,CompassHeading |
||
| 3067 | 3076 1c60 3091 0000 lds r19,(CompassHeading)+1 |
||
| 3068 | 3077 1c64 3093 0000 sts (CompassCourse)+1,r19 |
||
| 3069 | 3078 1c68 2093 0000 sts CompassCourse,r18 |
||
| 3070 | 3079 1c6c 8AE2 ldi r24,lo8(42) |
||
| 3071 | 3080 1c6e E89E mul r14,r24 |
||
| 3072 | 3081 1c70 7001 movw r14,r0 |
||
| 3073 | 3082 1c72 1124 clr r1 |
||
| 3074 | 3083 1c74 0027 clr r16 |
||
| 3075 | 3084 1c76 F7FC sbrc r15,7 |
||
| 3076 | 3085 1c78 0095 com r16 |
||
| 3077 | 3086 1c7a 102F mov r17,r16 |
||
| 3078 | 3087 1c7c 4427 clr r20 |
||
| 3079 | 3088 1c7e 37FD sbrc r19,7 |
||
| 3080 | 3089 1c80 4095 com r20 |
||
| 3081 | 3090 1c82 542F mov r21,r20 |
||
| 3082 | 3091 1c84 C801 movw r24,r16 |
||
| 3083 | 3092 1c86 B701 movw r22,r14 |
||
| 3084 | 3093 1c88 0E94 0000 call __mulsi3 |
||
| 3085 | 3094 1c8c 6093 0000 sts YawGyroHeading,r22 |
||
| 3086 | 3095 1c90 7093 0000 sts (YawGyroHeading)+1,r23 |
||
| 3087 | 3096 1c94 8093 0000 sts (YawGyroHeading)+2,r24 |
||
| 3088 | 3097 1c98 9093 0000 sts (YawGyroHeading)+3,r25 |
||
| 3089 | 3098 1c9c 1092 0000 sts (YawGyroDrift)+1,__zero_reg__ |
||
| 3090 | 3099 1ca0 1092 0000 sts YawGyroDrift,__zero_reg__ |
||
| 3091 | 3100 1ca4 82E3 ldi r24,lo8(50) |
||
| 3092 | 3101 1ca6 90E0 ldi r25,hi8(50) |
||
| 3093 | 3102 1ca8 9093 0000 sts (BeepTime)+1,r25 |
||
| 3094 | 3103 1cac 8093 0000 sts BeepTime,r24 |
||
| 3095 | 3104 1cb0 6091 0000 lds r22,ParamSet+54 |
||
| 3096 | 3105 1cb4 70E0 ldi r23,lo8(0) |
||
| 3097 | 3106 1cb6 80E0 ldi r24,lo8(0) |
||
| 3098 | 3107 1cb8 90E0 ldi r25,hi8(0) |
||
| 3099 | 3108 1cba 24EC ldi r18,lo8(2500) |
||
| 3100 | 3109 1cbc 39E0 ldi r19,hi8(2500) |
||
| 3101 | 3110 1cbe 40E0 ldi r20,hlo8(2500) |
||
| 3102 | 3111 1cc0 50E0 ldi r21,hhi8(2500) |
||
| 3103 | 3112 1cc2 0E94 0000 call __mulsi3 |
||
| 3104 | 3113 1cc6 6856 subi r22,lo8(-(15000)) |
||
| 3105 | 3114 1cc8 754C sbci r23,hi8(-(15000)) |
||
| 3106 | 3115 1cca 8F4F sbci r24,hlo8(-(15000)) |
||
| 3107 | 3116 1ccc 9F4F sbci r25,hhi8(-(15000)) |
||
| 3108 | 3117 1cce 6093 0000 sts TurnOver180Nick,r22 |
||
| 3109 | 3118 1cd2 7093 0000 sts (TurnOver180Nick)+1,r23 |
||
| 3110 | 3119 1cd6 8093 0000 sts (TurnOver180Nick)+2,r24 |
||
| 3111 | 3120 1cda 9093 0000 sts (TurnOver180Nick)+3,r25 |
||
| 3112 | 3121 1cde 6091 0000 lds r22,ParamSet+55 |
||
| 3113 | 3122 1ce2 70E0 ldi r23,lo8(0) |
||
| 3114 | 3123 1ce4 80E0 ldi r24,lo8(0) |
||
| 3115 | 3124 1ce6 90E0 ldi r25,hi8(0) |
||
| 3116 | 3125 1ce8 0E94 0000 call __mulsi3 |
||
| 3117 | 3126 1cec 6856 subi r22,lo8(-(15000)) |
||
| 3118 | 3127 1cee 754C sbci r23,hi8(-(15000)) |
||
| 3119 | 3128 1cf0 8F4F sbci r24,hlo8(-(15000)) |
||
| 3120 | 3129 1cf2 9F4F sbci r25,hhi8(-(15000)) |
||
| 3121 | 3130 1cf4 6093 0000 sts TurnOver180Roll,r22 |
||
| 3122 | 3131 1cf8 7093 0000 sts (TurnOver180Roll)+1,r23 |
||
| 3123 | 3132 1cfc 8093 0000 sts (TurnOver180Roll)+2,r24 |
||
| 3124 | 3133 1d00 9093 0000 sts (TurnOver180Roll)+3,r25 |
||
| 3125 | 3134 1d04 1092 0000 sts (ExternHeightValue)+1,__zero_reg__ |
||
| 3126 | 3135 1d08 1092 0000 sts ExternHeightValue,__zero_reg__ |
||
| 3127 | 3136 1d0c 1092 0000 sts (GPSStickNick)+1,__zero_reg__ |
||
| 3128 | 3137 1d10 1092 0000 sts GPSStickNick,__zero_reg__ |
||
| 3129 | 3138 1d14 1092 0000 sts (GPSStickRoll)+1,__zero_reg__ |
||
| 3130 | 3139 1d18 1092 0000 sts GPSStickRoll,__zero_reg__ |
||
| 3131 | 3140 1d1c 8091 0000 lds r24,MKFlags |
||
| 3132 | 3141 1d20 8460 ori r24,lo8(4) |
||
| 3133 | 3142 1d22 8093 0000 sts MKFlags,r24 |
||
| 3134 | 3143 1d26 8FEF ldi r24,lo8(-1) |
||
| 3135 | 3144 1d28 8093 0000 sts FCParam+31,r24 |
||
| 3136 | 3145 1d2c 1092 0000 sts FCParam+32,__zero_reg__ |
||
| 3137 | 3146 1d30 80E2 ldi r24,lo8(32) |
||
| 3138 | 3147 1d32 8093 0000 sts FCParam+33,r24 |
||
| 3139 | 3148 1d36 E091 0000 lds r30,ParamSet+4 |
||
| 3140 | 3149 1d3a F0E0 ldi r31,lo8(0) |
||
| 3141 | 3150 1d3c EE0F lsl r30 |
||
| 3142 | 3151 1d3e FF1F rol r31 |
||
| 3143 | 3152 1d40 E050 subi r30,lo8(-(PPM_in)) |
||
| 3144 | 3153 1d42 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3145 | 3154 1d44 8081 ld r24,Z |
||
| 3146 | 3155 1d46 9181 ldd r25,Z+1 |
||
| 3147 | 3156 1d48 8259 subi r24,lo8(-(110)) |
||
| 3148 | 3157 1d4a 9F4F sbci r25,hi8(-(110)) |
||
| 3149 | 3158 1d4c 9093 0000 sts (Poti1)+1,r25 |
||
| 3150 | 3159 1d50 8093 0000 sts Poti1,r24 |
||
| 3151 | 3160 1d54 E091 0000 lds r30,ParamSet+5 |
||
| 3152 | 3161 1d58 F0E0 ldi r31,lo8(0) |
||
| 3153 | 3162 1d5a EE0F lsl r30 |
||
| 3154 | 3163 1d5c FF1F rol r31 |
||
| 3155 | 3164 1d5e E050 subi r30,lo8(-(PPM_in)) |
||
| 3156 | 3165 1d60 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3157 | 3166 1d62 8081 ld r24,Z |
||
| 3158 | 3167 1d64 9181 ldd r25,Z+1 |
||
| 3159 | 3168 1d66 8259 subi r24,lo8(-(110)) |
||
| 3160 | 3169 1d68 9F4F sbci r25,hi8(-(110)) |
||
| 3161 | 3170 1d6a 9093 0000 sts (Poti2)+1,r25 |
||
| 3162 | 3171 1d6e 8093 0000 sts Poti2,r24 |
||
| 3163 | 3172 1d72 E091 0000 lds r30,ParamSet+6 |
||
| 3164 | 3173 1d76 F0E0 ldi r31,lo8(0) |
||
| 3165 | 3174 1d78 EE0F lsl r30 |
||
| 3166 | 3175 1d7a FF1F rol r31 |
||
| 3167 | 3176 1d7c E050 subi r30,lo8(-(PPM_in)) |
||
| 3168 | 3177 1d7e F040 sbci r31,hi8(-(PPM_in)) |
||
| 3169 | 3178 1d80 8081 ld r24,Z |
||
| 3170 | 3179 1d82 9181 ldd r25,Z+1 |
||
| 3171 | 3180 1d84 8259 subi r24,lo8(-(110)) |
||
| 3172 | 3181 1d86 9F4F sbci r25,hi8(-(110)) |
||
| 3173 | 3182 1d88 9093 0000 sts (Poti3)+1,r25 |
||
| 3174 | 3183 1d8c 8093 0000 sts Poti3,r24 |
||
| 3175 | 3184 1d90 E091 0000 lds r30,ParamSet+7 |
||
| 3176 | 3185 1d94 F0E0 ldi r31,lo8(0) |
||
| 3177 | 3186 1d96 EE0F lsl r30 |
||
| 3178 | 3187 1d98 FF1F rol r31 |
||
| 3179 | 3188 1d9a E050 subi r30,lo8(-(PPM_in)) |
||
| 3180 | 3189 1d9c F040 sbci r31,hi8(-(PPM_in)) |
||
| 3181 | 3190 1d9e 8081 ld r24,Z |
||
| 3182 | 3191 1da0 9181 ldd r25,Z+1 |
||
| 3183 | 3192 1da2 8259 subi r24,lo8(-(110)) |
||
| 3184 | 3193 1da4 9F4F sbci r25,hi8(-(110)) |
||
| 3185 | 3194 1da6 9093 0000 sts (Poti4)+1,r25 |
||
| 3186 | 3195 1daa 8093 0000 sts Poti4,r24 |
||
| 3187 | 3196 1dae 84E6 ldi r24,lo8(100) |
||
| 3188 | 3197 1db0 8093 0000 sts RC_Quality,r24 |
||
| 3189 | 3198 /* epilogue start */ |
||
| 3190 | 3199 1db4 1F91 pop r17 |
||
| 3191 | 3200 1db6 0F91 pop r16 |
||
| 3192 | 3201 1db8 FF90 pop r15 |
||
| 3193 | 3202 1dba EF90 pop r14 |
||
| 3194 | 3203 1dbc DF90 pop r13 |
||
| 3195 | 3204 1dbe CF90 pop r12 |
||
| 3196 | 3205 1dc0 BF90 pop r11 |
||
| 3197 | 3206 1dc2 AF90 pop r10 |
||
| 3198 | 3207 1dc4 9F90 pop r9 |
||
| 3199 | 3208 1dc6 8F90 pop r8 |
||
| 3200 | 3209 1dc8 7F90 pop r7 |
||
| 3201 | 3210 1dca 6F90 pop r6 |
||
| 3202 | 3211 1dcc 5F90 pop r5 |
||
| 3203 | 3212 1dce 4F90 pop r4 |
||
| 3204 | 3213 1dd0 3F90 pop r3 |
||
| 3205 | 3214 1dd2 2F90 pop r2 |
||
| 3206 | 3215 1dd4 0895 ret |
||
| 3207 | 3216 .L371: |
||
| 3208 | 3217 1dd6 0E94 0000 call SearchAirPressureOffset |
||
| 3209 | 3218 1dda 00C0 rjmp .L370 |
||
| 3210 | 3219 .L373: |
||
| 3211 | 3220 1ddc 84E0 ldi r24,lo8(4) |
||
| 3212 | 3221 1dde 90E0 ldi r25,hi8(4) |
||
| 3213 | 3222 1de0 0E94 0000 call GetParamWord |
||
| 3214 | 3223 1de4 9093 0000 sts (AdBiasAccNick)+1,r25 |
||
| 3215 | 3224 1de8 8093 0000 sts AdBiasAccNick,r24 |
||
| 3216 | 3225 1dec 86E0 ldi r24,lo8(6) |
||
| 3217 | 3226 1dee 90E0 ldi r25,hi8(6) |
||
| 3218 | 3227 1df0 0E94 0000 call GetParamWord |
||
| 3219 | 3228 1df4 9093 0000 sts (AdBiasAccRoll)+1,r25 |
||
| 3220 | 3229 1df8 8093 0000 sts AdBiasAccRoll,r24 |
||
| 3221 | 3230 1dfc 88E0 ldi r24,lo8(8) |
||
| 3222 | 3231 1dfe 90E0 ldi r25,hi8(8) |
||
| 3223 | 3232 1e00 0E94 0000 call GetParamWord |
||
| 3224 | 3233 1e04 AA27 clr r26 |
||
| 3225 | 3234 1e06 97FD sbrc r25,7 |
||
| 3226 | 3235 1e08 A095 com r26 |
||
| 3227 | 3236 1e0a BA2F mov r27,r26 |
||
| 3228 | 3237 1e0c BC01 movw r22,r24 |
||
| 3229 | 3238 1e0e CD01 movw r24,r26 |
||
| 3230 | 3239 1e10 0E94 0000 call __floatsisf |
||
| 3231 | 3240 1e14 6093 0000 sts AdBiasAccTop,r22 |
||
| 3232 | 3241 1e18 7093 0000 sts (AdBiasAccTop)+1,r23 |
||
| 3233 | 3242 1e1c 8093 0000 sts (AdBiasAccTop)+2,r24 |
||
| 3234 | 3243 1e20 9093 0000 sts (AdBiasAccTop)+3,r25 |
||
| 3235 | 3244 1e24 8091 0000 lds r24,AdBiasAccNick |
||
| 3236 | 3245 1e28 9091 0000 lds r25,(AdBiasAccNick)+1 |
||
| 3237 | 3246 1e2c 8150 subi r24,lo8(2049) |
||
| 3238 | 3247 1e2e 9840 sbci r25,hi8(2049) |
||
| 3239 | 3248 1e30 04F4 brge .L379 |
||
| 3240 | 3249 1e32 8091 0000 lds r24,AdBiasAccRoll |
||
| 3241 | 3250 1e36 9091 0000 lds r25,(AdBiasAccRoll)+1 |
||
| 3242 | 3251 1e3a 8150 subi r24,lo8(2049) |
||
| 3243 | 3252 1e3c 9840 sbci r25,hi8(2049) |
||
| 3244 | 3253 1e3e 04F0 brlt .L388 |
||
| 3245 | 3254 .L379: |
||
| 3246 | 3255 1e40 00D0 rcall . |
||
| 3247 | 3256 1e42 0F92 push __tmp_reg__ |
||
| 3248 | 3257 1e44 EDB7 in r30,__SP_L__ |
||
| 3249 | 3258 1e46 FEB7 in r31,__SP_H__ |
||
| 3250 | 3259 1e48 1182 std Z+1,__zero_reg__ |
||
| 3251 | 3260 1e4a 80E0 ldi r24,lo8(__c.1965) |
||
| 3252 | 3261 1e4c 90E0 ldi r25,hi8(__c.1965) |
||
| 3253 | 3262 1e4e 9383 std Z+3,r25 |
||
| 3254 | 3263 1e50 8283 std Z+2,r24 |
||
| 3255 | 3264 1e52 0E94 0000 call _printf_P |
||
| 3256 | 3265 1e56 80E0 ldi r24,lo8(1024) |
||
| 3257 | 3266 1e58 94E0 ldi r25,hi8(1024) |
||
| 3258 | 3267 1e5a 9093 0000 sts (AdBiasAccNick)+1,r25 |
||
| 3259 | 3268 1e5e 8093 0000 sts AdBiasAccNick,r24 |
||
| 3260 | 3269 1e62 9093 0000 sts (AdBiasAccRoll)+1,r25 |
||
| 3261 | 3270 1e66 8093 0000 sts AdBiasAccRoll,r24 |
||
| 3262 | 3271 1e6a 80E0 ldi r24,lo8(0x44354000) |
||
| 3263 | 3272 1e6c 90E4 ldi r25,hi8(0x44354000) |
||
| 3264 | 3273 1e6e A5E3 ldi r26,hlo8(0x44354000) |
||
| 3265 | 3274 1e70 B4E4 ldi r27,hhi8(0x44354000) |
||
| 3266 | 3275 1e72 8093 0000 sts AdBiasAccTop,r24 |
||
| 3267 | 3276 1e76 9093 0000 sts (AdBiasAccTop)+1,r25 |
||
| 3268 | 3277 1e7a A093 0000 sts (AdBiasAccTop)+2,r26 |
||
| 3269 | 3278 1e7e B093 0000 sts (AdBiasAccTop)+3,r27 |
||
| 3270 | 3279 1e82 0F90 pop __tmp_reg__ |
||
| 3271 | 3280 1e84 0F90 pop __tmp_reg__ |
||
| 3272 | 3281 1e86 0F90 pop __tmp_reg__ |
||
| 3273 | 3282 1e88 00C0 rjmp .L378 |
||
| 3274 | 3283 .L388: |
||
| 3275 | 3284 1e8a 6091 0000 lds r22,AdBiasAccTop |
||
| 3276 | 3285 1e8e 7091 0000 lds r23,(AdBiasAccTop)+1 |
||
| 3277 | 3286 1e92 8091 0000 lds r24,(AdBiasAccTop)+2 |
||
| 3278 | 3287 1e96 9091 0000 lds r25,(AdBiasAccTop)+3 |
||
| 3279 | 3288 1e9a 20E0 ldi r18,lo8(0x44800000) |
||
| 3280 | 3289 1e9c 30E0 ldi r19,hi8(0x44800000) |
||
| 3281 | 3290 1e9e 40E8 ldi r20,hlo8(0x44800000) |
||
| 3282 | 3291 1ea0 54E4 ldi r21,hhi8(0x44800000) |
||
| 3283 | 3292 1ea2 0E94 0000 call __gtsf2 |
||
| 3284 | 3293 1ea6 1816 cp __zero_reg__,r24 |
||
| 3285 | 3294 1ea8 04F0 brlt .L379 |
||
| 3286 | 3295 1eaa 00C0 rjmp .L378 |
||
| 3287 | 3296 .L384: |
||
| 3288 | 3297 1eac 0E94 0000 call SearchDacGyroOffset |
||
| 3289 | 3298 1eb0 00C0 rjmp .L369 |
||
| 3290 | 3299 .L385: |
||
| 3291 | 3300 1eb2 9095 com r25 |
||
| 3292 | 3301 1eb4 8195 neg r24 |
||
| 3293 | 3302 1eb6 9F4F sbci r25,lo8(-1) |
||
| 3294 | 3303 1eb8 00C0 rjmp .L375 |
||
| 3295 | 3304 .L386: |
||
| 3296 | 3305 1eba 9095 com r25 |
||
| 3297 | 3306 1ebc 8195 neg r24 |
||
| 3298 | 3307 1ebe 9F4F sbci r25,lo8(-1) |
||
| 3299 | 3308 1ec0 00C0 rjmp .L376 |
||
| 3300 | 3309 .L387: |
||
| 3301 | 3310 1ec2 9095 com r25 |
||
| 3302 | 3311 1ec4 8195 neg r24 |
||
| 3303 | 3312 1ec6 9F4F sbci r25,lo8(-1) |
||
| 3304 | 3313 1ec8 00C0 rjmp .L377 |
||
| 3305 | 3315 .global Beep |
||
| 3306 | 3317 Beep: |
||
| 3307 | 3318 1eca EF92 push r14 |
||
| 3308 | 3319 1ecc FF92 push r15 |
||
| 3309 | 3320 1ece 1F93 push r17 |
||
| 3310 | 3321 1ed0 CF93 push r28 |
||
| 3311 | 3322 1ed2 DF93 push r29 |
||
| 3312 | 3323 /* prologue: function */ |
||
| 3313 | 3324 /* frame size = 0 */ |
||
| 3314 | 3325 1ed4 182F mov r17,r24 |
||
| 3315 | 3326 1ed6 7B01 movw r14,r22 |
||
| 3316 | 3327 1ed8 8091 0000 lds r24,MKFlags |
||
| 3317 | 3328 1edc 80FD sbrc r24,0 |
||
| 3318 | 3329 1ede 00C0 rjmp .L392 |
||
| 3319 | 3330 1ee0 1123 tst r17 |
||
| 3320 | 3331 1ee2 01F0 breq .L392 |
||
| 3321 | 3332 1ee4 EB01 movw r28,r22 |
||
| 3322 | 3333 1ee6 CC0F lsl r28 |
||
| 3323 | 3334 1ee8 DD1F rol r29 |
||
| 3324 | 3335 .L391: |
||
| 3325 | 3336 1eea F092 0000 sts (BeepTime)+1,r15 |
||
| 3326 | 3337 1eee E092 0000 sts BeepTime,r14 |
||
| 3327 | 3338 1ef2 CE01 movw r24,r28 |
||
| 3328 | 3339 1ef4 0E94 0000 call Delay_ms |
||
| 3329 | 3340 1ef8 1150 subi r17,lo8(-(-1)) |
||
| 3330 | 3341 1efa 01F4 brne .L391 |
||
| 3331 | 3342 .L392: |
||
| 3332 | 3343 /* epilogue start */ |
||
| 3333 | 3344 1efc DF91 pop r29 |
||
| 3334 | 3345 1efe CF91 pop r28 |
||
| 3335 | 3346 1f00 1F91 pop r17 |
||
| 3336 | 3347 1f02 FF90 pop r15 |
||
| 3337 | 3348 1f04 EF90 pop r14 |
||
| 3338 | 3349 1f06 0895 ret |
||
| 3339 | 3351 .global SetCompassCalState |
||
| 3340 | 3353 SetCompassCalState: |
||
| 3341 | 3354 /* prologue: function */ |
||
| 3342 | 3355 /* frame size = 0 */ |
||
| 3343 | 3356 1f08 8091 0000 lds r24,ParamSet |
||
| 3344 | 3357 1f0c A82F mov r26,r24 |
||
| 3345 | 3358 1f0e B0E0 ldi r27,lo8(0) |
||
| 3346 | 3359 1f10 AA0F lsl r26 |
||
| 3347 | 3360 1f12 BB1F rol r27 |
||
| 3348 | 3361 1f14 FD01 movw r30,r26 |
||
| 3349 | 3362 1f16 E050 subi r30,lo8(-(PPM_in)) |
||
| 3350 | 3363 1f18 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3351 | 3364 1f1a 8081 ld r24,Z |
||
| 3352 | 3365 1f1c 9181 ldd r25,Z+1 |
||
| 3353 | 3366 1f1e 8D5E subi r24,lo8(-19) |
||
| 3354 | 3367 1f20 9F4F sbci r25,hi8(-19) |
||
| 3355 | 3368 1f22 04F0 brlt .L395 |
||
| 3356 | 3369 1f24 1092 0000 sts stick.2382,__zero_reg__ |
||
| 3357 | 3370 .L395: |
||
| 3358 | 3371 1f28 A050 subi r26,lo8(-(PPM_in)) |
||
| 3359 | 3372 1f2a B040 sbci r27,hi8(-(PPM_in)) |
||
| 3360 | 3373 1f2c 8D91 ld r24,X+ |
||
| 3361 | 3374 1f2e 9C91 ld r25,X |
||
| 3362 | 3375 1f30 8A5B subi r24,lo8(-70) |
||
| 3363 | 3376 1f32 9F4F sbci r25,hi8(-70) |
||
| 3364 | 3377 1f34 04F4 brge .L398 |
||
| 3365 | 3378 1f36 8091 0000 lds r24,stick.2382 |
||
| 3366 | 3379 1f3a 8823 tst r24 |
||
| 3367 | 3380 1f3c 01F4 brne .L398 |
||
| 3368 | 3381 1f3e 81E0 ldi r24,lo8(1) |
||
| 3369 | 3382 1f40 8093 0000 sts stick.2382,r24 |
||
| 3370 | 3383 1f44 8091 0000 lds r24,CompassCalState |
||
| 3371 | 3384 1f48 8F5F subi r24,lo8(-(1)) |
||
| 3372 | 3385 1f4a 8093 0000 sts CompassCalState,r24 |
||
| 3373 | 3386 1f4e 8530 cpi r24,lo8(5) |
||
| 3374 | 3387 1f50 00F0 brlo .L399 |
||
| 3375 | 3388 1f52 88EE ldi r24,lo8(1000) |
||
| 3376 | 3389 1f54 93E0 ldi r25,hi8(1000) |
||
| 3377 | 3390 1f56 9093 0000 sts (BeepTime)+1,r25 |
||
| 3378 | 3391 1f5a 8093 0000 sts BeepTime,r24 |
||
| 3379 | 3392 .L398: |
||
| 3380 | 3393 1f5e 0895 ret |
||
| 3381 | 3394 .L399: |
||
| 3382 | 3395 1f60 66E9 ldi r22,lo8(150) |
||
| 3383 | 3396 1f62 70E0 ldi r23,hi8(150) |
||
| 3384 | 3397 1f64 0E94 0000 call Beep |
||
| 3385 | 3398 1f68 0895 ret |
||
| 3386 | 3400 .global MotorControl |
||
| 3387 | 3402 MotorControl: |
||
| 3388 | 3403 1f6a 2F92 push r2 |
||
| 3389 | 3404 1f6c 3F92 push r3 |
||
| 3390 | 3405 1f6e 4F92 push r4 |
||
| 3391 | 3406 1f70 5F92 push r5 |
||
| 3392 | 3407 1f72 6F92 push r6 |
||
| 3393 | 3408 1f74 7F92 push r7 |
||
| 3394 | 3409 1f76 8F92 push r8 |
||
| 3395 | 3410 1f78 9F92 push r9 |
||
| 3396 | 3411 1f7a AF92 push r10 |
||
| 3397 | 3412 1f7c BF92 push r11 |
||
| 3398 | 3413 1f7e CF92 push r12 |
||
| 3399 | 3414 1f80 DF92 push r13 |
||
| 3400 | 3415 1f82 EF92 push r14 |
||
| 3401 | 3416 1f84 FF92 push r15 |
||
| 3402 | 3417 1f86 0F93 push r16 |
||
| 3403 | 3418 1f88 1F93 push r17 |
||
| 3404 | 3419 1f8a DF93 push r29 |
||
| 3405 | 3420 1f8c CF93 push r28 |
||
| 3406 | 3421 1f8e CDB7 in r28,__SP_L__ |
||
| 3407 | 3422 1f90 DEB7 in r29,__SP_H__ |
||
| 3408 | 3423 1f92 E997 sbiw r28,57 |
||
| 3409 | 3424 1f94 0FB6 in __tmp_reg__,__SREG__ |
||
| 3410 | 3425 1f96 F894 cli |
||
| 3411 | 3426 1f98 DEBF out __SP_H__,r29 |
||
| 3412 | 3427 1f9a 0FBE out __SREG__,__tmp_reg__ |
||
| 3413 | 3428 1f9c CDBF out __SP_L__,r28 |
||
| 3414 | 3429 /* prologue: function */ |
||
| 3415 | 3430 /* frame size = 57 */ |
||
| 3416 | 3431 1f9e 0E94 0000 call Mean |
||
| 3417 | 3432 1fa2 D090 0000 lds r13,BoardRelease |
||
| 3418 | 3433 1fa6 BBE0 ldi r27,lo8(11) |
||
| 3419 | 3434 1fa8 AB2E mov r10,r27 |
||
| 3420 | 3435 1faa AD14 cp r10,r13 |
||
| 3421 | 3436 1fac 00F4 brsh .+2 |
||
| 3422 | 3437 1fae 00C0 rjmp .L401 |
||
| 3423 | 3438 1fb0 299A sbi 37-32,1 |
||
| 3424 | 3439 1fb2 8091 0000 lds r24,RC_Quality |
||
| 3425 | 3440 1fb6 8436 cpi r24,lo8(100) |
||
| 3426 | 3441 1fb8 00F0 brlo .+2 |
||
| 3427 | 3442 1fba 00C0 rjmp .L403 |
||
| 3428 | 3443 .L767: |
||
| 3429 | 3444 1fbc 8091 0000 lds r24,RcLostTimer.2415 |
||
| 3430 | 3445 1fc0 9091 0000 lds r25,(RcLostTimer.2415)+1 |
||
| 3431 | 3446 1fc4 0097 sbiw r24,0 |
||
| 3432 | 3447 1fc6 01F0 breq .+4 |
||
| 3433 | 3448 1fc8 0C94 0000 jmp .L732 |
||
| 3434 | 3449 1fcc 8091 0000 lds r24,MKFlags |
||
| 3435 | 3450 1fd0 8E7E andi r24,lo8(-18) |
||
| 3436 | 3451 1fd2 8093 0000 sts MKFlags,r24 |
||
| 3437 | 3452 1fd6 AAE0 ldi r26,lo8(10) |
||
| 3438 | 3453 1fd8 BA2E mov r11,r26 |
||
| 3439 | 3454 1fda DB14 cp r13,r11 |
||
| 3440 | 3455 1fdc 01F4 brne .+4 |
||
| 3441 | 3456 1fde 0C94 0000 jmp .L406 |
||
| 3442 | 3457 .L791: |
||
| 3443 | 3458 1fe2 F4E1 ldi r31,lo8(20) |
||
| 3444 | 3459 1fe4 CF2E mov r12,r31 |
||
| 3445 | 3460 1fe6 DC14 cp r13,r12 |
||
| 3446 | 3461 1fe8 01F4 brne .+4 |
||
| 3447 | 3462 1fea 0C94 0000 jmp .L406 |
||
| 3448 | 3463 1fee 2898 cbi 37-32,0 |
||
| 3449 | 3464 .L408: |
||
| 3450 | 3465 1ff0 8091 0000 lds r24,ModelIsFlying |
||
| 3451 | 3466 1ff4 9091 0000 lds r25,(ModelIsFlying)+1 |
||
| 3452 | 3467 1ff8 895E subi r24,lo8(1001) |
||
| 3453 | 3468 1ffa 9340 sbci r25,hi8(1001) |
||
| 3454 | 3469 1ffc 00F4 brsh .+4 |
||
| 3455 | 3470 1ffe 0C94 0000 jmp .L727 |
||
| 3456 | 3471 2002 8091 0000 lds r24,MKFlags |
||
| 3457 | 3472 2006 8061 ori r24,lo8(16) |
||
| 3458 | 3473 2008 8093 0000 sts MKFlags,r24 |
||
| 3459 | 3474 200c E091 0000 lds r30,ParamSet |
||
| 3460 | 3475 2010 2E2F mov r18,r30 |
||
| 3461 | 3476 2012 30E0 ldi r19,lo8(0) |
||
| 3462 | 3477 2014 220F lsl r18 |
||
| 3463 | 3478 2016 331F rol r19 |
||
| 3464 | 3479 2018 F901 movw r30,r18 |
||
| 3465 | 3480 201a E050 subi r30,lo8(-(PPM_diff)) |
||
| 3466 | 3481 201c F040 sbci r31,hi8(-(PPM_diff)) |
||
| 3467 | 3482 201e 1182 std Z+1,__zero_reg__ |
||
| 3468 | 3483 2020 1082 st Z,__zero_reg__ |
||
| 3469 | 3484 2022 A091 0000 lds r26,ParamSet+1 |
||
| 3470 | 3485 2026 B0E0 ldi r27,lo8(0) |
||
| 3471 | 3486 2028 AA0F lsl r26 |
||
| 3472 | 3487 202a BB1F rol r27 |
||
| 3473 | 3488 202c FD01 movw r30,r26 |
||
| 3474 | 3489 202e E050 subi r30,lo8(-(PPM_diff)) |
||
| 3475 | 3490 2030 F040 sbci r31,hi8(-(PPM_diff)) |
||
| 3476 | 3491 2032 1182 std Z+1,__zero_reg__ |
||
| 3477 | 3492 2034 1082 st Z,__zero_reg__ |
||
| 3478 | 3493 2036 E091 0000 lds r30,ParamSet+3 |
||
| 3479 | 3494 203a 4E2F mov r20,r30 |
||
| 3480 | 3495 203c 50E0 ldi r21,lo8(0) |
||
| 3481 | 3496 203e 440F lsl r20 |
||
| 3482 | 3497 2040 551F rol r21 |
||
| 3483 | 3498 2042 CA01 movw r24,r20 |
||
| 3484 | 3499 2044 8050 subi r24,lo8(-(PPM_diff)) |
||
| 3485 | 3500 2046 9040 sbci r25,hi8(-(PPM_diff)) |
||
| 3486 | 3501 2048 FC01 movw r30,r24 |
||
| 3487 | 3502 204a 1182 std Z+1,__zero_reg__ |
||
| 3488 | 3503 204c 1082 st Z,__zero_reg__ |
||
| 3489 | 3504 204e 2050 subi r18,lo8(-(PPM_in)) |
||
| 3490 | 3505 2050 3040 sbci r19,hi8(-(PPM_in)) |
||
| 3491 | 3506 2052 F901 movw r30,r18 |
||
| 3492 | 3507 2054 1182 std Z+1,__zero_reg__ |
||
| 3493 | 3508 2056 1082 st Z,__zero_reg__ |
||
| 3494 | 3509 2058 A050 subi r26,lo8(-(PPM_in)) |
||
| 3495 | 3510 205a B040 sbci r27,hi8(-(PPM_in)) |
||
| 3496 | 3511 205c 1196 adiw r26,1 |
||
| 3497 | 3512 205e 1C92 st X,__zero_reg__ |
||
| 3498 | 3513 2060 1E92 st -X,__zero_reg__ |
||
| 3499 | 3514 2062 4050 subi r20,lo8(-(PPM_in)) |
||
| 3500 | 3515 2064 5040 sbci r21,hi8(-(PPM_in)) |
||
| 3501 | 3516 2066 DA01 movw r26,r20 |
||
| 3502 | 3517 2068 1196 adiw r26,1 |
||
| 3503 | 3518 206a 1C92 st X,__zero_reg__ |
||
| 3504 | 3519 206c 1E92 st -X,__zero_reg__ |
||
| 3505 | 3520 .L410: |
||
| 3506 | 3521 206e 8091 0000 lds r24,NewPpmData |
||
| 3507 | 3522 2072 8150 subi r24,lo8(-(-1)) |
||
| 3508 | 3523 2074 8093 0000 sts NewPpmData,r24 |
||
| 3509 | 3524 2078 8F5F subi r24,lo8(-(1)) |
||
| 3510 | 3525 207a 01F0 breq .L471 |
||
| 3511 | 3526 207c 8091 0000 lds r24,MKFlags |
||
| 3512 | 3527 2080 84FF sbrs r24,4 |
||
| 3513 | 3528 2082 00C0 rjmp .L472 |
||
| 3514 | 3529 .L471: |
||
| 3515 | 3530 2084 0E94 0000 call ParameterMapping |
||
| 3516 | 3531 2088 E091 0000 lds r30,ParamSet |
||
| 3517 | 3532 208c F0E0 ldi r31,lo8(0) |
||
| 3518 | 3533 208e EE0F lsl r30 |
||
| 3519 | 3534 2090 FF1F rol r31 |
||
| 3520 | 3535 2092 E050 subi r30,lo8(-(PPM_in)) |
||
| 3521 | 3536 2094 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3522 | 3537 2096 2081 ld r18,Z |
||
| 3523 | 3538 2098 3181 ldd r19,Z+1 |
||
| 3524 | 3539 209a 8091 0000 lds r24,ParamSet+18 |
||
| 3525 | 3540 209e 90E0 ldi r25,lo8(0) |
||
| 3526 | 3541 20a0 289F mul r18,r24 |
||
| 3527 | 3542 20a2 A001 movw r20,r0 |
||
| 3528 | 3543 20a4 299F mul r18,r25 |
||
| 3529 | 3544 20a6 500D add r21,r0 |
||
| 3530 | 3545 20a8 389F mul r19,r24 |
||
| 3531 | 3546 20aa 500D add r21,r0 |
||
| 3532 | 3547 20ac 1124 clr r1 |
||
| 3533 | 3548 20ae 2091 0000 lds r18,stick_nick.2424 |
||
| 3534 | 3549 20b2 3091 0000 lds r19,(stick_nick.2424)+1 |
||
| 3535 | 3550 20b6 C901 movw r24,r18 |
||
| 3536 | 3551 20b8 880F lsl r24 |
||
| 3537 | 3552 20ba 991F rol r25 |
||
| 3538 | 3553 20bc 820F add r24,r18 |
||
| 3539 | 3554 20be 931F adc r25,r19 |
||
| 3540 | 3555 20c0 480F add r20,r24 |
||
| 3541 | 3556 20c2 591F adc r21,r25 |
||
| 3542 | 3557 20c4 57FF sbrs r21,7 |
||
| 3543 | 3558 20c6 00C0 rjmp .+4 |
||
| 3544 | 3559 20c8 0C94 0000 jmp .L733 |
||
| 3545 | 3560 .L473: |
||
| 3546 | 3561 20cc 5595 asr r21 |
||
| 3547 | 3562 20ce 4795 ror r20 |
||
| 3548 | 3563 20d0 5595 asr r21 |
||
| 3549 | 3564 20d2 4795 ror r20 |
||
| 3550 | 3565 20d4 5093 0000 sts (stick_nick.2424)+1,r21 |
||
| 3551 | 3566 20d8 4093 0000 sts stick_nick.2424,r20 |
||
| 3552 | 3567 20dc E091 0000 lds r30,ParamSet |
||
| 3553 | 3568 20e0 F0E0 ldi r31,lo8(0) |
||
| 3554 | 3569 20e2 EE0F lsl r30 |
||
| 3555 | 3570 20e4 FF1F rol r31 |
||
| 3556 | 3571 20e6 E050 subi r30,lo8(-(PPM_diff)) |
||
| 3557 | 3572 20e8 F040 sbci r31,hi8(-(PPM_diff)) |
||
| 3558 | 3573 20ea 2081 ld r18,Z |
||
| 3559 | 3574 20ec 3181 ldd r19,Z+1 |
||
| 3560 | 3575 20ee 8091 0000 lds r24,ParamSet+19 |
||
| 3561 | 3576 20f2 90E0 ldi r25,lo8(0) |
||
| 3562 | 3577 20f4 BC01 movw r22,r24 |
||
| 3563 | 3578 20f6 269F mul r18,r22 |
||
| 3564 | 3579 20f8 C001 movw r24,r0 |
||
| 3565 | 3580 20fa 279F mul r18,r23 |
||
| 3566 | 3581 20fc 900D add r25,r0 |
||
| 3567 | 3582 20fe 369F mul r19,r22 |
||
| 3568 | 3583 2100 900D add r25,r0 |
||
| 3569 | 3584 2102 1124 clr r1 |
||
| 3570 | 3585 2104 840F add r24,r20 |
||
| 3571 | 3586 2106 951F adc r25,r21 |
||
| 3572 | 3587 2108 9093 0000 sts (stick_nick.2424)+1,r25 |
||
| 3573 | 3588 210c 8093 0000 sts stick_nick.2424,r24 |
||
| 3574 | 3589 2110 2091 0000 lds r18,GPSStickNick |
||
| 3575 | 3590 2114 3091 0000 lds r19,(GPSStickNick)+1 |
||
| 3576 | 3591 2118 821B sub r24,r18 |
||
| 3577 | 3592 211a 930B sbc r25,r19 |
||
| 3578 | 3593 211c 9093 0000 sts (StickNick)+1,r25 |
||
| 3579 | 3594 2120 8093 0000 sts StickNick,r24 |
||
| 3580 | 3595 2124 E091 0000 lds r30,ParamSet+1 |
||
| 3581 | 3596 2128 F0E0 ldi r31,lo8(0) |
||
| 3582 | 3597 212a EE0F lsl r30 |
||
| 3583 | 3598 212c FF1F rol r31 |
||
| 3584 | 3599 212e E050 subi r30,lo8(-(PPM_in)) |
||
| 3585 | 3600 2130 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3586 | 3601 2132 2081 ld r18,Z |
||
| 3587 | 3602 2134 3181 ldd r19,Z+1 |
||
| 3588 | 3603 2136 8091 0000 lds r24,ParamSet+18 |
||
| 3589 | 3604 213a 90E0 ldi r25,lo8(0) |
||
| 3590 | 3605 213c 289F mul r18,r24 |
||
| 3591 | 3606 213e A001 movw r20,r0 |
||
| 3592 | 3607 2140 299F mul r18,r25 |
||
| 3593 | 3608 2142 500D add r21,r0 |
||
| 3594 | 3609 2144 389F mul r19,r24 |
||
| 3595 | 3610 2146 500D add r21,r0 |
||
| 3596 | 3611 2148 1124 clr r1 |
||
| 3597 | 3612 214a 2091 0000 lds r18,stick_roll.2425 |
||
| 3598 | 3613 214e 3091 0000 lds r19,(stick_roll.2425)+1 |
||
| 3599 | 3614 2152 C901 movw r24,r18 |
||
| 3600 | 3615 2154 880F lsl r24 |
||
| 3601 | 3616 2156 991F rol r25 |
||
| 3602 | 3617 2158 820F add r24,r18 |
||
| 3603 | 3618 215a 931F adc r25,r19 |
||
| 3604 | 3619 215c 480F add r20,r24 |
||
| 3605 | 3620 215e 591F adc r21,r25 |
||
| 3606 | 3621 2160 57FF sbrs r21,7 |
||
| 3607 | 3622 2162 00C0 rjmp .+4 |
||
| 3608 | 3623 2164 0C94 0000 jmp .L734 |
||
| 3609 | 3624 .L474: |
||
| 3610 | 3625 2168 5595 asr r21 |
||
| 3611 | 3626 216a 4795 ror r20 |
||
| 3612 | 3627 216c 5595 asr r21 |
||
| 3613 | 3628 216e 4795 ror r20 |
||
| 3614 | 3629 2170 5093 0000 sts (stick_roll.2425)+1,r21 |
||
| 3615 | 3630 2174 4093 0000 sts stick_roll.2425,r20 |
||
| 3616 | 3631 2178 E091 0000 lds r30,ParamSet+1 |
||
| 3617 | 3632 217c F0E0 ldi r31,lo8(0) |
||
| 3618 | 3633 217e EE0F lsl r30 |
||
| 3619 | 3634 2180 FF1F rol r31 |
||
| 3620 | 3635 2182 E050 subi r30,lo8(-(PPM_diff)) |
||
| 3621 | 3636 2184 F040 sbci r31,hi8(-(PPM_diff)) |
||
| 3622 | 3637 2186 2081 ld r18,Z |
||
| 3623 | 3638 2188 3181 ldd r19,Z+1 |
||
| 3624 | 3639 218a 8091 0000 lds r24,ParamSet+19 |
||
| 3625 | 3640 218e 90E0 ldi r25,lo8(0) |
||
| 3626 | 3641 2190 DC01 movw r26,r24 |
||
| 3627 | 3642 2192 2A9F mul r18,r26 |
||
| 3628 | 3643 2194 C001 movw r24,r0 |
||
| 3629 | 3644 2196 2B9F mul r18,r27 |
||
| 3630 | 3645 2198 900D add r25,r0 |
||
| 3631 | 3646 219a 3A9F mul r19,r26 |
||
| 3632 | 3647 219c 900D add r25,r0 |
||
| 3633 | 3648 219e 1124 clr r1 |
||
| 3634 | 3649 21a0 840F add r24,r20 |
||
| 3635 | 3650 21a2 951F adc r25,r21 |
||
| 3636 | 3651 21a4 9093 0000 sts (stick_roll.2425)+1,r25 |
||
| 3637 | 3652 21a8 8093 0000 sts stick_roll.2425,r24 |
||
| 3638 | 3653 21ac 2091 0000 lds r18,GPSStickRoll |
||
| 3639 | 3654 21b0 3091 0000 lds r19,(GPSStickRoll)+1 |
||
| 3640 | 3655 21b4 821B sub r24,r18 |
||
| 3641 | 3656 21b6 930B sbc r25,r19 |
||
| 3642 | 3657 21b8 9093 0000 sts (StickRoll)+1,r25 |
||
| 3643 | 3658 21bc 8093 0000 sts StickRoll,r24 |
||
| 3644 | 3659 21c0 E091 0000 lds r30,ParamSet+3 |
||
| 3645 | 3660 21c4 F0E0 ldi r31,lo8(0) |
||
| 3646 | 3661 21c6 EE0F lsl r30 |
||
| 3647 | 3662 21c8 FF1F rol r31 |
||
| 3648 | 3663 21ca E050 subi r30,lo8(-(PPM_in)) |
||
| 3649 | 3664 21cc F040 sbci r31,hi8(-(PPM_in)) |
||
| 3650 | 3665 21ce 8081 ld r24,Z |
||
| 3651 | 3666 21d0 9181 ldd r25,Z+1 |
||
| 3652 | 3667 21d2 2227 clr r18 |
||
| 3653 | 3668 21d4 3327 clr r19 |
||
| 3654 | 3669 21d6 281B sub r18,r24 |
||
| 3655 | 3670 21d8 390B sbc r19,r25 |
||
| 3656 | 3671 21da 3093 0000 sts (StickYaw)+1,r19 |
||
| 3657 | 3672 21de 2093 0000 sts StickYaw,r18 |
||
| 3658 | 3673 21e2 8091 0000 lds r24,ParamSet+8 |
||
| 3659 | 3674 21e6 8872 andi r24,lo8(40) |
||
| 3660 | 3675 21e8 01F0 breq .L475 |
||
| 3661 | 3676 21ea 2330 cpi r18,3 |
||
| 3662 | 3677 21ec 3105 cpc r19,__zero_reg__ |
||
| 3663 | 3678 21ee 04F0 brlt .+4 |
||
| 3664 | 3679 21f0 0C94 0000 jmp .L735 |
||
| 3665 | 3680 21f4 BFEF ldi r27,hi8(-2) |
||
| 3666 | 3681 21f6 2E3F cpi r18,lo8(-2) |
||
| 3667 | 3682 21f8 3B07 cpc r19,r27 |
||
| 3668 | 3683 21fa 04F0 brlt .+4 |
||
| 3669 | 3684 21fc 0C94 0000 jmp .L477 |
||
| 3670 | 3685 2200 2E5F subi r18,lo8(-(2)) |
||
| 3671 | 3686 2202 3F4F sbci r19,hi8(-(2)) |
||
| 3672 | 3687 2204 3093 0000 sts (StickYaw)+1,r19 |
||
| 3673 | 3688 2208 2093 0000 sts StickYaw,r18 |
||
| 3674 | 3689 .L475: |
||
| 3675 | 3690 220c E091 0000 lds r30,ParamSet+2 |
||
| 3676 | 3691 2210 F0E0 ldi r31,lo8(0) |
||
| 3677 | 3692 2212 EE0F lsl r30 |
||
| 3678 | 3693 2214 FF1F rol r31 |
||
| 3679 | 3694 2216 E050 subi r30,lo8(-(PPM_in)) |
||
| 3680 | 3695 2218 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3681 | 3696 221a 0190 ld __tmp_reg__,Z+ |
||
| 3682 | 3697 221c F081 ld r31,Z |
||
| 3683 | 3698 221e E02D mov r30,__tmp_reg__ |
||
| 3684 | 3699 2220 E858 subi r30,lo8(-(120)) |
||
| 3685 | 3700 2222 FF4F sbci r31,hi8(-(120)) |
||
| 3686 | 3701 2224 F093 0000 sts (StickGas)+1,r31 |
||
| 3687 | 3702 2228 E093 0000 sts StickGas,r30 |
||
| 3688 | 3703 222c 8091 0000 lds r24,FCParam+7 |
||
| 3689 | 3704 2230 865F subi r24,lo8(-(10)) |
||
| 3690 | 3705 2232 8093 0000 sts GyroPFactor,r24 |
||
| 3691 | 3706 2236 8091 0000 lds r24,FCParam+8 |
||
| 3692 | 3707 223a 8093 0000 sts GyroIFactor,r24 |
||
| 3693 | 3708 223e 8091 0000 lds r24,FCParam+9 |
||
| 3694 | 3709 2242 865F subi r24,lo8(-(10)) |
||
| 3695 | 3710 2244 8093 0000 sts GyroYawPFactor,r24 |
||
| 3696 | 3711 2248 8091 0000 lds r24,FCParam+10 |
||
| 3697 | 3712 224c 8093 0000 sts GyroYawIFactor,r24 |
||
| 3698 | 3713 2250 8091 0000 lds r24,ExternControl+10 |
||
| 3699 | 3714 2254 80FF sbrs r24,0 |
||
| 3700 | 3715 2256 00C0 rjmp .L478 |
||
| 3701 | 3716 2258 8091 0000 lds r24,FCParam+28 |
||
| 3702 | 3717 225c 8138 cpi r24,lo8(-127) |
||
| 3703 | 3718 225e 00F4 brsh .+2 |
||
| 3704 | 3719 2260 00C0 rjmp .L478 |
||
| 3705 | 3720 2262 2091 0000 lds r18,ParamSet+18 |
||
| 3706 | 3721 2266 30E0 ldi r19,lo8(0) |
||
| 3707 | 3722 2268 8091 0000 lds r24,ExternControl+3 |
||
| 3708 | 3723 226c 9927 clr r25 |
||
| 3709 | 3724 226e 87FD sbrc r24,7 |
||
| 3710 | 3725 2270 9095 com r25 |
||
| 3711 | 3726 2272 289F mul r18,r24 |
||
| 3712 | 3727 2274 A001 movw r20,r0 |
||
| 3713 | 3728 2276 299F mul r18,r25 |
||
| 3714 | 3729 2278 500D add r21,r0 |
||
| 3715 | 3730 227a 389F mul r19,r24 |
||
| 3716 | 3731 227c 500D add r21,r0 |
||
| 3717 | 3732 227e 1124 clr r1 |
||
| 3718 | 3733 2280 8091 0000 lds r24,StickNick |
||
| 3719 | 3734 2284 9091 0000 lds r25,(StickNick)+1 |
||
| 3720 | 3735 2288 840F add r24,r20 |
||
| 3721 | 3736 228a 951F adc r25,r21 |
||
| 3722 | 3737 228c 9093 0000 sts (StickNick)+1,r25 |
||
| 3723 | 3738 2290 8093 0000 sts StickNick,r24 |
||
| 3724 | 3739 2294 8091 0000 lds r24,ExternControl+4 |
||
| 3725 | 3740 2298 9927 clr r25 |
||
| 3726 | 3741 229a 87FD sbrc r24,7 |
||
| 3727 | 3742 229c 9095 com r25 |
||
| 3728 | 3743 229e 5901 movw r10,r18 |
||
| 3729 | 3744 22a0 A89E mul r10,r24 |
||
| 3730 | 3745 22a2 9001 movw r18,r0 |
||
| 3731 | 3746 22a4 A99E mul r10,r25 |
||
| 3732 | 3747 22a6 300D add r19,r0 |
||
| 3733 | 3748 22a8 B89E mul r11,r24 |
||
| 3734 | 3749 22aa 300D add r19,r0 |
||
| 3735 | 3750 22ac 1124 clr r1 |
||
| 3736 | 3751 22ae 8091 0000 lds r24,StickRoll |
||
| 3737 | 3752 22b2 9091 0000 lds r25,(StickRoll)+1 |
||
| 3738 | 3753 22b6 820F add r24,r18 |
||
| 3739 | 3754 22b8 931F adc r25,r19 |
||
| 3740 | 3755 22ba 9093 0000 sts (StickRoll)+1,r25 |
||
| 3741 | 3756 22be 8093 0000 sts StickRoll,r24 |
||
| 3742 | 3757 22c2 2091 0000 lds r18,ExternControl+5 |
||
| 3743 | 3758 22c6 3327 clr r19 |
||
| 3744 | 3759 22c8 27FD sbrc r18,7 |
||
| 3745 | 3760 22ca 3095 com r19 |
||
| 3746 | 3761 22cc 8091 0000 lds r24,StickYaw |
||
| 3747 | 3762 22d0 9091 0000 lds r25,(StickYaw)+1 |
||
| 3748 | 3763 22d4 820F add r24,r18 |
||
| 3749 | 3764 22d6 931F adc r25,r19 |
||
| 3750 | 3765 22d8 9093 0000 sts (StickYaw)+1,r25 |
||
| 3751 | 3766 22dc 8093 0000 sts StickYaw,r24 |
||
| 3752 | 3767 22e0 2091 0000 lds r18,ParamSet+13 |
||
| 3753 | 3768 22e4 30E0 ldi r19,lo8(0) |
||
| 3754 | 3769 22e6 8091 0000 lds r24,ExternControl+7 |
||
| 3755 | 3770 22ea 9927 clr r25 |
||
| 3756 | 3771 22ec 87FD sbrc r24,7 |
||
| 3757 | 3772 22ee 9095 com r25 |
||
| 3758 | 3773 22f0 6C01 movw r12,r24 |
||
| 3759 | 3774 22f2 2C9D mul r18,r12 |
||
| 3760 | 3775 22f4 C001 movw r24,r0 |
||
| 3761 | 3776 22f6 2D9D mul r18,r13 |
||
| 3762 | 3777 22f8 900D add r25,r0 |
||
| 3763 | 3778 22fa 3C9D mul r19,r12 |
||
| 3764 | 3779 22fc 900D add r25,r0 |
||
| 3765 | 3780 22fe 1124 clr r1 |
||
| 3766 | 3781 2300 9093 0000 sts (ExternHeightValue)+1,r25 |
||
| 3767 | 3782 2304 8093 0000 sts ExternHeightValue,r24 |
||
| 3768 | 3783 2308 8091 0000 lds r24,ExternControl+6 |
||
| 3769 | 3784 230c 90E0 ldi r25,lo8(0) |
||
| 3770 | 3785 230e 8E17 cp r24,r30 |
||
| 3771 | 3786 2310 9F07 cpc r25,r31 |
||
| 3772 | 3787 2312 04F4 brge .L478 |
||
| 3773 | 3788 2314 9093 0000 sts (StickGas)+1,r25 |
||
| 3774 | 3789 2318 8093 0000 sts StickGas,r24 |
||
| 3775 | 3790 .L478: |
||
| 3776 | 3791 231c 8091 0000 lds r24,StickGas |
||
| 3777 | 3792 2320 9091 0000 lds r25,(StickGas)+1 |
||
| 3778 | 3793 2324 97FF sbrs r25,7 |
||
| 3779 | 3794 2326 00C0 rjmp .+4 |
||
| 3780 | 3795 2328 0C94 0000 jmp .L736 |
||
| 3781 | 3796 232c 8091 0000 lds r24,ParamSet+8 |
||
| 3782 | 3797 2330 82FF sbrs r24,2 |
||
| 3783 | 3798 2332 00C0 rjmp .+4 |
||
| 3784 | 3799 2334 0C94 0000 jmp .L737 |
||
| 3785 | 3800 .L480: |
||
| 3786 | 3801 2338 6091 0000 lds r22,StickNick |
||
| 3787 | 3802 233c 7091 0000 lds r23,StickNick+1 |
||
| 3788 | 3803 2340 4091 0000 lds r20,MaxStickNick |
||
| 3789 | 3804 2344 5091 0000 lds r21,(MaxStickNick)+1 |
||
| 3790 | 3805 2348 CB01 movw r24,r22 |
||
| 3791 | 3806 234a 9C01 movw r18,r24 |
||
| 3792 | 3807 234c 97FF sbrs r25,7 |
||
| 3793 | 3808 234e 00C0 rjmp .+4 |
||
| 3794 | 3809 2350 0C94 0000 jmp .L738 |
||
| 3795 | 3810 .L482: |
||
| 3796 | 3811 2354 3595 asr r19 |
||
| 3797 | 3812 2356 2795 ror r18 |
||
| 3798 | 3813 2358 3595 asr r19 |
||
| 3799 | 3814 235a 2795 ror r18 |
||
| 3800 | 3815 235c 37FF sbrs r19,7 |
||
| 3801 | 3816 235e 00C0 rjmp .+4 |
||
| 3802 | 3817 2360 0C94 0000 jmp .L739 |
||
| 3803 | 3818 .L483: |
||
| 3804 | 3819 2364 4217 cp r20,r18 |
||
| 3805 | 3820 2366 5307 cpc r21,r19 |
||
| 3806 | 3821 2368 04F4 brge .+4 |
||
| 3807 | 3822 236a 0C94 0000 jmp .L740 |
||
| 3808 | 3823 236e 4150 subi r20,lo8(-(-1)) |
||
| 3809 | 3824 2370 5040 sbci r21,hi8(-(-1)) |
||
| 3810 | 3825 2372 5093 0000 sts (MaxStickNick)+1,r21 |
||
| 3811 | 3826 2376 4093 0000 sts MaxStickNick,r20 |
||
| 3812 | 3827 .L485: |
||
| 3813 | 3828 237a 6091 0000 lds r22,StickRoll |
||
| 3814 | 3829 237e 7091 0000 lds r23,StickRoll+1 |
||
| 3815 | 3830 2382 4091 0000 lds r20,MaxStickRoll |
||
| 3816 | 3831 2386 5091 0000 lds r21,(MaxStickRoll)+1 |
||
| 3817 | 3832 238a CB01 movw r24,r22 |
||
| 3818 | 3833 238c 9C01 movw r18,r24 |
||
| 3819 | 3834 238e 97FF sbrs r25,7 |
||
| 3820 | 3835 2390 00C0 rjmp .+4 |
||
| 3821 | 3836 2392 0C94 0000 jmp .L741 |
||
| 3822 | 3837 .L487: |
||
| 3823 | 3838 2396 3595 asr r19 |
||
| 3824 | 3839 2398 2795 ror r18 |
||
| 3825 | 3840 239a 3595 asr r19 |
||
| 3826 | 3841 239c 2795 ror r18 |
||
| 3827 | 3842 239e 37FF sbrs r19,7 |
||
| 3828 | 3843 23a0 00C0 rjmp .+4 |
||
| 3829 | 3844 23a2 0C94 0000 jmp .L742 |
||
| 3830 | 3845 .L488: |
||
| 3831 | 3846 23a6 4217 cp r20,r18 |
||
| 3832 | 3847 23a8 5307 cpc r21,r19 |
||
| 3833 | 3848 23aa 04F0 brlt .+4 |
||
| 3834 | 3849 23ac 0C94 0000 jmp .L486 |
||
| 3835 | 3850 23b0 9B01 movw r18,r22 |
||
| 3836 | 3851 23b2 77FF sbrs r23,7 |
||
| 3837 | 3852 23b4 00C0 rjmp .+4 |
||
| 3838 | 3853 23b6 0C94 0000 jmp .L743 |
||
| 3839 | 3854 .L489: |
||
| 3840 | 3855 23ba C901 movw r24,r18 |
||
| 3841 | 3856 23bc 9595 asr r25 |
||
| 3842 | 3857 23be 8795 ror r24 |
||
| 3843 | 3858 23c0 9595 asr r25 |
||
| 3844 | 3859 23c2 8795 ror r24 |
||
| 3845 | 3860 23c4 9093 0000 sts (MaxStickRoll)+1,r25 |
||
| 3846 | 3861 23c8 8093 0000 sts MaxStickRoll,r24 |
||
| 3847 | 3862 23cc 8536 cpi r24,101 |
||
| 3848 | 3863 23ce 9105 cpc r25,__zero_reg__ |
||
| 3849 | 3864 23d0 04F0 brlt .+4 |
||
| 3850 | 3865 23d2 0C94 0000 jmp .L744 |
||
| 3851 | 3866 .L490: |
||
| 3852 | 3867 23d6 8091 0000 lds r24,ParamSet+1 |
||
| 3853 | 3868 23da A82F mov r26,r24 |
||
| 3854 | 3869 23dc B0E0 ldi r27,lo8(0) |
||
| 3855 | 3870 23de AA0F lsl r26 |
||
| 3856 | 3871 23e0 BB1F rol r27 |
||
| 3857 | 3872 23e2 FD01 movw r30,r26 |
||
| 3858 | 3873 23e4 E050 subi r30,lo8(-(PPM_in)) |
||
| 3859 | 3874 23e6 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3860 | 3875 23e8 2081 ld r18,Z |
||
| 3861 | 3876 23ea 3181 ldd r19,Z+1 |
||
| 3862 | 3877 23ec 8091 0000 lds r24,ParamSet+49 |
||
| 3863 | 3878 23f0 482F mov r20,r24 |
||
| 3864 | 3879 23f2 50E0 ldi r21,lo8(0) |
||
| 3865 | 3880 23f4 4217 cp r20,r18 |
||
| 3866 | 3881 23f6 5307 cpc r21,r19 |
||
| 3867 | 3882 23f8 04F4 brge .L491 |
||
| 3868 | 3883 23fa 8091 0000 lds r24,ParamSet+86 |
||
| 3869 | 3884 23fe 82FF sbrs r24,2 |
||
| 3870 | 3885 2400 00C0 rjmp .+4 |
||
| 3871 | 3886 2402 0C94 0000 jmp .L745 |
||
| 3872 | 3887 .L491: |
||
| 3873 | 3888 2406 7091 0000 lds r23,LoopingLeft |
||
| 3874 | 3889 240a 7723 tst r23 |
||
| 3875 | 3890 240c 01F0 breq .L492 |
||
| 3876 | 3891 240e FD01 movw r30,r26 |
||
| 3877 | 3892 2410 E050 subi r30,lo8(-(PPM_in)) |
||
| 3878 | 3893 2412 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3879 | 3894 2414 2081 ld r18,Z |
||
| 3880 | 3895 2416 3181 ldd r19,Z+1 |
||
| 3881 | 3896 2418 8091 0000 lds r24,ParamSet+50 |
||
| 3882 | 3897 241c FA01 movw r30,r20 |
||
| 3883 | 3898 241e E81B sub r30,r24 |
||
| 3884 | 3899 2420 F109 sbc r31,__zero_reg__ |
||
| 3885 | 3900 2422 2E17 cp r18,r30 |
||
| 3886 | 3901 2424 3F07 cpc r19,r31 |
||
| 3887 | 3902 2426 04F4 brge .+4 |
||
| 3888 | 3903 2428 0C94 0000 jmp .L746 |
||
| 3889 | 3904 .L492: |
||
| 3890 | 3905 242c FD01 movw r30,r26 |
||
| 3891 | 3906 242e E050 subi r30,lo8(-(PPM_in)) |
||
| 3892 | 3907 2430 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3893 | 3908 2432 2081 ld r18,Z |
||
| 3894 | 3909 2434 3181 ldd r19,Z+1 |
||
| 3895 | 3910 2436 8827 clr r24 |
||
| 3896 | 3911 2438 9927 clr r25 |
||
| 3897 | 3912 243a 841B sub r24,r20 |
||
| 3898 | 3913 243c 950B sbc r25,r21 |
||
| 3899 | 3914 243e 2817 cp r18,r24 |
||
| 3900 | 3915 2440 3907 cpc r19,r25 |
||
| 3901 | 3916 2442 04F4 brge .L493 |
||
| 3902 | 3917 2444 8091 0000 lds r24,ParamSet+86 |
||
| 3903 | 3918 2448 83FF sbrs r24,3 |
||
| 3904 | 3919 244a 00C0 rjmp .+4 |
||
| 3905 | 3920 244c 0C94 0000 jmp .L747 |
||
| 3906 | 3921 .L493: |
||
| 3907 | 3922 2450 8091 0000 lds r24,LoopingRight |
||
| 3908 | 3923 2454 8823 tst r24 |
||
| 3909 | 3924 2456 01F0 breq .L494 |
||
| 3910 | 3925 2458 A050 subi r26,lo8(-(PPM_in)) |
||
| 3911 | 3926 245a B040 sbci r27,hi8(-(PPM_in)) |
||
| 3912 | 3927 245c 2D91 ld r18,X+ |
||
| 3913 | 3928 245e 3C91 ld r19,X |
||
| 3914 | 3929 2460 8091 0000 lds r24,ParamSet+50 |
||
| 3915 | 3930 2464 90E0 ldi r25,lo8(0) |
||
| 3916 | 3931 2466 841B sub r24,r20 |
||
| 3917 | 3932 2468 950B sbc r25,r21 |
||
| 3918 | 3933 246a 8217 cp r24,r18 |
||
| 3919 | 3934 246c 9307 cpc r25,r19 |
||
| 3920 | 3935 246e 04F4 brge .+4 |
||
| 3921 | 3936 2470 0C94 0000 jmp .L748 |
||
| 3922 | 3937 .L494: |
||
| 3923 | 3938 2474 8091 0000 lds r24,ParamSet |
||
| 3924 | 3939 2478 A82F mov r26,r24 |
||
| 3925 | 3940 247a B0E0 ldi r27,lo8(0) |
||
| 3926 | 3941 247c AA0F lsl r26 |
||
| 3927 | 3942 247e BB1F rol r27 |
||
| 3928 | 3943 2480 FD01 movw r30,r26 |
||
| 3929 | 3944 2482 E050 subi r30,lo8(-(PPM_in)) |
||
| 3930 | 3945 2484 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3931 | 3946 2486 8081 ld r24,Z |
||
| 3932 | 3947 2488 9181 ldd r25,Z+1 |
||
| 3933 | 3948 248a 4817 cp r20,r24 |
||
| 3934 | 3949 248c 5907 cpc r21,r25 |
||
| 3935 | 3950 248e 04F4 brge .L495 |
||
| 3936 | 3951 2490 8091 0000 lds r24,ParamSet+86 |
||
| 3937 | 3952 2494 80FF sbrs r24,0 |
||
| 3938 | 3953 2496 00C0 rjmp .+4 |
||
| 3939 | 3954 2498 0C94 0000 jmp .L749 |
||
| 3940 | 3955 .L495: |
||
| 3941 | 3956 249c 6091 0000 lds r22,LoopingTop |
||
| 3942 | 3957 24a0 6623 tst r22 |
||
| 3943 | 3958 24a2 01F0 breq .L496 |
||
| 3944 | 3959 24a4 FD01 movw r30,r26 |
||
| 3945 | 3960 24a6 E050 subi r30,lo8(-(PPM_in)) |
||
| 3946 | 3961 24a8 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3947 | 3962 24aa 2081 ld r18,Z |
||
| 3948 | 3963 24ac 3181 ldd r19,Z+1 |
||
| 3949 | 3964 24ae 8091 0000 lds r24,ParamSet+50 |
||
| 3950 | 3965 24b2 5A01 movw r10,r20 |
||
| 3951 | 3966 24b4 A81A sub r10,r24 |
||
| 3952 | 3967 24b6 B108 sbc r11,__zero_reg__ |
||
| 3953 | 3968 24b8 2A15 cp r18,r10 |
||
| 3954 | 3969 24ba 3B05 cpc r19,r11 |
||
| 3955 | 3970 24bc 04F4 brge .+4 |
||
| 3956 | 3971 24be 0C94 0000 jmp .L750 |
||
| 3957 | 3972 .L496: |
||
| 3958 | 3973 24c2 FD01 movw r30,r26 |
||
| 3959 | 3974 24c4 E050 subi r30,lo8(-(PPM_in)) |
||
| 3960 | 3975 24c6 F040 sbci r31,hi8(-(PPM_in)) |
||
| 3961 | 3976 24c8 2081 ld r18,Z |
||
| 3962 | 3977 24ca 3181 ldd r19,Z+1 |
||
| 3963 | 3978 24cc 8827 clr r24 |
||
| 3964 | 3979 24ce 9927 clr r25 |
||
| 3965 | 3980 24d0 841B sub r24,r20 |
||
| 3966 | 3981 24d2 950B sbc r25,r21 |
||
| 3967 | 3982 24d4 2817 cp r18,r24 |
||
| 3968 | 3983 24d6 3907 cpc r19,r25 |
||
| 3969 | 3984 24d8 04F4 brge .L497 |
||
| 3970 | 3985 24da 8091 0000 lds r24,ParamSet+86 |
||
| 3971 | 3986 24de 81FF sbrs r24,1 |
||
| 3972 | 3987 24e0 00C0 rjmp .+4 |
||
| 3973 | 3988 24e2 0C94 0000 jmp .L751 |
||
| 3974 | 3989 .L497: |
||
| 3975 | 3990 24e6 8091 0000 lds r24,LoopingDown |
||
| 3976 | 3991 24ea 8823 tst r24 |
||
| 3977 | 3992 24ec 01F0 breq .L498 |
||
| 3978 | 3993 24ee A050 subi r26,lo8(-(PPM_in)) |
||
| 3979 | 3994 24f0 B040 sbci r27,hi8(-(PPM_in)) |
||
| 3980 | 3995 24f2 2D91 ld r18,X+ |
||
| 3981 | 3996 24f4 3C91 ld r19,X |
||
| 3982 | 3997 24f6 8091 0000 lds r24,ParamSet+50 |
||
| 3983 | 3998 24fa 90E0 ldi r25,lo8(0) |
||
| 3984 | 3999 24fc 841B sub r24,r20 |
||
| 3985 | 4000 24fe 950B sbc r25,r21 |
||
| 3986 | 4001 2500 8217 cp r24,r18 |
||
| 3987 | 4002 2502 9307 cpc r25,r19 |
||
| 3988 | 4003 2504 04F4 brge .+4 |
||
| 3989 | 4004 2506 0C94 0000 jmp .L752 |
||
| 3990 | 4005 .L498: |
||
| 3991 | 4006 250a 7723 tst r23 |
||
| 3992 | 4007 250c 01F4 brne .L499 |
||
| 3993 | 4008 250e 8091 0000 lds r24,LoopingRight |
||
| 3994 | 4009 2512 8823 tst r24 |
||
| 3995 | 4010 2514 01F4 brne .+4 |
||
| 3996 | 4011 2516 0C94 0000 jmp .L500 |
||
| 3997 | 4012 .L499: |
||
| 3998 | 4013 251a 81E0 ldi r24,lo8(1) |
||
| 3999 | 4014 251c 8093 0000 sts LoopingRoll,r24 |
||
| 4000 | 4015 .L501: |
||
| 4001 | 4016 2520 6623 tst r22 |
||
| 4002 | 4017 2522 01F4 brne .L502 |
||
| 4003 | 4018 2524 8091 0000 lds r24,LoopingDown |
||
| 4004 | 4019 2528 8823 tst r24 |
||
| 4005 | 4020 252a 01F4 brne .+4 |
||
| 4006 | 4021 252c 0C94 0000 jmp .L503 |
||
| 4007 | 4022 .L502: |
||
| 4008 | 4023 2530 81E0 ldi r24,lo8(1) |
||
| 4009 | 4024 2532 8093 0000 sts LoopingNick,r24 |
||
| 4010 | 4025 2536 1092 0000 sts LoopingRoll,__zero_reg__ |
||
| 4011 | 4026 253a 1092 0000 sts LoopingLeft,__zero_reg__ |
||
| 4012 | 4027 253e 1092 0000 sts LoopingRight,__zero_reg__ |
||
| 4013 | 4028 .L472: |
||
| 4014 | 4029 2542 8091 0000 lds r24,LoopingRoll |
||
| 4015 | 4030 2546 8823 tst r24 |
||
| 4016 | 4031 2548 01F0 breq .+2 |
||
| 4017 | 4032 254a 00C0 rjmp .L504 |
||
| 4018 | 4033 254c 8091 0000 lds r24,LoopingNick |
||
| 4019 | 4034 2550 8823 tst r24 |
||
| 4020 | 4035 2552 01F0 breq .+2 |
||
| 4021 | 4036 2554 00C0 rjmp .L504 |
||
| 4022 | 4037 .L505: |
||
| 4023 | 4038 2556 8091 0000 lds r24,MKFlags |
||
| 4024 | 4039 255a 84FF sbrs r24,4 |
||
| 4025 | 4040 255c 00C0 rjmp .L507 |
||
| 4026 | 4041 255e 1092 0000 sts (StickYaw)+1,__zero_reg__ |
||
| 4027 | 4042 2562 1092 0000 sts StickYaw,__zero_reg__ |
||
| 4028 | 4043 2566 1092 0000 sts (StickNick)+1,__zero_reg__ |
||
| 4029 | 4044 256a 1092 0000 sts StickNick,__zero_reg__ |
||
| 4030 | 4045 256e 1092 0000 sts (StickRoll)+1,__zero_reg__ |
||
| 4031 | 4046 2572 1092 0000 sts StickRoll,__zero_reg__ |
||
| 4032 | 4047 2576 8091 0000 lds r24,ParamSet+31 |
||
| 4033 | 4048 257a 8093 0000 sts StickGas,r24 |
||
| 4034 | 4049 257e 1092 0000 sts StickGas+1,__zero_reg__ |
||
| 4035 | 4050 2582 9AE5 ldi r25,lo8(90) |
||
| 4036 | 4051 2584 9093 0000 sts GyroPFactor,r25 |
||
| 4037 | 4052 2588 88E7 ldi r24,lo8(120) |
||
| 4038 | 4053 258a 8093 0000 sts GyroIFactor,r24 |
||
| 4039 | 4054 258e 9093 0000 sts GyroYawPFactor,r25 |
||
| 4040 | 4055 2592 8093 0000 sts GyroYawIFactor,r24 |
||
| 4041 | 4056 2596 1092 0000 sts LoopingRoll,__zero_reg__ |
||
| 4042 | 4057 259a 1092 0000 sts LoopingNick,__zero_reg__ |
||
| 4043 | 4058 259e 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
||
| 4044 | 4059 25a2 1092 0000 sts MaxStickNick,__zero_reg__ |
||
| 4045 | 4060 25a6 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
||
| 4046 | 4061 25aa 1092 0000 sts MaxStickRoll,__zero_reg__ |
||
| 4047 | 4062 .L507: |
||
| 4048 | 4063 25ae 2091 0000 lds r18,MeanIntegralGyroNick |
||
| 4049 | 4064 25b2 3091 0000 lds r19,(MeanIntegralGyroNick)+1 |
||
| 4050 | 4065 25b6 4091 0000 lds r20,(MeanIntegralGyroNick)+2 |
||
| 4051 | 4066 25ba 5091 0000 lds r21,(MeanIntegralGyroNick)+3 |
||
| 4052 | 4067 25be 28A3 std Y+32,r18 |
||
| 4053 | 4068 25c0 39A3 std Y+33,r19 |
||
| 4054 | 4069 25c2 4AA3 std Y+34,r20 |
||
| 4055 | 4070 25c4 5BA3 std Y+35,r21 |
||
| 4056 | 4071 25c6 4091 0000 lds r20,IntegralGyroNick |
||
| 4057 | 4072 25ca 5091 0000 lds r21,(IntegralGyroNick)+1 |
||
| 4058 | 4073 25ce 6091 0000 lds r22,(IntegralGyroNick)+2 |
||
| 4059 | 4074 25d2 7091 0000 lds r23,(IntegralGyroNick)+3 |
||
| 4060 | 4075 25d6 48A7 std Y+40,r20 |
||
| 4061 | 4076 25d8 59A7 std Y+41,r21 |
||
| 4062 | 4077 25da 6AA7 std Y+42,r22 |
||
| 4063 | 4078 25dc 7BA7 std Y+43,r23 |
||
| 4064 | 4079 25de 88A1 ldd r24,Y+32 |
||
| 4065 | 4080 25e0 99A1 ldd r25,Y+33 |
||
| 4066 | 4081 25e2 AAA1 ldd r26,Y+34 |
||
| 4067 | 4082 25e4 BBA1 ldd r27,Y+35 |
||
| 4068 | 4083 25e6 840F add r24,r20 |
||
| 4069 | 4084 25e8 951F adc r25,r21 |
||
| 4070 | 4085 25ea A61F adc r26,r22 |
||
| 4071 | 4086 25ec B71F adc r27,r23 |
||
| 4072 | 4087 25ee 8093 0000 sts MeanIntegralGyroNick,r24 |
||
| 4073 | 4088 25f2 9093 0000 sts (MeanIntegralGyroNick)+1,r25 |
||
| 4074 | 4089 25f6 A093 0000 sts (MeanIntegralGyroNick)+2,r26 |
||
| 4075 | 4090 25fa B093 0000 sts (MeanIntegralGyroNick)+3,r27 |
||
| 4076 | 4091 25fe 2090 0000 lds r2,MeanIntegralGyroRoll |
||
| 4077 | 4092 2602 3090 0000 lds r3,(MeanIntegralGyroRoll)+1 |
||
| 4078 | 4093 2606 4090 0000 lds r4,(MeanIntegralGyroRoll)+2 |
||
| 4079 | 4094 260a 5090 0000 lds r5,(MeanIntegralGyroRoll)+3 |
||
| 4080 | 4095 260e A090 0000 lds r10,IntegralGyroRoll |
||
| 4081 | 4096 2612 B090 0000 lds r11,(IntegralGyroRoll)+1 |
||
| 4082 | 4097 2616 C090 0000 lds r12,(IntegralGyroRoll)+2 |
||
| 4083 | 4098 261a D090 0000 lds r13,(IntegralGyroRoll)+3 |
||
| 4084 | 4099 261e ACA2 std Y+36,r10 |
||
| 4085 | 4100 2620 BDA2 std Y+37,r11 |
||
| 4086 | 4101 2622 CEA2 std Y+38,r12 |
||
| 4087 | 4102 2624 DFA2 std Y+39,r13 |
||
| 4088 | 4103 2626 2A0C add r2,r10 |
||
| 4089 | 4104 2628 3B1C adc r3,r11 |
||
| 4090 | 4105 262a 4C1C adc r4,r12 |
||
| 4091 | 4106 262c 5D1C adc r5,r13 |
||
| 4092 | 4107 262e 2092 0000 sts MeanIntegralGyroRoll,r2 |
||
| 4093 | 4108 2632 3092 0000 sts (MeanIntegralGyroRoll)+1,r3 |
||
| 4094 | 4109 2636 4092 0000 sts (MeanIntegralGyroRoll)+2,r4 |
||
| 4095 | 4110 263a 5092 0000 sts (MeanIntegralGyroRoll)+3,r5 |
||
| 4096 | 4111 263e B090 0000 lds r11,LoopingNick |
||
| 4097 | 4112 2642 BD8E std Y+29,r11 |
||
| 4098 | 4113 2644 BB20 tst r11 |
||
| 4099 | 4114 2646 01F4 brne .L508 |
||
| 4100 | 4115 2648 8091 0000 lds r24,LoopingRoll |
||
| 4101 | 4116 264c 8823 tst r24 |
||
| 4102 | 4117 264e 01F4 brne .+4 |
||
| 4103 | 4118 2650 0C94 0000 jmp .L509 |
||
| 4104 | 4119 .L508: |
||
| 4105 | 4120 2654 1092 0000 sts (MeasurementCounter)+1,__zero_reg__ |
||
| 4106 | 4121 2658 1092 0000 sts MeasurementCounter,__zero_reg__ |
||
| 4107 | 4122 265c 1092 0000 sts MeanAccNick,__zero_reg__ |
||
| 4108 | 4123 2660 1092 0000 sts (MeanAccNick)+1,__zero_reg__ |
||
| 4109 | 4124 2664 1092 0000 sts (MeanAccNick)+2,__zero_reg__ |
||
| 4110 | 4125 2668 1092 0000 sts (MeanAccNick)+3,__zero_reg__ |
||
| 4111 | 4126 266c 1092 0000 sts MeanAccRoll,__zero_reg__ |
||
| 4112 | 4127 2670 1092 0000 sts (MeanAccRoll)+1,__zero_reg__ |
||
| 4113 | 4128 2674 1092 0000 sts (MeanAccRoll)+2,__zero_reg__ |
||
| 4114 | 4129 2678 1092 0000 sts (MeanAccRoll)+3,__zero_reg__ |
||
| 4115 | 4130 267c 1092 0000 sts MeanIntegralGyroNick,__zero_reg__ |
||
| 4116 | 4131 2680 1092 0000 sts (MeanIntegralGyroNick)+1,__zero_reg__ |
||
| 4117 | 4132 2684 1092 0000 sts (MeanIntegralGyroNick)+2,__zero_reg__ |
||
| 4118 | 4133 2688 1092 0000 sts (MeanIntegralGyroNick)+3,__zero_reg__ |
||
| 4119 | 4134 268c 1092 0000 sts MeanIntegralGyroRoll,__zero_reg__ |
||
| 4120 | 4135 2690 1092 0000 sts (MeanIntegralGyroRoll)+1,__zero_reg__ |
||
| 4121 | 4136 2694 1092 0000 sts (MeanIntegralGyroRoll)+2,__zero_reg__ |
||
| 4122 | 4137 2698 1092 0000 sts (MeanIntegralGyroRoll)+3,__zero_reg__ |
||
| 4123 | 4138 269c 8091 0000 lds r24,ReadingIntegralGyroNick |
||
| 4124 | 4139 26a0 9091 0000 lds r25,(ReadingIntegralGyroNick)+1 |
||
| 4125 | 4140 26a4 A091 0000 lds r26,(ReadingIntegralGyroNick)+2 |
||
| 4126 | 4141 26a8 B091 0000 lds r27,(ReadingIntegralGyroNick)+3 |
||
| 4127 | 4142 26ac 8093 0000 sts ReadingIntegralGyroNick2,r24 |
||
| 4128 | 4143 26b0 9093 0000 sts (ReadingIntegralGyroNick2)+1,r25 |
||
| 4129 | 4144 26b4 A093 0000 sts (ReadingIntegralGyroNick2)+2,r26 |
||
| 4130 | 4145 26b8 B093 0000 sts (ReadingIntegralGyroNick2)+3,r27 |
||
| 4131 | 4146 26bc 8091 0000 lds r24,ReadingIntegralGyroRoll |
||
| 4132 | 4147 26c0 9091 0000 lds r25,(ReadingIntegralGyroRoll)+1 |
||
| 4133 | 4148 26c4 A091 0000 lds r26,(ReadingIntegralGyroRoll)+2 |
||
| 4134 | 4149 26c8 B091 0000 lds r27,(ReadingIntegralGyroRoll)+3 |
||
| 4135 | 4150 26cc 8093 0000 sts ReadingIntegralGyroRoll2,r24 |
||
| 4136 | 4151 26d0 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r25 |
||
| 4137 | 4152 26d4 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r26 |
||
| 4138 | 4153 26d8 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r27 |
||
| 4139 | 4154 26dc 1092 0000 sts (AttitudeCorrectionNick)+1,__zero_reg__ |
||
| 4140 | 4155 26e0 1092 0000 sts AttitudeCorrectionNick,__zero_reg__ |
||
| 4141 | 4156 26e4 1092 0000 sts (AttitudeCorrectionRoll)+1,__zero_reg__ |
||
| 4142 | 4157 26e8 1092 0000 sts AttitudeCorrectionRoll,__zero_reg__ |
||
| 4143 | 4158 26ec CD8C ldd r12,Y+29 |
||
| 4144 | 4159 26ee CC20 tst r12 |
||
| 4145 | 4160 26f0 01F4 brne .+4 |
||
| 4146 | 4161 26f2 0C94 0000 jmp .L753 |
||
| 4147 | 4162 .L510: |
||
| 4148 | 4163 26f6 8091 0000 lds r24,MeasurementCounter |
||
| 4149 | 4164 26fa 9091 0000 lds r25,(MeasurementCounter)+1 |
||
| 4150 | 4165 26fe 8F3F cpi r24,255 |
||
| 4151 | 4166 2700 9105 cpc r25,__zero_reg__ |
||
| 4152 | 4167 2702 01F0 breq .+2 |
||
| 4153 | 4168 2704 00F4 brsh .+2 |
||
| 4154 | 4169 2706 00C0 rjmp .L529 |
||
| 4155 | 4170 2708 6D8D ldd r22,Y+29 |
||
| 4156 | 4171 270a 6623 tst r22 |
||
| 4157 | 4172 270c 01F4 brne .+4 |
||
| 4158 | 4173 270e 0C94 0000 jmp .L754 |
||
| 4159 | 4174 .L530: |
||
| 4160 | 4175 2712 1092 0000 sts (AttitudeCorrectionRoll)+1,__zero_reg__ |
||
| 4161 | 4176 2716 1092 0000 sts AttitudeCorrectionRoll,__zero_reg__ |
||
| 4162 | 4177 271a 1092 0000 sts (AttitudeCorrectionNick)+1,__zero_reg__ |
||
| 4163 | 4178 271e 1092 0000 sts AttitudeCorrectionNick,__zero_reg__ |
||
| 4164 | 4179 2722 1092 0000 sts FunnelCourse,__zero_reg__ |
||
| 4165 | 4180 2726 4091 0000 lds r20,MeanIntegralGyroNick |
||
| 4166 | 4181 272a 5091 0000 lds r21,(MeanIntegralGyroNick)+1 |
||
| 4167 | 4182 272e 6091 0000 lds r22,(MeanIntegralGyroNick)+2 |
||
| 4168 | 4183 2732 7091 0000 lds r23,(MeanIntegralGyroNick)+3 |
||
| 4169 | 4184 2736 48A3 std Y+32,r20 |
||
| 4170 | 4185 2738 59A3 std Y+33,r21 |
||
| 4171 | 4186 273a 6AA3 std Y+34,r22 |
||
| 4172 | 4187 273c 7BA3 std Y+35,r23 |
||
| 4173 | 4188 273e 2090 0000 lds r2,MeanIntegralGyroRoll |
||
| 4174 | 4189 2742 3090 0000 lds r3,(MeanIntegralGyroRoll)+1 |
||
| 4175 | 4190 2746 4090 0000 lds r4,(MeanIntegralGyroRoll)+2 |
||
| 4176 | 4191 274a 5090 0000 lds r5,(MeanIntegralGyroRoll)+3 |
||
| 4177 | 4192 .L567: |
||
| 4178 | 4193 274e 8091 0000 lds r24,GyroIFactor |
||
| 4179 | 4194 2752 8823 tst r24 |
||
| 4180 | 4195 2754 01F4 brne .L568 |
||
| 4181 | 4196 2756 1092 0000 sts (AttitudeCorrectionRoll)+1,__zero_reg__ |
||
| 4182 | 4197 275a 1092 0000 sts AttitudeCorrectionRoll,__zero_reg__ |
||
| 4183 | 4198 275e 1092 0000 sts (AttitudeCorrectionNick)+1,__zero_reg__ |
||
| 4184 | 4199 2762 1092 0000 sts AttitudeCorrectionNick,__zero_reg__ |
||
| 4185 | 4200 .L568: |
||
| 4186 | 4201 2766 68A1 ldd r22,Y+32 |
||
| 4187 | 4202 2768 79A1 ldd r23,Y+33 |
||
| 4188 | 4203 276a 8AA1 ldd r24,Y+34 |
||
| 4189 | 4204 276c 9BA1 ldd r25,Y+35 |
||
| 4190 | 4205 276e 6093 0000 sts MeanIntegralGyroNick_old.2431,r22 |
||
| 4191 | 4206 2772 7093 0000 sts (MeanIntegralGyroNick_old.2431)+1,r23 |
||
| 4192 | 4207 2776 8093 0000 sts (MeanIntegralGyroNick_old.2431)+2,r24 |
||
| 4193 | 4208 277a 9093 0000 sts (MeanIntegralGyroNick_old.2431)+3,r25 |
||
| 4194 | 4209 277e 2092 0000 sts MeanIntegralGyroRoll_old.2432,r2 |
||
| 4195 | 4210 2782 3092 0000 sts (MeanIntegralGyroRoll_old.2432)+1,r3 |
||
| 4196 | 4211 2786 4092 0000 sts (MeanIntegralGyroRoll_old.2432)+2,r4 |
||
| 4197 | 4212 278a 5092 0000 sts (MeanIntegralGyroRoll_old.2432)+3,r5 |
||
| 4198 | 4213 278e 1092 0000 sts MeanAccNick,__zero_reg__ |
||
| 4199 | 4214 2792 1092 0000 sts (MeanAccNick)+1,__zero_reg__ |
||
| 4200 | 4215 2796 1092 0000 sts (MeanAccNick)+2,__zero_reg__ |
||
| 4201 | 4216 279a 1092 0000 sts (MeanAccNick)+3,__zero_reg__ |
||
| 4202 | 4217 279e 1092 0000 sts MeanAccRoll,__zero_reg__ |
||
| 4203 | 4218 27a2 1092 0000 sts (MeanAccRoll)+1,__zero_reg__ |
||
| 4204 | 4219 27a6 1092 0000 sts (MeanAccRoll)+2,__zero_reg__ |
||
| 4205 | 4220 27aa 1092 0000 sts (MeanAccRoll)+3,__zero_reg__ |
||
| 4206 | 4221 27ae 1092 0000 sts MeanIntegralGyroNick,__zero_reg__ |
||
| 4207 | 4222 27b2 1092 0000 sts (MeanIntegralGyroNick)+1,__zero_reg__ |
||
| 4208 | 4223 27b6 1092 0000 sts (MeanIntegralGyroNick)+2,__zero_reg__ |
||
| 4209 | 4224 27ba 1092 0000 sts (MeanIntegralGyroNick)+3,__zero_reg__ |
||
| 4210 | 4225 27be 1092 0000 sts MeanIntegralGyroRoll,__zero_reg__ |
||
| 4211 | 4226 27c2 1092 0000 sts (MeanIntegralGyroRoll)+1,__zero_reg__ |
||
| 4212 | 4227 27c6 1092 0000 sts (MeanIntegralGyroRoll)+2,__zero_reg__ |
||
| 4213 | 4228 27ca 1092 0000 sts (MeanIntegralGyroRoll)+3,__zero_reg__ |
||
| 4214 | 4229 27ce 1092 0000 sts (MeasurementCounter)+1,__zero_reg__ |
||
| 4215 | 4230 27d2 1092 0000 sts MeasurementCounter,__zero_reg__ |
||
| 4216 | 4231 .L529: |
||
| 4217 | 4232 27d6 E090 0000 lds r14,StickYaw |
||
| 4218 | 4233 27da F090 0000 lds r15,(StickYaw)+1 |
||
| 4219 | 4234 27de C701 movw r24,r14 |
||
| 4220 | 4235 27e0 F7FE sbrs r15,7 |
||
| 4221 | 4236 27e2 00C0 rjmp .+4 |
||
| 4222 | 4237 27e4 0C94 0000 jmp .L755 |
||
| 4223 | 4238 .L570: |
||
| 4224 | 4239 27e8 4097 sbiw r24,16 |
||
| 4225 | 4240 27ea 04F0 brlt .L569 |
||
| 4226 | 4241 27ec 88EE ldi r24,lo8(1000) |
||
| 4227 | 4242 27ee 93E0 ldi r25,hi8(1000) |
||
| 4228 | 4243 27f0 9093 0000 sts (BadCompassHeading)+1,r25 |
||
| 4229 | 4244 27f4 8093 0000 sts BadCompassHeading,r24 |
||
| 4230 | 4245 27f8 8091 0000 lds r24,ParamSet+8 |
||
| 4231 | 4246 27fc 84FD sbrc r24,4 |
||
| 4232 | 4247 27fe 00C0 rjmp .+4 |
||
| 4233 | 4248 2800 0C94 0000 jmp .L756 |
||
| 4234 | 4249 .L569: |
||
| 4235 | 4250 2804 1091 0000 lds r17,ParamSet+20 |
||
| 4236 | 4251 2808 B701 movw r22,r14 |
||
| 4237 | 4252 280a 8827 clr r24 |
||
| 4238 | 4253 280c 77FD sbrc r23,7 |
||
| 4239 | 4254 280e 8095 com r24 |
||
| 4240 | 4255 2810 982F mov r25,r24 |
||
| 4241 | 4256 2812 212F mov r18,r17 |
||
| 4242 | 4257 2814 30E0 ldi r19,lo8(0) |
||
| 4243 | 4258 2816 40E0 ldi r20,lo8(0) |
||
| 4244 | 4259 2818 50E0 ldi r21,hi8(0) |
||
| 4245 | 4260 281a 0E94 0000 call __mulsi3 |
||
| 4246 | 4261 281e F701 movw r30,r14 |
||
| 4247 | 4262 2820 F7FE sbrs r15,7 |
||
| 4248 | 4263 2822 00C0 rjmp .+4 |
||
| 4249 | 4264 2824 0C94 0000 jmp .L757 |
||
| 4250 | 4265 .L571: |
||
| 4251 | 4266 2828 9F01 movw r18,r30 |
||
| 4252 | 4267 282a 4427 clr r20 |
||
| 4253 | 4268 282c 37FD sbrc r19,7 |
||
| 4254 | 4269 282e 4095 com r20 |
||
| 4255 | 4270 2830 542F mov r21,r20 |
||
| 4256 | 4271 2832 0E94 0000 call __mulsi3 |
||
| 4257 | 4272 2836 20E0 ldi r18,lo8(512) |
||
| 4258 | 4273 2838 32E0 ldi r19,hi8(512) |
||
| 4259 | 4274 283a 40E0 ldi r20,hlo8(512) |
||
| 4260 | 4275 283c 50E0 ldi r21,hhi8(512) |
||
| 4261 | 4276 283e 0E94 0000 call __divmodsi4 |
||
| 4262 | 4277 2842 812F mov r24,r17 |
||
| 4263 | 4278 2844 90E0 ldi r25,lo8(0) |
||
| 4264 | 4279 2846 8E9D mul r24,r14 |
||
| 4265 | 4280 2848 B001 movw r22,r0 |
||
| 4266 | 4281 284a 8F9D mul r24,r15 |
||
| 4267 | 4282 284c 700D add r23,r0 |
||
| 4268 | 4283 284e 9E9D mul r25,r14 |
||
| 4269 | 4284 2850 700D add r23,r0 |
||
| 4270 | 4285 2852 1124 clr r1 |
||
| 4271 | 4286 2854 77FF sbrs r23,7 |
||
| 4272 | 4287 2856 00C0 rjmp .+4 |
||
| 4273 | 4288 2858 0C94 0000 jmp .L758 |
||
| 4274 | 4289 .L572: |
||
| 4275 | 4290 285c 7595 asr r23 |
||
| 4276 | 4291 285e 6795 ror r22 |
||
| 4277 | 4292 2860 7595 asr r23 |
||
| 4278 | 4293 2862 6795 ror r22 |
||
| 4279 | 4294 2864 260F add r18,r22 |
||
| 4280 | 4295 2866 371F adc r19,r23 |
||
| 4281 | 4296 2868 C901 movw r24,r18 |
||
| 4282 | 4297 286a AA27 clr r26 |
||
| 4283 | 4298 286c 97FD sbrc r25,7 |
||
| 4284 | 4299 286e A095 com r26 |
||
| 4285 | 4300 2870 BA2F mov r27,r26 |
||
| 4286 | 4301 2872 8093 0000 sts SetPointYaw.2410,r24 |
||
| 4287 | 4302 2876 9093 0000 sts (SetPointYaw.2410)+1,r25 |
||
| 4288 | 4303 287a A093 0000 sts (SetPointYaw.2410)+2,r26 |
||
| 4289 | 4304 287e B093 0000 sts (SetPointYaw.2410)+3,r27 |
||
| 4290 | 4305 2882 2091 0000 lds r18,ReadingIntegralGyroYaw |
||
| 4291 | 4306 2886 3091 0000 lds r19,(ReadingIntegralGyroYaw)+1 |
||
| 4292 | 4307 288a 4091 0000 lds r20,(ReadingIntegralGyroYaw)+2 |
||
| 4293 | 4308 288e 5091 0000 lds r21,(ReadingIntegralGyroYaw)+3 |
||
| 4294 | 4309 2892 281B sub r18,r24 |
||
| 4295 | 4310 2894 390B sbc r19,r25 |
||
| 4296 | 4311 2896 4A0B sbc r20,r26 |
||
| 4297 | 4312 2898 5B0B sbc r21,r27 |
||
| 4298 | 4313 289a 2093 0000 sts ReadingIntegralGyroYaw,r18 |
||
| 4299 | 4314 289e 3093 0000 sts (ReadingIntegralGyroYaw)+1,r19 |
||
| 4300 | 4315 28a2 4093 0000 sts (ReadingIntegralGyroYaw)+2,r20 |
||
| 4301 | 4316 28a6 5093 0000 sts (ReadingIntegralGyroYaw)+3,r21 |
||
| 4302 | 4317 28aa 203B cpi r18,lo8(-50000) |
||
| 4303 | 4318 28ac 7CE3 ldi r23,hi8(-50000) |
||
| 4304 | 4319 28ae 3707 cpc r19,r23 |
||
| 4305 | 4320 28b0 7FEF ldi r23,hlo8(-50000) |
||
| 4306 | 4321 28b2 4707 cpc r20,r23 |
||
| 4307 | 4322 28b4 7FEF ldi r23,hhi8(-50000) |
||
| 4308 | 4323 28b6 5707 cpc r21,r23 |
||
| 4309 | 4324 28b8 04F0 brlt .+4 |
||
| 4310 | 4325 28ba 0C94 0000 jmp .L573 |
||
| 4311 | 4326 28be 80EB ldi r24,lo8(-50000) |
||
| 4312 | 4327 28c0 9CE3 ldi r25,hi8(-50000) |
||
| 4313 | 4328 28c2 AFEF ldi r26,hlo8(-50000) |
||
| 4314 | 4329 28c4 BFEF ldi r27,hhi8(-50000) |
||
| 4315 | 4330 28c6 8093 0000 sts ReadingIntegralGyroYaw,r24 |
||
| 4316 | 4331 28ca 9093 0000 sts (ReadingIntegralGyroYaw)+1,r25 |
||
| 4317 | 4332 28ce A093 0000 sts (ReadingIntegralGyroYaw)+2,r26 |
||
| 4318 | 4333 28d2 B093 0000 sts (ReadingIntegralGyroYaw)+3,r27 |
||
| 4319 | 4334 .L574: |
||
| 4320 | 4335 28d6 8091 0000 lds r24,ParamSet+8 |
||
| 4321 | 4336 28da 8872 andi r24,lo8(40) |
||
| 4322 | 4337 28dc 01F4 brne .+2 |
||
| 4323 | 4338 28de 00C0 rjmp .L728 |
||
| 4324 | 4339 28e0 8091 0000 lds r24,CompassCalState |
||
| 4325 | 4340 28e4 8823 tst r24 |
||
| 4326 | 4341 28e6 01F0 breq .+2 |
||
| 4327 | 4342 28e8 00C0 rjmp .L759 |
||
| 4328 | 4343 .L576: |
||
| 4329 | 4344 28ea 68A5 ldd r22,Y+40 |
||
| 4330 | 4345 28ec 79A5 ldd r23,Y+41 |
||
| 4331 | 4346 28ee 8AA5 ldd r24,Y+42 |
||
| 4332 | 4347 28f0 9BA5 ldd r25,Y+43 |
||
| 4333 | 4348 28f2 20E0 ldi r18,lo8(512) |
||
| 4334 | 4349 28f4 32E0 ldi r19,hi8(512) |
||
| 4335 | 4350 28f6 40E0 ldi r20,hlo8(512) |
||
| 4336 | 4351 28f8 50E0 ldi r21,hhi8(512) |
||
| 4337 | 4352 28fa 0E94 0000 call __divmodsi4 |
||
| 4338 | 4353 28fe 8901 movw r16,r18 |
||
| 4339 | 4354 2900 37FF sbrs r19,7 |
||
| 4340 | 4355 2902 00C0 rjmp .+4 |
||
| 4341 | 4356 2904 0C94 0000 jmp .L760 |
||
| 4342 | 4357 .L577: |
||
| 4343 | 4358 2908 6CA1 ldd r22,Y+36 |
||
| 4344 | 4359 290a 7DA1 ldd r23,Y+37 |
||
| 4345 | 4360 290c 8EA1 ldd r24,Y+38 |
||
| 4346 | 4361 290e 9FA1 ldd r25,Y+39 |
||
| 4347 | 4362 2910 20E0 ldi r18,lo8(512) |
||
| 4348 | 4363 2912 32E0 ldi r19,hi8(512) |
||
| 4349 | 4364 2914 40E0 ldi r20,hlo8(512) |
||
| 4350 | 4365 2916 50E0 ldi r21,hhi8(512) |
||
| 4351 | 4366 2918 0E94 0000 call __divmodsi4 |
||
| 4352 | 4367 291c 4901 movw r8,r18 |
||
| 4353 | 4368 291e 37FF sbrs r19,7 |
||
| 4354 | 4369 2920 00C0 rjmp .+4 |
||
| 4355 | 4370 2922 0C94 0000 jmp .L761 |
||
| 4356 | 4371 .L578: |
||
| 4357 | 4372 2926 8016 cp r8,r16 |
||
| 4358 | 4373 2928 9106 cpc r9,r17 |
||
| 4359 | 4374 292a 04F4 brge .L579 |
||
| 4360 | 4375 292c 4801 movw r8,r16 |
||
| 4361 | 4376 .L579: |
||
| 4362 | 4377 292e A090 0000 lds r10,CompassHeading |
||
| 4363 | 4378 2932 B090 0000 lds r11,(CompassHeading)+1 |
||
| 4364 | 4379 2936 B7FE sbrs r11,7 |
||
| 4365 | 4380 2938 00C0 rjmp .+4 |
||
| 4366 | 4381 293a 0C94 0000 jmp .L762 |
||
| 4367 | 4382 293e ACE1 ldi r26,lo8(540) |
||
| 4368 | 4383 2940 B2E0 ldi r27,hi8(540) |
||
| 4369 | 4384 2942 AA0E add r10,r26 |
||
| 4370 | 4385 2944 BB1E adc r11,r27 |
||
| 4371 | 4386 2946 7501 movw r14,r10 |
||
| 4372 | 4387 2948 0027 clr r16 |
||
| 4373 | 4388 294a F7FC sbrc r15,7 |
||
| 4374 | 4389 294c 0095 com r16 |
||
| 4375 | 4390 294e 102F mov r17,r16 |
||
| 4376 | 4391 2950 E4EE ldi r30,lo8(-540) |
||
| 4377 | 4392 2952 FDEF ldi r31,hi8(-540) |
||
| 4378 | 4393 2954 AE0E add r10,r30 |
||
| 4379 | 4394 2956 BF1E adc r11,r31 |
||
| 4380 | 4395 2958 2091 0000 lds r18,ParamSet+23 |
||
| 4381 | 4396 295c 8AE2 ldi r24,lo8(42) |
||
| 4382 | 4397 295e 289F mul r18,r24 |
||
| 4383 | 4398 2960 9001 movw r18,r0 |
||
| 4384 | 4399 2962 1124 clr r1 |
||
| 4385 | 4400 2964 4427 clr r20 |
||
| 4386 | 4401 2966 37FD sbrc r19,7 |
||
| 4387 | 4402 2968 4095 com r20 |
||
| 4388 | 4403 296a 542F mov r21,r20 |
||
| 4389 | 4404 296c 6091 0000 lds r22,YawGyroHeading |
||
| 4390 | 4405 2970 7091 0000 lds r23,(YawGyroHeading)+1 |
||
| 4391 | 4406 2974 8091 0000 lds r24,(YawGyroHeading)+2 |
||
| 4392 | 4407 2978 9091 0000 lds r25,(YawGyroHeading)+3 |
||
| 4393 | 4408 297c 0E94 0000 call __divmodsi4 |
||
| 4394 | 4409 2980 E21A sub r14,r18 |
||
| 4395 | 4410 2982 F30A sbc r15,r19 |
||
| 4396 | 4411 2984 040B sbc r16,r20 |
||
| 4397 | 4412 2986 150B sbc r17,r21 |
||
| 4398 | 4413 2988 C801 movw r24,r16 |
||
| 4399 | 4414 298a B701 movw r22,r14 |
||
| 4400 | 4415 298c 28E6 ldi r18,lo8(360) |
||
| 4401 | 4416 298e 31E0 ldi r19,hi8(360) |
||
| 4402 | 4417 2990 40E0 ldi r20,hlo8(360) |
||
| 4403 | 4418 2992 50E0 ldi r21,hhi8(360) |
||
| 4404 | 4419 2994 0E94 0000 call __divmodsi4 |
||
| 4405 | 4420 2998 645B subi r22,lo8(-(-180)) |
||
| 4406 | 4421 299a 7040 sbci r23,hi8(-(-180)) |
||
| 4407 | 4422 .L581: |
||
| 4408 | 4423 299c 2090 0000 lds r2,GyroYaw |
||
| 4409 | 4424 29a0 3090 0000 lds r3,(GyroYaw)+1 |
||
| 4410 | 4425 29a4 C101 movw r24,r2 |
||
| 4411 | 4426 29a6 37FE sbrs r3,7 |
||
| 4412 | 4427 29a8 00C0 rjmp .+4 |
||
| 4413 | 4428 29aa 0C94 0000 jmp .L763 |
||
| 4414 | 4429 .L583: |
||
| 4415 | 4430 29ae 8138 cpi r24,129 |
||
| 4416 | 4431 29b0 9105 cpc r25,__zero_reg__ |
||
| 4417 | 4432 29b2 04F4 brge .+4 |
||
| 4418 | 4433 29b4 0C94 0000 jmp .L582 |
||
| 4419 | 4434 29b8 60E0 ldi r22,lo8(0) |
||
| 4420 | 4435 29ba 70E0 ldi r23,hi8(0) |
||
| 4421 | 4436 29bc CC24 clr r12 |
||
| 4422 | 4437 29be DD24 clr r13 |
||
| 4423 | 4438 .L584: |
||
| 4424 | 4439 29c0 4090 0000 lds r4,BadCompassHeading |
||
| 4425 | 4440 29c4 5090 0000 lds r5,(BadCompassHeading)+1 |
||
| 4426 | 4441 29c8 4114 cp r4,__zero_reg__ |
||
| 4427 | 4442 29ca 5104 cpc r5,__zero_reg__ |
||
| 4428 | 4443 29cc 01F4 brne .L585 |
||
| 4429 | 4444 29ce F9E1 ldi r31,lo8(25) |
||
| 4430 | 4445 29d0 8F16 cp r8,r31 |
||
| 4431 | 4446 29d2 9104 cpc r9,__zero_reg__ |
||
| 4432 | 4447 29d4 04F4 brge .+4 |
||
| 4433 | 4448 29d6 0C94 0000 jmp .L764 |
||
| 4434 | 4449 .L585: |
||
| 4435 | 4450 29da B401 movw r22,r8 |
||
| 4436 | 4451 29dc 7595 asr r23 |
||
| 4437 | 4452 29de 6795 ror r22 |
||
| 4438 | 4453 29e0 7595 asr r23 |
||
| 4439 | 4454 29e2 6795 ror r22 |
||
| 4440 | 4455 29e4 7595 asr r23 |
||
| 4441 | 4456 29e6 6795 ror r22 |
||
| 4442 | 4457 29e8 6F5F subi r22,lo8(-(1)) |
||
| 4443 | 4458 29ea 7F4F sbci r23,hi8(-(1)) |
||
| 4444 | 4459 29ec C601 movw r24,r12 |
||
| 4445 | 4460 29ee 0E94 0000 call __divmodhi4 |
||
| 4446 | 4461 29f2 5B01 movw r10,r22 |
||
| 4447 | 4462 29f4 CC24 clr r12 |
||
| 4448 | 4463 29f6 B7FC sbrc r11,7 |
||
| 4449 | 4464 29f8 C094 com r12 |
||
| 4450 | 4465 29fa DC2C mov r13,r12 |
||
| 4451 | 4466 29fc 8091 0000 lds r24,YawGyroHeading |
||
| 4452 | 4467 2a00 9091 0000 lds r25,(YawGyroHeading)+1 |
||
| 4453 | 4468 2a04 A091 0000 lds r26,(YawGyroHeading)+2 |
||
| 4454 | 4469 2a08 B091 0000 lds r27,(YawGyroHeading)+3 |
||
| 4455 | 4470 2a0c A80E add r10,r24 |
||
| 4456 | 4471 2a0e B91E adc r11,r25 |
||
| 4457 | 4472 2a10 CA1E adc r12,r26 |
||
| 4458 | 4473 2a12 DB1E adc r13,r27 |
||
| 4459 | 4474 2a14 A092 0000 sts YawGyroHeading,r10 |
||
| 4460 | 4475 2a18 B092 0000 sts (YawGyroHeading)+1,r11 |
||
| 4461 | 4476 2a1c C092 0000 sts (YawGyroHeading)+2,r12 |
||
| 4462 | 4477 2a20 D092 0000 sts (YawGyroHeading)+3,r13 |
||
| 4463 | 4478 2a24 8091 0000 lds r24,FCParam+5 |
||
| 4464 | 4479 2a28 682E mov r6,r24 |
||
| 4465 | 4480 2a2a 7724 clr r7 |
||
| 4466 | 4481 2a2c 869C mul r8,r6 |
||
| 4467 | 4482 2a2e C001 movw r24,r0 |
||
| 4468 | 4483 2a30 879C mul r8,r7 |
||
| 4469 | 4484 2a32 900D add r25,r0 |
||
| 4470 | 4485 2a34 969C mul r9,r6 |
||
| 4471 | 4486 2a36 900D add r25,r0 |
||
| 4472 | 4487 2a38 1124 clr r1 |
||
| 4473 | 4488 2a3a 97FF sbrs r25,7 |
||
| 4474 | 4489 2a3c 00C0 rjmp .+4 |
||
| 4475 | 4490 2a3e 0C94 0000 jmp .L765 |
||
| 4476 | 4491 .L586: |
||
| 4477 | 4492 2a42 9595 asr r25 |
||
| 4478 | 4493 2a44 8795 ror r24 |
||
| 4479 | 4494 2a46 9595 asr r25 |
||
| 4480 | 4495 2a48 8795 ror r24 |
||
| 4481 | 4496 2a4a 9595 asr r25 |
||
| 4482 | 4497 2a4c 8795 ror r24 |
||
| 4483 | 4498 2a4e 9595 asr r25 |
||
| 4484 | 4499 2a50 8795 ror r24 |
||
| 4485 | 4500 2a52 9595 asr r25 |
||
| 4486 | 4501 2a54 8795 ror r24 |
||
| 4487 | 4502 2a56 4301 movw r8,r6 |
||
| 4488 | 4503 2a58 881A sub r8,r24 |
||
| 4489 | 4504 2a5a 990A sbc r9,r25 |
||
| 4490 | 4505 2a5c 97FE sbrs r9,7 |
||
| 4491 | 4506 2a5e 00C0 rjmp .+4 |
||
| 4492 | 4507 2a60 0C94 0000 jmp .L587 |
||
| 4493 | 4508 2a64 4114 cp r4,__zero_reg__ |
||
| 4494 | 4509 2a66 5104 cpc r5,__zero_reg__ |
||
| 4495 | 4510 2a68 01F0 breq .+4 |
||
| 4496 | 4511 2a6a 0C94 0000 jmp .L588 |
||
| 4497 | 4512 2a6e 4090 0000 lds r4,MaxStickRoll |
||
| 4498 | 4513 2a72 5090 0000 lds r5,(MaxStickRoll)+1 |
||
| 4499 | 4514 2a76 8091 0000 lds r24,MaxStickNick |
||
| 4500 | 4515 2a7a 9091 0000 lds r25,(MaxStickNick)+1 |
||
| 4501 | 4516 2a7e 480E add r4,r24 |
||
| 4502 | 4517 2a80 591E adc r5,r25 |
||
| 4503 | 4518 2a82 57FE sbrs r5,7 |
||
| 4504 | 4519 2a84 00C0 rjmp .+4 |
||
| 4505 | 4520 2a86 0C94 0000 jmp .L766 |
||
| 4506 | 4521 .L589: |
||
| 4507 | 4522 2a8a 5594 asr r5 |
||
| 4508 | 4523 2a8c 4794 ror r4 |
||
| 4509 | 4524 2a8e 5594 asr r5 |
||
| 4510 | 4525 2a90 4794 ror r4 |
||
| 4511 | 4526 2a92 5594 asr r5 |
||
| 4512 | 4527 2a94 4794 ror r4 |
||
| 4513 | 4528 2a96 40E4 ldi r20,lo8(64) |
||
| 4514 | 4529 2a98 50E0 ldi r21,hi8(64) |
||
| 4515 | 4530 2a9a 440E add r4,r20 |
||
| 4516 | 4531 2a9c 551E adc r5,r21 |
||
| 4517 | 4532 2a9e 8091 0000 lds r24,CompassCourse |
||
| 4518 | 4533 2aa2 9091 0000 lds r25,(CompassCourse)+1 |
||
| 4519 | 4534 2aa6 AA27 clr r26 |
||
| 4520 | 4535 2aa8 97FD sbrc r25,7 |
||
| 4521 | 4536 2aaa A095 com r26 |
||
| 4522 | 4537 2aac BA2F mov r27,r26 |
||
| 4523 | 4538 2aae 7CE1 ldi r23,lo8(540) |
||
| 4524 | 4539 2ab0 E72E mov r14,r23 |
||
| 4525 | 4540 2ab2 72E0 ldi r23,hi8(540) |
||
| 4526 | 4541 2ab4 F72E mov r15,r23 |
||
| 4527 | 4542 2ab6 012D mov r16,__zero_reg__ |
||
| 4528 | 4543 2ab8 112D mov r17,__zero_reg__ |
||
| 4529 | 4544 2aba E81A sub r14,r24 |
||
| 4530 | 4545 2abc F90A sbc r15,r25 |
||
| 4531 | 4546 2abe 0A0B sbc r16,r26 |
||
| 4532 | 4547 2ac0 1B0B sbc r17,r27 |
||
| 4533 | 4548 2ac2 2091 0000 lds r18,ParamSet+23 |
||
| 4534 | 4549 2ac6 8AE2 ldi r24,lo8(42) |
||
| 4535 | 4550 2ac8 289F mul r18,r24 |
||
| 4536 | 4551 2aca 9001 movw r18,r0 |
||
| 4537 | 4552 2acc 1124 clr r1 |
||
| 4538 | 4553 2ace 4427 clr r20 |
||
| 4539 | 4554 2ad0 37FD sbrc r19,7 |
||
| 4540 | 4555 2ad2 4095 com r20 |
||
| 4541 | 4556 2ad4 542F mov r21,r20 |
||
| 4542 | 4557 2ad6 C601 movw r24,r12 |
||
| 4543 | 4558 2ad8 B501 movw r22,r10 |
||
| 4544 | 4559 2ada 0E94 0000 call __divmodsi4 |
||
| 4545 | 4560 2ade E20E add r14,r18 |
||
| 4546 | 4561 2ae0 F31E adc r15,r19 |
||
| 4547 | 4562 2ae2 041F adc r16,r20 |
||
| 4548 | 4563 2ae4 151F adc r17,r21 |
||
| 4549 | 4564 2ae6 C801 movw r24,r16 |
||
| 4550 | 4565 2ae8 B701 movw r22,r14 |
||
| 4551 | 4566 2aea 28E6 ldi r18,lo8(360) |
||
| 4552 | 4567 2aec 31E0 ldi r19,hi8(360) |
||
| 4553 | 4568 2aee 40E0 ldi r20,hlo8(360) |
||
| 4554 | 4569 2af0 50E0 ldi r21,hhi8(360) |
||
| 4555 | 4570 2af2 0E94 0000 call __divmodsi4 |
||
| 4556 | 4571 2af6 645B subi r22,lo8(-(-180)) |
||
| 4557 | 4572 2af8 7040 sbci r23,hi8(-(-180)) |
||
| 4558 | 4573 2afa 689D mul r22,r8 |
||
| 4559 | 4574 2afc C001 movw r24,r0 |
||
| 4560 | 4575 2afe 699D mul r22,r9 |
||
| 4561 | 4576 2b00 900D add r25,r0 |
||
| 4562 | 4577 2b02 789D mul r23,r8 |
||
| 4563 | 4578 2b04 900D add r25,r0 |
||
| 4564 | 4579 2b06 1124 clr r1 |
||
| 4565 | 4580 2b08 B201 movw r22,r4 |
||
| 4566 | 4581 2b0a 0E94 0000 call __divmodhi4 |
||
| 4567 | 4582 2b0e 9B01 movw r18,r22 |
||
| 4568 | 4583 2b10 C301 movw r24,r6 |
||
| 4569 | 4584 2b12 880F lsl r24 |
||
| 4570 | 4585 2b14 991F rol r25 |
||
| 4571 | 4586 2b16 860D add r24,r6 |
||
| 4572 | 4587 2b18 971D adc r25,r7 |
||
| 4573 | 4588 2b1a 8217 cp r24,r18 |
||
| 4574 | 4589 2b1c 9307 cpc r25,r19 |
||
| 4575 | 4590 2b1e 04F0 brlt .+4 |
||
| 4576 | 4591 2b20 0C94 0000 jmp .L590 |
||
| 4577 | 4592 2b24 BC01 movw r22,r24 |
||
| 4578 | 4593 .L591: |
||
| 4579 | 4594 2b26 9B01 movw r18,r22 |
||
| 4580 | 4595 2b28 4427 clr r20 |
||
| 4581 | 4596 2b2a 37FD sbrc r19,7 |
||
| 4582 | 4597 2b2c 4095 com r20 |
||
| 4583 | 4598 2b2e 542F mov r21,r20 |
||
| 4584 | 4599 2b30 8091 0000 lds r24,ReadingIntegralGyroYaw |
||
| 4585 | 4600 2b34 9091 0000 lds r25,(ReadingIntegralGyroYaw)+1 |
||
| 4586 | 4601 2b38 A091 0000 lds r26,(ReadingIntegralGyroYaw)+2 |
||
| 4587 | 4602 2b3c B091 0000 lds r27,(ReadingIntegralGyroYaw)+3 |
||
| 4588 | 4603 2b40 820F add r24,r18 |
||
| 4589 | 4604 2b42 931F adc r25,r19 |
||
| 4590 | 4605 2b44 A41F adc r26,r20 |
||
| 4591 | 4606 2b46 B51F adc r27,r21 |
||
| 4592 | 4607 2b48 8093 0000 sts ReadingIntegralGyroYaw,r24 |
||
| 4593 | 4608 2b4c 9093 0000 sts (ReadingIntegralGyroYaw)+1,r25 |
||
| 4594 | 4609 2b50 A093 0000 sts (ReadingIntegralGyroYaw)+2,r26 |
||
| 4595 | 4610 2b54 B093 0000 sts (ReadingIntegralGyroYaw)+3,r27 |
||
| 4596 | 4611 2b58 00C0 rjmp .L575 |
||
| 4597 | 4612 .L401: |
||
| 4598 | 4613 2b5a 2998 cbi 37-32,1 |
||
| 4599 | 4614 2b5c 8091 0000 lds r24,RC_Quality |
||
| 4600 | 4615 2b60 8436 cpi r24,lo8(100) |
||
| 4601 | 4616 2b62 00F4 brsh .+2 |
||
| 4602 | 4617 2b64 00C0 rjmp .L767 |
||
| 4603 | 4618 .L403: |
||
| 4604 | 4619 2b66 8091 0000 lds r24,RC_Quality |
||
| 4605 | 4620 2b6a 8D38 cpi r24,lo8(-115) |
||
| 4606 | 4621 2b6c 00F4 brsh .+2 |
||
| 4607 | 4622 2b6e 00C0 rjmp .L410 |
||
| 4608 | 4623 2b70 8091 0000 lds r24,MKFlags |
||
| 4609 | 4624 2b74 8F7E andi r24,lo8(-17) |
||
| 4610 | 4625 2b76 8093 0000 sts MKFlags,r24 |
||
| 4611 | 4626 2b7a 8091 0000 lds r24,ParamSet+32 |
||
| 4612 | 4627 2b7e 22E3 ldi r18,lo8(50) |
||
| 4613 | 4628 2b80 829F mul r24,r18 |
||
| 4614 | 4629 2b82 C001 movw r24,r0 |
||
| 4615 | 4630 2b84 1124 clr r1 |
||
| 4616 | 4631 2b86 9093 0000 sts (RcLostTimer.2415)+1,r25 |
||
| 4617 | 4632 2b8a 8093 0000 sts RcLostTimer.2415,r24 |
||
| 4618 | 4633 2b8e 8091 0000 lds r24,StickGas |
||
| 4619 | 4634 2b92 9091 0000 lds r25,(StickGas)+1 |
||
| 4620 | 4635 2b96 8997 sbiw r24,41 |
||
| 4621 | 4636 2b98 04F0 brlt .L411 |
||
| 4622 | 4637 2b9a 8091 0000 lds r24,MKFlags |
||
| 4623 | 4638 2b9e 80FF sbrs r24,0 |
||
| 4624 | 4639 2ba0 00C0 rjmp .L411 |
||
| 4625 | 4640 2ba2 8091 0000 lds r24,ModelIsFlying |
||
| 4626 | 4641 2ba6 9091 0000 lds r25,(ModelIsFlying)+1 |
||
| 4627 | 4642 2baa BFEF ldi r27,hi8(-1) |
||
| 4628 | 4643 2bac 8F3F cpi r24,lo8(-1) |
||
| 4629 | 4644 2bae 9B07 cpc r25,r27 |
||
| 4630 | 4645 2bb0 01F4 brne .+4 |
||
| 4631 | 4646 2bb2 0C94 0000 jmp .L412 |
||
| 4632 | 4647 2bb6 0196 adiw r24,1 |
||
| 4633 | 4648 2bb8 9093 0000 sts (ModelIsFlying)+1,r25 |
||
| 4634 | 4649 2bbc 8093 0000 sts ModelIsFlying,r24 |
||
| 4635 | 4650 .L411: |
||
| 4636 | 4651 2bc0 8091 0000 lds r24,ModelIsFlying |
||
| 4637 | 4652 2bc4 9091 0000 lds r25,(ModelIsFlying)+1 |
||
| 4638 | 4653 2bc8 8F3F cpi r24,255 |
||
| 4639 | 4654 2bca 9105 cpc r25,__zero_reg__ |
||
| 4640 | 4655 2bcc 01F0 breq .+6 |
||
| 4641 | 4656 2bce 00F0 brlo .+4 |
||
| 4642 | 4657 2bd0 0C94 0000 jmp .L412 |
||
| 4643 | 4658 2bd4 1092 0000 sts IPartNick.2408,__zero_reg__ |
||
| 4644 | 4659 2bd8 1092 0000 sts (IPartNick.2408)+1,__zero_reg__ |
||
| 4645 | 4660 2bdc 1092 0000 sts (IPartNick.2408)+2,__zero_reg__ |
||
| 4646 | 4661 2be0 1092 0000 sts (IPartNick.2408)+3,__zero_reg__ |
||
| 4647 | 4662 2be4 1092 0000 sts IPartRoll.2409,__zero_reg__ |
||
| 4648 | 4663 2be8 1092 0000 sts (IPartRoll.2409)+1,__zero_reg__ |
||
| 4649 | 4664 2bec 1092 0000 sts (IPartRoll.2409)+2,__zero_reg__ |
||
| 4650 | 4665 2bf0 1092 0000 sts (IPartRoll.2409)+3,__zero_reg__ |
||
| 4651 | 4666 2bf4 1092 0000 sts (StickYaw)+1,__zero_reg__ |
||
| 4652 | 4667 2bf8 1092 0000 sts StickYaw,__zero_reg__ |
||
| 4653 | 4668 2bfc 8A3F cpi r24,250 |
||
| 4654 | 4669 2bfe 9105 cpc r25,__zero_reg__ |
||
| 4655 | 4670 2c00 01F4 brne .+4 |
||
| 4656 | 4671 2c02 0C94 0000 jmp .L768 |
||
| 4657 | 4672 .L413: |
||
| 4658 | 4673 2c06 8091 0000 lds r24,ParamSet+4 |
||
| 4659 | 4674 2c0a E82F mov r30,r24 |
||
| 4660 | 4675 2c0c F0E0 ldi r31,lo8(0) |
||
| 4661 | 4676 2c0e EE0F lsl r30 |
||
| 4662 | 4677 2c10 FF1F rol r31 |
||
| 4663 | 4678 2c12 E050 subi r30,lo8(-(PPM_in)) |
||
| 4664 | 4679 2c14 F040 sbci r31,hi8(-(PPM_in)) |
||
| 4665 | 4680 2c16 8081 ld r24,Z |
||
| 4666 | 4681 2c18 9181 ldd r25,Z+1 |
||
| 4667 | 4682 2c1a E090 0000 lds r14,Poti1 |
||
| 4668 | 4683 2c1e F090 0000 lds r15,(Poti1)+1 |
||
| 4669 | 4684 2c22 8359 subi r24,lo8(-(109)) |
||
| 4670 | 4685 2c24 9F4F sbci r25,hi8(-(109)) |
||
| 4671 | 4686 2c26 8E15 cp r24,r14 |
||
| 4672 | 4687 2c28 9F05 cpc r25,r15 |
||
| 4673 | 4688 2c2a 04F4 brge .+4 |
||
| 4674 | 4689 2c2c 0C94 0000 jmp .L414 |
||
| 4675 | 4690 2c30 C701 movw r24,r14 |
||
| 4676 | 4691 2c32 0196 adiw r24,1 |
||
| 4677 | 4692 2c34 9093 0000 sts (Poti1)+1,r25 |
||
| 4678 | 4693 2c38 8093 0000 sts Poti1,r24 |
||
| 4679 | 4694 2c3c 7C01 movw r14,r24 |
||
| 4680 | 4695 .L415: |
||
| 4681 | 4696 2c3e 8091 0000 lds r24,ParamSet+5 |
||
| 4682 | 4697 2c42 E82F mov r30,r24 |
||
| 4683 | 4698 2c44 F0E0 ldi r31,lo8(0) |
||
| 4684 | 4699 2c46 EE0F lsl r30 |
||
| 4685 | 4700 2c48 FF1F rol r31 |
||
| 4686 | 4701 2c4a E050 subi r30,lo8(-(PPM_in)) |
||
| 4687 | 4702 2c4c F040 sbci r31,hi8(-(PPM_in)) |
||
| 4688 | 4703 2c4e 8081 ld r24,Z |
||
| 4689 | 4704 2c50 9181 ldd r25,Z+1 |
||
| 4690 | 4705 2c52 0091 0000 lds r16,Poti2 |
||
| 4691 | 4706 2c56 1091 0000 lds r17,(Poti2)+1 |
||
| 4692 | 4707 2c5a 8359 subi r24,lo8(-(109)) |
||
| 4693 | 4708 2c5c 9F4F sbci r25,hi8(-(109)) |
||
| 4694 | 4709 2c5e 8017 cp r24,r16 |
||
| 4695 | 4710 2c60 9107 cpc r25,r17 |
||
| 4696 | 4711 2c62 04F4 brge .+4 |
||
| 4697 | 4712 2c64 0C94 0000 jmp .L416 |
||
| 4698 | 4713 2c68 C801 movw r24,r16 |
||
| 4699 | 4714 2c6a 0196 adiw r24,1 |
||
| 4700 | 4715 2c6c 9093 0000 sts (Poti2)+1,r25 |
||
| 4701 | 4716 2c70 8093 0000 sts Poti2,r24 |
||
| 4702 | 4717 2c74 8C01 movw r16,r24 |
||
| 4703 | 4718 .L417: |
||
| 4704 | 4719 2c76 8091 0000 lds r24,ParamSet+6 |
||
| 4705 | 4720 2c7a E82F mov r30,r24 |
||
| 4706 | 4721 2c7c F0E0 ldi r31,lo8(0) |
||
| 4707 | 4722 2c7e EE0F lsl r30 |
||
| 4708 | 4723 2c80 FF1F rol r31 |
||
| 4709 | 4724 2c82 E050 subi r30,lo8(-(PPM_in)) |
||
| 4710 | 4725 2c84 F040 sbci r31,hi8(-(PPM_in)) |
||
| 4711 | 4726 2c86 8081 ld r24,Z |
||
| 4712 | 4727 2c88 9181 ldd r25,Z+1 |
||
| 4713 | 4728 2c8a A090 0000 lds r10,Poti3 |
||
| 4714 | 4729 2c8e B090 0000 lds r11,(Poti3)+1 |
||
| 4715 | 4730 2c92 8359 subi r24,lo8(-(109)) |
||
| 4716 | 4731 2c94 9F4F sbci r25,hi8(-(109)) |
||
| 4717 | 4732 2c96 8A15 cp r24,r10 |
||
| 4718 | 4733 2c98 9B05 cpc r25,r11 |
||
| 4719 | 4734 2c9a 04F4 brge .+4 |
||
| 4720 | 4735 2c9c 0C94 0000 jmp .L418 |
||
| 4721 | 4736 2ca0 C501 movw r24,r10 |
||
| 4722 | 4737 2ca2 0196 adiw r24,1 |
||
| 4723 | 4738 2ca4 9093 0000 sts (Poti3)+1,r25 |
||
| 4724 | 4739 2ca8 8093 0000 sts Poti3,r24 |
||
| 4725 | 4740 2cac 5C01 movw r10,r24 |
||
| 4726 | 4741 .L419: |
||
| 4727 | 4742 2cae 8091 0000 lds r24,ParamSet+7 |
||
| 4728 | 4743 2cb2 E82F mov r30,r24 |
||
| 4729 | 4744 2cb4 F0E0 ldi r31,lo8(0) |
||
| 4730 | 4745 2cb6 EE0F lsl r30 |
||
| 4731 | 4746 2cb8 FF1F rol r31 |
||
| 4732 | 4747 2cba E050 subi r30,lo8(-(PPM_in)) |
||
| 4733 | 4748 2cbc F040 sbci r31,hi8(-(PPM_in)) |
||
| 4734 | 4749 2cbe 8081 ld r24,Z |
||
| 4735 | 4750 2cc0 9181 ldd r25,Z+1 |
||
| 4736 | 4751 2cc2 A091 0000 lds r26,Poti4 |
||
| 4737 | 4752 2cc6 B091 0000 lds r27,(Poti4)+1 |
||
| 4738 | 4753 2cca 8359 subi r24,lo8(-(109)) |
||
| 4739 | 4754 2ccc 9F4F sbci r25,hi8(-(109)) |
||
| 4740 | 4755 2cce 8A17 cp r24,r26 |
||
| 4741 | 4756 2cd0 9B07 cpc r25,r27 |
||
| 4742 | 4757 2cd2 04F4 brge .+4 |
||
| 4743 | 4758 2cd4 0C94 0000 jmp .L420 |
||
| 4744 | 4759 2cd8 CD01 movw r24,r26 |
||
| 4745 | 4760 2cda 0196 adiw r24,1 |
||
| 4746 | 4761 2cdc 9093 0000 sts (Poti4)+1,r25 |
||
| 4747 | 4762 2ce0 8093 0000 sts Poti4,r24 |
||
| 4748 | 4763 2ce4 DC01 movw r26,r24 |
||
| 4749 | 4764 .L421: |
||
| 4750 | 4765 2ce6 8091 0000 lds r24,PPM_in+18 |
||
| 4751 | 4766 2cea 9091 0000 lds r25,(PPM_in+18)+1 |
||
| 4752 | 4767 2cee E091 0000 lds r30,Poti5 |
||
| 4753 | 4768 2cf2 F091 0000 lds r31,(Poti5)+1 |
||
| 4754 | 4769 2cf6 8359 subi r24,lo8(-(109)) |
||
| 4755 | 4770 2cf8 9F4F sbci r25,hi8(-(109)) |
||
| 4756 | 4771 2cfa 8E17 cp r24,r30 |
||
| 4757 | 4772 2cfc 9F07 cpc r25,r31 |
||
| 4758 | 4773 2cfe 04F4 brge .+4 |
||
| 4759 | 4774 2d00 0C94 0000 jmp .L422 |
||
| 4760 | 4775 2d04 CF01 movw r24,r30 |
||
| 4761 | 4776 2d06 0196 adiw r24,1 |
||
| 4762 | 4777 2d08 9093 0000 sts (Poti5)+1,r25 |
||
| 4763 | 4778 2d0c 8093 0000 sts Poti5,r24 |
||
| 4764 | 4779 2d10 FC01 movw r30,r24 |
||
| 4765 | 4780 .L423: |
||
| 4766 | 4781 2d12 8091 0000 lds r24,PPM_in+20 |
||
| 4767 | 4782 2d16 9091 0000 lds r25,(PPM_in+20)+1 |
||
| 4768 | 4783 2d1a 6091 0000 lds r22,Poti6 |
||
| 4769 | 4784 2d1e 7091 0000 lds r23,(Poti6)+1 |
||
| 4770 | 4785 2d22 8359 subi r24,lo8(-(109)) |
||
| 4771 | 4786 2d24 9F4F sbci r25,hi8(-(109)) |
||
| 4772 | 4787 2d26 8617 cp r24,r22 |
||
| 4773 | 4788 2d28 9707 cpc r25,r23 |
||
| 4774 | 4789 2d2a 04F4 brge .+4 |
||
| 4775 | 4790 2d2c 0C94 0000 jmp .L424 |
||
| 4776 | 4791 2d30 CB01 movw r24,r22 |
||
| 4777 | 4792 2d32 0196 adiw r24,1 |
||
| 4778 | 4793 2d34 9093 0000 sts (Poti6)+1,r25 |
||
| 4779 | 4794 2d38 8093 0000 sts Poti6,r24 |
||
| 4780 | 4795 2d3c BC01 movw r22,r24 |
||
| 4781 | 4796 .L425: |
||
| 4782 | 4797 2d3e 8091 0000 lds r24,PPM_in+22 |
||
| 4783 | 4798 2d42 9091 0000 lds r25,(PPM_in+22)+1 |
||
| 4784 | 4799 2d46 4091 0000 lds r20,Poti7 |
||
| 4785 | 4800 2d4a 5091 0000 lds r21,(Poti7)+1 |
||
| 4786 | 4801 2d4e 8359 subi r24,lo8(-(109)) |
||
| 4787 | 4802 2d50 9F4F sbci r25,hi8(-(109)) |
||
| 4788 | 4803 2d52 8417 cp r24,r20 |
||
| 4789 | 4804 2d54 9507 cpc r25,r21 |
||
| 4790 | 4805 2d56 04F4 brge .+4 |
||
| 4791 | 4806 2d58 0C94 0000 jmp .L426 |
||
| 4792 | 4807 2d5c CA01 movw r24,r20 |
||
| 4793 | 4808 2d5e 0196 adiw r24,1 |
||
| 4794 | 4809 2d60 9093 0000 sts (Poti7)+1,r25 |
||
| 4795 | 4810 2d64 8093 0000 sts Poti7,r24 |
||
| 4796 | 4811 2d68 AC01 movw r20,r24 |
||
| 4797 | 4812 .L427: |
||
| 4798 | 4813 2d6a 8091 0000 lds r24,PPM_in+24 |
||
| 4799 | 4814 2d6e 9091 0000 lds r25,(PPM_in+24)+1 |
||
| 4800 | 4815 2d72 2091 0000 lds r18,Poti8 |
||
| 4801 | 4816 2d76 3091 0000 lds r19,(Poti8)+1 |
||
| 4802 | 4817 2d7a 8359 subi r24,lo8(-(109)) |
||
| 4803 | 4818 2d7c 9F4F sbci r25,hi8(-(109)) |
||
| 4804 | 4819 2d7e 8217 cp r24,r18 |
||
| 4805 | 4820 2d80 9307 cpc r25,r19 |
||
| 4806 | 4821 2d82 04F4 brge .+4 |
||
| 4807 | 4822 2d84 0C94 0000 jmp .L428 |
||
| 4808 | 4823 2d88 C901 movw r24,r18 |
||
| 4809 | 4824 2d8a 0196 adiw r24,1 |
||
| 4810 | 4825 2d8c 9093 0000 sts (Poti8)+1,r25 |
||
| 4811 | 4826 2d90 8093 0000 sts Poti8,r24 |
||
| 4812 | 4827 2d94 9C01 movw r18,r24 |
||
| 4813 | 4828 .L429: |
||
| 4814 | 4829 2d96 F7FE sbrs r15,7 |
||
| 4815 | 4830 2d98 00C0 rjmp .+4 |
||
| 4816 | 4831 2d9a 0C94 0000 jmp .L769 |
||
| 4817 | 4832 2d9e 8FEF ldi r24,lo8(255) |
||
| 4818 | 4833 2da0 E816 cp r14,r24 |
||
| 4819 | 4834 2da2 F104 cpc r15,__zero_reg__ |
||
| 4820 | 4835 2da4 01F0 breq .L431 |
||
| 4821 | 4836 2da6 04F0 brlt .L431 |
||
| 4822 | 4837 2da8 8FEF ldi r24,lo8(255) |
||
| 4823 | 4838 2daa 90E0 ldi r25,hi8(255) |
||
| 4824 | 4839 2dac 9093 0000 sts (Poti1)+1,r25 |
||
| 4825 | 4840 2db0 8093 0000 sts Poti1,r24 |
||
| 4826 | 4841 .L431: |
||
| 4827 | 4842 2db4 17FF sbrs r17,7 |
||
| 4828 | 4843 2db6 00C0 rjmp .+4 |
||
| 4829 | 4844 2db8 0C94 0000 jmp .L770 |
||
| 4830 | 4845 2dbc 0F3F cpi r16,255 |
||
| 4831 | 4846 2dbe 1105 cpc r17,__zero_reg__ |
||
| 4832 | 4847 2dc0 01F0 breq .L433 |
||
| 4833 | 4848 2dc2 04F0 brlt .L433 |
||
| 4834 | 4849 2dc4 8FEF ldi r24,lo8(255) |
||
| 4835 | 4850 2dc6 90E0 ldi r25,hi8(255) |
||
| 4836 | 4851 2dc8 9093 0000 sts (Poti2)+1,r25 |
||
| 4837 | 4852 2dcc 8093 0000 sts Poti2,r24 |
||
| 4838 | 4853 .L433: |
||
| 4839 | 4854 2dd0 B7FE sbrs r11,7 |
||
| 4840 | 4855 2dd2 00C0 rjmp .+4 |
||
| 4841 | 4856 2dd4 0C94 0000 jmp .L771 |
||
| 4842 | 4857 2dd8 9FEF ldi r25,lo8(255) |
||
| 4843 | 4858 2dda A916 cp r10,r25 |
||
| 4844 | 4859 2ddc B104 cpc r11,__zero_reg__ |
||
| 4845 | 4860 2dde 01F0 breq .L435 |
||
| 4846 | 4861 2de0 04F0 brlt .L435 |
||
| 4847 | 4862 2de2 8FEF ldi r24,lo8(255) |
||
| 4848 | 4863 2de4 90E0 ldi r25,hi8(255) |
||
| 4849 | 4864 2de6 9093 0000 sts (Poti3)+1,r25 |
||
| 4850 | 4865 2dea 8093 0000 sts Poti3,r24 |
||
| 4851 | 4866 .L435: |
||
| 4852 | 4867 2dee B7FF sbrs r27,7 |
||
| 4853 | 4868 2df0 00C0 rjmp .+4 |
||
| 4854 | 4869 2df2 0C94 0000 jmp .L772 |
||
| 4855 | 4870 2df6 AF3F cpi r26,255 |
||
| 4856 | 4871 2df8 B105 cpc r27,__zero_reg__ |
||
| 4857 | 4872 2dfa 01F0 breq .L437 |
||
| 4858 | 4873 2dfc 04F0 brlt .L437 |
||
| 4859 | 4874 2dfe 8FEF ldi r24,lo8(255) |
||
| 4860 | 4875 2e00 90E0 ldi r25,hi8(255) |
||
| 4861 | 4876 2e02 9093 0000 sts (Poti4)+1,r25 |
||
| 4862 | 4877 2e06 8093 0000 sts Poti4,r24 |
||
| 4863 | 4878 .L437: |
||
| 4864 | 4879 2e0a F7FF sbrs r31,7 |
||
| 4865 | 4880 2e0c 00C0 rjmp .+4 |
||
| 4866 | 4881 2e0e 0C94 0000 jmp .L773 |
||
| 4867 | 4882 2e12 EF3F cpi r30,255 |
||
| 4868 | 4883 2e14 F105 cpc r31,__zero_reg__ |
||
| 4869 | 4884 2e16 01F0 breq .L439 |
||
| 4870 | 4885 2e18 04F0 brlt .L439 |
||
| 4871 | 4886 2e1a 8FEF ldi r24,lo8(255) |
||
| 4872 | 4887 2e1c 90E0 ldi r25,hi8(255) |
||
| 4873 | 4888 2e1e 9093 0000 sts (Poti5)+1,r25 |
||
| 4874 | 4889 2e22 8093 0000 sts Poti5,r24 |
||
| 4875 | 4890 .L439: |
||
| 4876 | 4891 2e26 77FF sbrs r23,7 |
||
| 4877 | 4892 2e28 00C0 rjmp .+4 |
||
| 4878 | 4893 2e2a 0C94 0000 jmp .L774 |
||
| 4879 | 4894 2e2e 6F3F cpi r22,255 |
||
| 4880 | 4895 2e30 7105 cpc r23,__zero_reg__ |
||
| 4881 | 4896 2e32 01F0 breq .L441 |
||
| 4882 | 4897 2e34 04F0 brlt .L441 |
||
| 4883 | 4898 2e36 8FEF ldi r24,lo8(255) |
||
| 4884 | 4899 2e38 90E0 ldi r25,hi8(255) |
||
| 4885 | 4900 2e3a 9093 0000 sts (Poti6)+1,r25 |
||
| 4886 | 4901 2e3e 8093 0000 sts Poti6,r24 |
||
| 4887 | 4902 .L441: |
||
| 4888 | 4903 2e42 57FF sbrs r21,7 |
||
| 4889 | 4904 2e44 00C0 rjmp .+4 |
||
| 4890 | 4905 2e46 0C94 0000 jmp .L775 |
||
| 4891 | 4906 2e4a 4F3F cpi r20,255 |
||
| 4892 | 4907 2e4c 5105 cpc r21,__zero_reg__ |
||
| 4893 | 4908 2e4e 01F0 breq .L443 |
||
| 4894 | 4909 2e50 04F0 brlt .L443 |
||
| 4895 | 4910 2e52 8FEF ldi r24,lo8(255) |
||
| 4896 | 4911 2e54 90E0 ldi r25,hi8(255) |
||
| 4897 | 4912 2e56 9093 0000 sts (Poti7)+1,r25 |
||
| 4898 | 4913 2e5a 8093 0000 sts Poti7,r24 |
||
| 4899 | 4914 .L443: |
||
| 4900 | 4915 2e5e 37FF sbrs r19,7 |
||
| 4901 | 4916 2e60 00C0 rjmp .+4 |
||
| 4902 | 4917 2e62 0C94 0000 jmp .L776 |
||
| 4903 | 4918 2e66 2F3F cpi r18,255 |
||
| 4904 | 4919 2e68 3105 cpc r19,__zero_reg__ |
||
| 4905 | 4920 2e6a 01F0 breq .L445 |
||
| 4906 | 4921 2e6c 04F0 brlt .L445 |
||
| 4907 | 4922 2e6e 8FEF ldi r24,lo8(255) |
||
| 4908 | 4923 2e70 90E0 ldi r25,hi8(255) |
||
| 4909 | 4924 2e72 9093 0000 sts (Poti8)+1,r25 |
||
| 4910 | 4925 2e76 8093 0000 sts Poti8,r24 |
||
| 4911 | 4926 .L445: |
||
| 4912 | 4927 2e7a 8091 0000 lds r24,ParamSet+2 |
||
| 4913 | 4928 2e7e A82F mov r26,r24 |
||
| 4914 | 4929 2e80 B0E0 ldi r27,lo8(0) |
||
| 4915 | 4930 2e82 AA0F lsl r26 |
||
| 4916 | 4931 2e84 BB1F rol r27 |
||
| 4917 | 4932 2e86 FD01 movw r30,r26 |
||
| 4918 | 4933 2e88 E050 subi r30,lo8(-(PPM_in)) |
||
| 4919 | 4934 2e8a F040 sbci r31,hi8(-(PPM_in)) |
||
| 4920 | 4935 2e8c 8081 ld r24,Z |
||
| 4921 | 4936 2e8e 9181 ldd r25,Z+1 |
||
| 4922 | 4937 2e90 8135 cpi r24,81 |
||
| 4923 | 4938 2e92 9105 cpc r25,__zero_reg__ |
||
| 4924 | 4939 2e94 04F4 brge .+4 |
||
| 4925 | 4940 2e96 0C94 0000 jmp .L446 |
||
| 4926 | 4941 2e9a 8091 0000 lds r24,MKFlags |
||
| 4927 | 4942 2e9e 80FF sbrs r24,0 |
||
| 4928 | 4943 2ea0 00C0 rjmp .+4 |
||
| 4929 | 4944 2ea2 0C94 0000 jmp .L446 |
||
| 4930 | 4945 2ea6 8091 0000 lds r24,ParamSet+3 |
||
| 4931 | 4946 2eaa E82F mov r30,r24 |
||
| 4932 | 4947 2eac F0E0 ldi r31,lo8(0) |
||
| 4933 | 4948 2eae EE0F lsl r30 |
||
| 4934 | 4949 2eb0 FF1F rol r31 |
||
| 4935 | 4950 2eb2 E050 subi r30,lo8(-(PPM_in)) |
||
| 4936 | 4951 2eb4 F040 sbci r31,hi8(-(PPM_in)) |
||
| 4937 | 4952 2eb6 8081 ld r24,Z |
||
| 4938 | 4953 2eb8 9181 ldd r25,Z+1 |
||
| 4939 | 4954 2eba 8C34 cpi r24,76 |
||
| 4940 | 4955 2ebc 9105 cpc r25,__zero_reg__ |
||
| 4941 | 4956 2ebe 04F4 brge .+4 |
||
| 4942 | 4957 2ec0 0C94 0000 jmp .L447 |
||
| 4943 | 4958 2ec4 8091 0000 lds r24,delay_neutral.2416 |
||
| 4944 | 4959 2ec8 8F5F subi r24,lo8(-(1)) |
||
| 4945 | 4960 2eca 8093 0000 sts delay_neutral.2416,r24 |
||
| 4946 | 4961 2ece 893C cpi r24,lo8(-55) |
||
| 4947 | 4962 2ed0 00F4 brsh .+4 |
||
| 4948 | 4963 2ed2 0C94 0000 jmp .L446 |
||
| 4949 | 4964 2ed6 1092 0000 sts delay_neutral.2416,__zero_reg__ |
||
| 4950 | 4965 2eda ABE0 ldi r26,lo8(11) |
||
| 4951 | 4966 2edc AD15 cp r26,r13 |
||
| 4952 | 4967 2ede 00F4 brsh .+4 |
||
| 4953 | 4968 2ee0 0C94 0000 jmp .L449 |
||
| 4954 | 4969 2ee4 2998 cbi 37-32,1 |
||
| 4955 | 4970 .L450: |
||
| 4956 | 4971 2ee6 1092 0000 sts (ModelIsFlying)+1,__zero_reg__ |
||
| 4957 | 4972 2eea 1092 0000 sts ModelIsFlying,__zero_reg__ |
||
| 4958 | 4973 2eee 8091 0000 lds r24,ParamSet |
||
| 4959 | 4974 2ef2 482F mov r20,r24 |
||
| 4960 | 4975 2ef4 50E0 ldi r21,lo8(0) |
||
| 4961 | 4976 2ef6 440F lsl r20 |
||
| 4962 | 4977 2ef8 551F rol r21 |
||
| 4963 | 4978 2efa FA01 movw r30,r20 |
||
| 4964 | 4979 2efc E050 subi r30,lo8(-(PPM_in)) |
||
| 4965 | 4980 2efe F040 sbci r31,hi8(-(PPM_in)) |
||
| 4966 | 4981 2f00 8081 ld r24,Z |
||
| 4967 | 4982 2f02 9181 ldd r25,Z+1 |
||
| 4968 | 4983 2f04 8734 cpi r24,71 |
||
| 4969 | 4984 2f06 9105 cpc r25,__zero_reg__ |
||
| 4970 | 4985 2f08 04F4 brge .+4 |
||
| 4971 | 4986 2f0a 0C94 0000 jmp .L451 |
||
| 4972 | 4987 2f0e 8091 0000 lds r24,ParamSet+1 |
||
| 4973 | 4988 2f12 A82F mov r26,r24 |
||
| 4974 | 4989 2f14 B0E0 ldi r27,lo8(0) |
||
| 4975 | 4990 2f16 AA0F lsl r26 |
||
| 4976 | 4991 2f18 BB1F rol r27 |
||
| 4977 | 4992 .L452: |
||
| 4978 | 4993 2f1a FD01 movw r30,r26 |
||
| 4979 | 4994 2f1c E050 subi r30,lo8(-(PPM_in)) |
||
| 4980 | 4995 2f1e F040 sbci r31,hi8(-(PPM_in)) |
||
| 4981 | 4996 2f20 8081 ld r24,Z |
||
| 4982 | 4997 2f22 9181 ldd r25,Z+1 |
||
| 4983 | 4998 2f24 8734 cpi r24,71 |
||
| 4984 | 4999 2f26 9105 cpc r25,__zero_reg__ |
||
| 4985 | 5000 2f28 04F0 brlt .L455 |
||
| 4986 | 5001 2f2a FA01 movw r30,r20 |
||
| 4987 | 5002 2f2c E050 subi r30,lo8(-(PPM_in)) |
||
| 4988 | 5003 2f2e F040 sbci r31,hi8(-(PPM_in)) |
||
| 4989 | 5004 2f30 0190 ld __tmp_reg__,Z+ |
||
| 4990 | 5005 2f32 F081 ld r31,Z |
||
| 4991 | 5006 2f34 E02D mov r30,__tmp_reg__ |
||
| 4992 | 5007 .L455: |
||
| 4993 | 5008 2f36 FD01 movw r30,r26 |
||
| 4994 | 5009 2f38 E050 subi r30,lo8(-(PPM_in)) |
||
| 4995 | 5010 2f3a F040 sbci r31,hi8(-(PPM_in)) |
||
| 4996 | 5011 2f3c 8081 ld r24,Z |
||
| 4997 | 5012 2f3e 9181 ldd r25,Z+1 |
||
| 4998 | 5013 2f40 8734 cpi r24,71 |
||
| 4999 | 5014 2f42 9105 cpc r25,__zero_reg__ |
||
| 5000 | 5015 2f44 04F4 brge .+4 |
||
| 5001 | 5016 2f46 0C94 0000 jmp .L456 |
||
| 5002 | 5017 2f4a FA01 movw r30,r20 |
||
| 5003 | 5018 2f4c E050 subi r30,lo8(-(PPM_in)) |
||
| 5004 | 5019 2f4e F040 sbci r31,hi8(-(PPM_in)) |
||
| 5005 | 5020 2f50 8081 ld r24,Z |
||
| 5006 | 5021 2f52 9181 ldd r25,Z+1 |
||
| 5007 | 5022 2f54 8734 cpi r24,71 |
||
| 5008 | 5023 2f56 9105 cpc r25,__zero_reg__ |
||
| 5009 | 5024 2f58 04F4 brge .+4 |
||
| 5010 | 5025 2f5a 0C94 0000 jmp .L456 |
||
| 5011 | 5026 2f5e 22E0 ldi r18,lo8(2) |
||
| 5012 | 5027 .L457: |
||
| 5013 | 5028 2f60 FD01 movw r30,r26 |
||
| 5014 | 5029 2f62 E050 subi r30,lo8(-(PPM_in)) |
||
| 5015 | 5030 2f64 F040 sbci r31,hi8(-(PPM_in)) |
||
| 5016 | 5031 2f66 8081 ld r24,Z |
||
| 5017 | 5032 2f68 9181 ldd r25,Z+1 |
||
| 5018 | 5033 2f6a 8634 cpi r24,70 |
||
| 5019 | 5034 2f6c 9105 cpc r25,__zero_reg__ |
||
| 5020 | 5035 2f6e 04F4 brge .L458 |
||
| 5021 | 5036 2f70 FA01 movw r30,r20 |
||
| 5022 | 5037 2f72 E050 subi r30,lo8(-(PPM_in)) |
||
| 5023 | 5038 2f74 F040 sbci r31,hi8(-(PPM_in)) |
||
| 5024 | 5039 2f76 8081 ld r24,Z |
||
| 5025 | 5040 2f78 9181 ldd r25,Z+1 |
||
| 5026 | 5041 2f7a 8734 cpi r24,71 |
||
| 5027 | 5042 2f7c 9105 cpc r25,__zero_reg__ |
||
| 5028 | 5043 2f7e 04F0 brlt .L458 |
||
| 5029 | 5044 2f80 23E0 ldi r18,lo8(3) |
||
| 5030 | 5045 .L458: |
||
| 5031 | 5046 2f82 FD01 movw r30,r26 |
||
| 5032 | 5047 2f84 E050 subi r30,lo8(-(PPM_in)) |
||
| 5033 | 5048 2f86 F040 sbci r31,hi8(-(PPM_in)) |
||
| 5034 | 5049 2f88 8081 ld r24,Z |
||
| 5035 | 5050 2f8a 9181 ldd r25,Z+1 |
||
| 5036 | 5051 2f8c 8A5B subi r24,lo8(-70) |
||
| 5037 | 5052 2f8e 9F4F sbci r25,hi8(-70) |
||
| 5038 | 5053 2f90 04F4 brge .L459 |
||
| 5039 | 5054 2f92 FA01 movw r30,r20 |
||
| 5040 | 5055 2f94 E050 subi r30,lo8(-(PPM_in)) |
||
| 5041 | 5056 2f96 F040 sbci r31,hi8(-(PPM_in)) |
||
| 5042 | 5057 2f98 8081 ld r24,Z |
||
| 5043 | 5058 2f9a 9181 ldd r25,Z+1 |
||
| 5044 | 5059 2f9c 8734 cpi r24,71 |
||
| 5045 | 5060 2f9e 9105 cpc r25,__zero_reg__ |
||
| 5046 | 5061 2fa0 04F0 brlt .L459 |
||
| 5047 | 5062 2fa2 24E0 ldi r18,lo8(4) |
||
| 5048 | 5063 .L459: |
||
| 5049 | 5064 2fa4 A050 subi r26,lo8(-(PPM_in)) |
||
| 5050 | 5065 2fa6 B040 sbci r27,hi8(-(PPM_in)) |
||
| 5051 | 5066 2fa8 8D91 ld r24,X+ |
||
| 5052 | 5067 2faa 9C91 ld r25,X |
||
| 5053 | 5068 2fac 8A5B subi r24,lo8(-70) |
||
| 5054 | 5069 2fae 9F4F sbci r25,hi8(-70) |
||
| 5055 | 5070 2fb0 04F4 brge .L460 |
||
| 5056 | 5071 2fb2 4050 subi r20,lo8(-(PPM_in)) |
||
| 5057 | 5072 2fb4 5040 sbci r21,hi8(-(PPM_in)) |
||
| 5058 | 5073 2fb6 DA01 movw r26,r20 |
||
| 5059 | 5074 2fb8 8D91 ld r24,X+ |
||
| 5060 | 5075 2fba 9C91 ld r25,X |
||
| 5061 | 5076 2fbc 8634 cpi r24,70 |
||
| 5062 | 5077 2fbe 9105 cpc r25,__zero_reg__ |
||
| 5063 | 5078 2fc0 04F4 brge .L460 |
||
| 5064 | 5079 2fc2 25E0 ldi r18,lo8(5) |
||
| 5065 | 5080 .L460: |
||
| 5066 | 5081 2fc4 822F mov r24,r18 |
||
| 5067 | 5082 2fc6 0E94 0000 call SetActiveParamSet |
||
| 5068 | 5083 2fca 0E94 0000 call GetActiveParamSet |
||
| 5069 | 5084 2fce 0E94 0000 call ParamSet_ReadFromEEProm |
||
| 5070 | 5085 2fd2 0E94 0000 call Servo_Off |
||
| 5071 | 5086 2fd6 80E0 ldi r24,lo8(0) |
||
| 5072 | 5087 2fd8 0C94 0000 jmp .L726 |
||
| 5073 | 5088 .L504: |
||
| 5074 | 5089 2fdc 8091 0000 lds r24,ParamSet+48 |
||
| 5075 | 5090 2fe0 282F mov r18,r24 |
||
| 5076 | 5091 2fe2 30E0 ldi r19,lo8(0) |
||
| 5077 | 5092 2fe4 8091 0000 lds r24,StickGas |
||
| 5078 | 5093 2fe8 9091 0000 lds r25,(StickGas)+1 |
||
| 5079 | 5094 2fec 2817 cp r18,r24 |
||
| 5080 | 5095 2fee 3907 cpc r19,r25 |
||
| 5081 | 5096 2ff0 04F4 brge .L506 |
||
| 5082 | 5097 2ff2 3093 0000 sts (StickGas)+1,r19 |
||
| 5083 | 5098 2ff6 2093 0000 sts StickGas,r18 |
||
| 5084 | 5099 .L506: |
||
| 5085 | 5100 2ffa 81E0 ldi r24,lo8(1) |
||
| 5086 | 5101 2ffc 8093 0000 sts FunnelCourse,r24 |
||
| 5087 | 5102 3000 00C0 rjmp .L505 |
||
| 5088 | 5103 .L759: |
||
| 5089 | 5104 3002 8091 0000 lds r24,MKFlags |
||
| 5090 | 5105 3006 80FD sbrc r24,0 |
||
| 5091 | 5106 3008 00C0 rjmp .L576 |
||
| 5092 | 5107 300a 0E94 0000 call SetCompassCalState |
||
| 5093 | 5108 300e 9091 0000 lds r25,LoopingNick |
||
| 5094 | 5109 3012 9D8F std Y+29,r25 |
||
| 5095 | 5110 .L728: |
||
| 5096 | 5111 3014 2090 0000 lds r2,GyroYaw |
||
| 5097 | 5112 3018 3090 0000 lds r3,(GyroYaw)+1 |
||
| 5098 | 5113 .L575: |
||
| 5099 | 5114 301c 8091 0000 lds r24,TimerDebugOut.2419 |
||
| 5100 | 5115 3020 8150 subi r24,lo8(-(-1)) |
||
| 5101 | 5116 3022 8093 0000 sts TimerDebugOut.2419,r24 |
||
| 5102 | 5117 3026 8F5F subi r24,lo8(-(1)) |
||
| 5103 | 5118 3028 01F0 breq .+2 |
||
| 5104 | 5119 302a 00C0 rjmp .L593 |
||
| 5105 | 5120 302c 88E1 ldi r24,lo8(24) |
||
| 5106 | 5121 302e 8093 0000 sts TimerDebugOut.2419,r24 |
||
| 5107 | 5122 3032 6091 0000 lds r22,IntegralGyroNick |
||
| 5108 | 5123 3036 7091 0000 lds r23,(IntegralGyroNick)+1 |
||
| 5109 | 5124 303a 8091 0000 lds r24,(IntegralGyroNick)+2 |
||
| 5110 | 5125 303e 9091 0000 lds r25,(IntegralGyroNick)+3 |
||
| 5111 | 5126 3042 2AE0 ldi r18,lo8(10) |
||
| 5112 | 5127 3044 30E0 ldi r19,hi8(10) |
||
| 5113 | 5128 3046 40E0 ldi r20,hlo8(10) |
||
| 5114 | 5129 3048 50E0 ldi r21,hhi8(10) |
||
| 5115 | 5130 304a 0E94 0000 call __mulsi3 |
||
| 5116 | 5131 304e E090 0000 lds r14,ParamSet+23 |
||
| 5117 | 5132 3052 2AE2 ldi r18,lo8(42) |
||
| 5118 | 5133 3054 E29E mul r14,r18 |
||
| 5119 | 5134 3056 7001 movw r14,r0 |
||
| 5120 | 5135 3058 1124 clr r1 |
||
| 5121 | 5136 305a 0027 clr r16 |
||
| 5122 | 5137 305c F7FC sbrc r15,7 |
||
| 5123 | 5138 305e 0095 com r16 |
||
| 5124 | 5139 3060 102F mov r17,r16 |
||
| 5125 | 5140 3062 A801 movw r20,r16 |
||
| 5126 | 5141 3064 9701 movw r18,r14 |
||
| 5127 | 5142 3066 0E94 0000 call __divmodsi4 |
||
| 5128 | 5143 306a 3093 0000 sts (DebugOut+2)+1,r19 |
||
| 5129 | 5144 306e 2093 0000 sts DebugOut+2,r18 |
||
| 5130 | 5145 3072 6091 0000 lds r22,IntegralGyroRoll |
||
| 5131 | 5146 3076 7091 0000 lds r23,(IntegralGyroRoll)+1 |
||
| 5132 | 5147 307a 8091 0000 lds r24,(IntegralGyroRoll)+2 |
||
| 5133 | 5148 307e 9091 0000 lds r25,(IntegralGyroRoll)+3 |
||
| 5134 | 5149 3082 2AE0 ldi r18,lo8(10) |
||
| 5135 | 5150 3084 30E0 ldi r19,hi8(10) |
||
| 5136 | 5151 3086 40E0 ldi r20,hlo8(10) |
||
| 5137 | 5152 3088 50E0 ldi r21,hhi8(10) |
||
| 5138 | 5153 308a 0E94 0000 call __mulsi3 |
||
| 5139 | 5154 308e A801 movw r20,r16 |
||
| 5140 | 5155 3090 9701 movw r18,r14 |
||
| 5141 | 5156 3092 0E94 0000 call __divmodsi4 |
||
| 5142 | 5157 3096 3093 0000 sts (DebugOut+4)+1,r19 |
||
| 5143 | 5158 309a 2093 0000 sts DebugOut+4,r18 |
||
| 5144 | 5159 309e 8091 0000 lds r24,AccNick |
||
| 5145 | 5160 30a2 9091 0000 lds r25,AccNick+1 |
||
| 5146 | 5161 30a6 9C01 movw r18,r24 |
||
| 5147 | 5162 30a8 220F lsl r18 |
||
| 5148 | 5163 30aa 331F rol r19 |
||
| 5149 | 5164 30ac 220F lsl r18 |
||
| 5150 | 5165 30ae 331F rol r19 |
||
| 5151 | 5166 30b0 220F lsl r18 |
||
| 5152 | 5167 30b2 331F rol r19 |
||
| 5153 | 5168 30b4 880F lsl r24 |
||
| 5154 | 5169 30b6 991F rol r25 |
||
| 5155 | 5170 30b8 820F add r24,r18 |
||
| 5156 | 5171 30ba 931F adc r25,r19 |
||
| 5157 | 5172 30bc 6AE2 ldi r22,lo8(42) |
||
| 5158 | 5173 30be 70E0 ldi r23,hi8(42) |
||
| 5159 | 5174 30c0 0E94 0000 call __divmodhi4 |
||
| 5160 | 5175 30c4 7093 0000 sts (DebugOut+6)+1,r23 |
||
| 5161 | 5176 30c8 6093 0000 sts DebugOut+6,r22 |
||
| 5162 | 5177 30cc 8091 0000 lds r24,AccRoll |
||
| 5163 | 5178 30d0 9091 0000 lds r25,AccRoll+1 |
||
| 5164 | 5179 30d4 9C01 movw r18,r24 |
||
| 5165 | 5180 30d6 220F lsl r18 |
||
| 5166 | 5181 30d8 331F rol r19 |
||
| 5167 | 5182 30da 220F lsl r18 |
||
| 5168 | 5183 30dc 331F rol r19 |
||
| 5169 | 5184 30de 220F lsl r18 |
||
| 5170 | 5185 30e0 331F rol r19 |
||
| 5171 | 5186 30e2 880F lsl r24 |
||
| 5172 | 5187 30e4 991F rol r25 |
||
| 5173 | 5188 30e6 820F add r24,r18 |
||
| 5174 | 5189 30e8 931F adc r25,r19 |
||
| 5175 | 5190 30ea 6AE2 ldi r22,lo8(42) |
||
| 5176 | 5191 30ec 70E0 ldi r23,hi8(42) |
||
| 5177 | 5192 30ee 0E94 0000 call __divmodhi4 |
||
| 5178 | 5193 30f2 7093 0000 sts (DebugOut+8)+1,r23 |
||
| 5179 | 5194 30f6 6093 0000 sts DebugOut+8,r22 |
||
| 5180 | 5195 30fa 3092 0000 sts (DebugOut+10)+1,r3 |
||
| 5181 | 5196 30fe 2092 0000 sts DebugOut+10,r2 |
||
| 5182 | 5197 3102 6091 0000 lds r22,ReadingHeight |
||
| 5183 | 5198 3106 7091 0000 lds r23,(ReadingHeight)+1 |
||
| 5184 | 5199 310a 8091 0000 lds r24,(ReadingHeight)+2 |
||
| 5185 | 5200 310e 9091 0000 lds r25,(ReadingHeight)+3 |
||
| 5186 | 5201 3112 25E0 ldi r18,lo8(5) |
||
| 5187 | 5202 3114 30E0 ldi r19,hi8(5) |
||
| 5188 | 5203 3116 40E0 ldi r20,hlo8(5) |
||
| 5189 | 5204 3118 50E0 ldi r21,hhi8(5) |
||
| 5190 | 5205 311a 0E94 0000 call __divmodsi4 |
||
| 5191 | 5206 311e 3093 0000 sts (DebugOut+12)+1,r19 |
||
| 5192 | 5207 3122 2093 0000 sts DebugOut+12,r18 |
||
| 5193 | 5208 3126 6091 0000 lds r22,ReadingIntegralTop |
||
| 5194 | 5209 312a 7091 0000 lds r23,(ReadingIntegralTop)+1 |
||
| 5195 | 5210 312e 8091 0000 lds r24,(ReadingIntegralTop)+2 |
||
| 5196 | 5211 3132 9091 0000 lds r25,(ReadingIntegralTop)+3 |
||
| 5197 | 5212 3136 20E0 ldi r18,lo8(512) |
||
| 5198 | 5213 3138 32E0 ldi r19,hi8(512) |
||
| 5199 | 5214 313a 40E0 ldi r20,hlo8(512) |
||
| 5200 | 5215 313c 50E0 ldi r21,hhi8(512) |
||
| 5201 | 5216 313e 0E94 0000 call __divmodsi4 |
||
| 5202 | 5217 3142 3093 0000 sts (DebugOut+14)+1,r19 |
||
| 5203 | 5218 3146 2093 0000 sts DebugOut+14,r18 |
||
| 5204 | 5219 314a 8091 0000 lds r24,CompassHeading |
||
| 5205 | 5220 314e 9091 0000 lds r25,(CompassHeading)+1 |
||
| 5206 | 5221 3152 9093 0000 sts (DebugOut+18)+1,r25 |
||
| 5207 | 5222 3156 8093 0000 sts DebugOut+18,r24 |
||
| 5208 | 5223 315a 8091 0000 lds r24,UBat |
||
| 5209 | 5224 315e 9091 0000 lds r25,(UBat)+1 |
||
| 5210 | 5225 3162 9093 0000 sts (DebugOut+20)+1,r25 |
||
| 5211 | 5226 3166 8093 0000 sts DebugOut+20,r24 |
||
| 5212 | 5227 316a 8091 0000 lds r24,RC_Quality |
||
| 5213 | 5228 316e 8093 0000 sts DebugOut+22,r24 |
||
| 5214 | 5229 3172 1092 0000 sts DebugOut+23,__zero_reg__ |
||
| 5215 | 5230 3176 6091 0000 lds r22,YawGyroHeading |
||
| 5216 | 5231 317a 7091 0000 lds r23,(YawGyroHeading)+1 |
||
| 5217 | 5232 317e 8091 0000 lds r24,(YawGyroHeading)+2 |
||
| 5218 | 5233 3182 9091 0000 lds r25,(YawGyroHeading)+3 |
||
| 5219 | 5234 3186 A801 movw r20,r16 |
||
| 5220 | 5235 3188 9701 movw r18,r14 |
||
| 5221 | 5236 318a 0E94 0000 call __divmodsi4 |
||
| 5222 | 5237 318e 3093 0000 sts (DebugOut+24)+1,r19 |
||
| 5223 | 5238 3192 2093 0000 sts DebugOut+24,r18 |
||
| 5224 | 5239 3196 8091 0000 lds r24,CompassCalState |
||
| 5225 | 5240 319a 8093 0000 sts DebugOut+40,r24 |
||
| 5226 | 5241 319e 1092 0000 sts DebugOut+41,__zero_reg__ |
||
| 5227 | 5242 31a2 8091 0000 lds r24,ServoNickValue |
||
| 5228 | 5243 31a6 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 5229 | 5244 31aa 9093 0000 sts (DebugOut+42)+1,r25 |
||
| 5230 | 5245 31ae 8093 0000 sts DebugOut+42,r24 |
||
| 5231 | 5246 31b2 8091 0000 lds r24,GPSStickNick |
||
| 5232 | 5247 31b6 9091 0000 lds r25,(GPSStickNick)+1 |
||
| 5233 | 5248 31ba 9093 0000 sts (DebugOut+62)+1,r25 |
||
| 5234 | 5249 31be 8093 0000 sts DebugOut+62,r24 |
||
| 5235 | 5250 31c2 8091 0000 lds r24,GPSStickRoll |
||
| 5236 | 5251 31c6 9091 0000 lds r25,(GPSStickRoll)+1 |
||
| 5237 | 5252 31ca 9093 0000 sts (DebugOut+64)+1,r25 |
||
| 5238 | 5253 31ce 8093 0000 sts DebugOut+64,r24 |
||
| 5239 | 5254 .L593: |
||
| 5240 | 5255 31d2 8090 0000 lds r8,TrimNick |
||
| 5241 | 5256 31d6 9090 0000 lds r9,(TrimNick)+1 |
||
| 5242 | 5257 31da 58E3 ldi r21,lo8(-200) |
||
| 5243 | 5258 31dc 8516 cp r8,r21 |
||
| 5244 | 5259 31de 5FEF ldi r21,hi8(-200) |
||
| 5245 | 5260 31e0 9506 cpc r9,r21 |
||
| 5246 | 5261 31e2 04F0 brlt .+2 |
||
| 5247 | 5262 31e4 00C0 rjmp .L594 |
||
| 5248 | 5263 31e6 88E3 ldi r24,lo8(-200) |
||
| 5249 | 5264 31e8 9FEF ldi r25,hi8(-200) |
||
| 5250 | 5265 31ea 9093 0000 sts (TrimNick)+1,r25 |
||
| 5251 | 5266 31ee 8093 0000 sts TrimNick,r24 |
||
| 5252 | 5267 31f2 F8E3 ldi r31,lo8(-200) |
||
| 5253 | 5268 31f4 8F2E mov r8,r31 |
||
| 5254 | 5269 31f6 FFEF ldi r31,hi8(-200) |
||
| 5255 | 5270 31f8 9F2E mov r9,r31 |
||
| 5256 | 5271 .L595: |
||
| 5257 | 5272 31fa 8091 0000 lds r24,TrimRoll |
||
| 5258 | 5273 31fe 9091 0000 lds r25,(TrimRoll)+1 |
||
| 5259 | 5274 3202 9F8F std Y+31,r25 |
||
| 5260 | 5275 3204 8E8F std Y+30,r24 |
||
| 5261 | 5276 3206 8853 subi r24,lo8(-200) |
||
| 5262 | 5277 3208 9F4F sbci r25,hi8(-200) |
||
| 5263 | 5278 320a 04F0 brlt .+2 |
||
| 5264 | 5279 320c 00C0 rjmp .L596 |
||
| 5265 | 5280 320e 88E3 ldi r24,lo8(-200) |
||
| 5266 | 5281 3210 9FEF ldi r25,hi8(-200) |
||
| 5267 | 5282 3212 9093 0000 sts (TrimRoll)+1,r25 |
||
| 5268 | 5283 3216 8093 0000 sts TrimRoll,r24 |
||
| 5269 | 5284 321a 9F8F std Y+31,r25 |
||
| 5270 | 5285 321c 8E8F std Y+30,r24 |
||
| 5271 | 5286 .L597: |
||
| 5272 | 5287 321e 8091 0000 lds r24,FunnelCourse |
||
| 5273 | 5288 3222 8823 tst r24 |
||
| 5274 | 5289 3224 01F0 breq .L598 |
||
| 5275 | 5290 3226 1092 0000 sts IPartNick.2408,__zero_reg__ |
||
| 5276 | 5291 322a 1092 0000 sts (IPartNick.2408)+1,__zero_reg__ |
||
| 5277 | 5292 322e 1092 0000 sts (IPartNick.2408)+2,__zero_reg__ |
||
| 5278 | 5293 3232 1092 0000 sts (IPartNick.2408)+3,__zero_reg__ |
||
| 5279 | 5294 3236 1092 0000 sts IPartRoll.2409,__zero_reg__ |
||
| 5280 | 5295 323a 1092 0000 sts (IPartRoll.2409)+1,__zero_reg__ |
||
| 5281 | 5296 323e 1092 0000 sts (IPartRoll.2409)+2,__zero_reg__ |
||
| 5282 | 5297 3242 1092 0000 sts (IPartRoll.2409)+3,__zero_reg__ |
||
| 5283 | 5298 .L598: |
||
| 5284 | 5299 3246 FD8D ldd r31,Y+29 |
||
| 5285 | 5300 3248 FF23 tst r31 |
||
| 5286 | 5301 324a 01F4 brne .+2 |
||
| 5287 | 5302 324c 00C0 rjmp .L599 |
||
| 5288 | 5303 324e 4424 clr r4 |
||
| 5289 | 5304 3250 5524 clr r5 |
||
| 5290 | 5305 3252 1C82 std Y+4,__zero_reg__ |
||
| 5291 | 5306 3254 1B82 std Y+3,__zero_reg__ |
||
| 5292 | 5307 .L600: |
||
| 5293 | 5308 3256 A090 0000 lds r10,GyroNick |
||
| 5294 | 5309 325a B090 0000 lds r11,(GyroNick)+1 |
||
| 5295 | 5310 325e BC8A std Y+20,r11 |
||
| 5296 | 5311 3260 AB8A std Y+19,r10 |
||
| 5297 | 5312 3262 8091 0000 lds r24,GyroPFactor |
||
| 5298 | 5313 3266 282F mov r18,r24 |
||
| 5299 | 5314 3268 30E0 ldi r19,lo8(0) |
||
| 5300 | 5315 326a 40E0 ldi r20,lo8(0) |
||
| 5301 | 5316 326c 50E0 ldi r21,hi8(0) |
||
| 5302 | 5317 326e 2F87 std Y+15,r18 |
||
| 5303 | 5318 3270 388B std Y+16,r19 |
||
| 5304 | 5319 3272 498B std Y+17,r20 |
||
| 5305 | 5320 3274 5A8B std Y+18,r21 |
||
| 5306 | 5321 3276 1091 0000 lds r17,LoopingRoll |
||
| 5307 | 5322 327a 1123 tst r17 |
||
| 5308 | 5323 327c 01F4 brne .+2 |
||
| 5309 | 5324 327e 00C0 rjmp .L601 |
||
| 5310 | 5325 3280 1886 std Y+8,__zero_reg__ |
||
| 5311 | 5326 3282 1F82 std Y+7,__zero_reg__ |
||
| 5312 | 5327 3284 1E82 std Y+6,__zero_reg__ |
||
| 5313 | 5328 3286 1D82 std Y+5,__zero_reg__ |
||
| 5314 | 5329 .L602: |
||
| 5315 | 5330 3288 4091 0000 lds r20,GyroRoll |
||
| 5316 | 5331 328c 5091 0000 lds r21,(GyroRoll)+1 |
||
| 5317 | 5332 3290 5E87 std Y+14,r21 |
||
| 5318 | 5333 3292 4D87 std Y+13,r20 |
||
| 5319 | 5334 3294 6090 0000 lds r6,GyroYawPFactor |
||
| 5320 | 5335 3298 7090 0000 lds r7,GyroYawIFactor |
||
| 5321 | 5336 329c 6091 0000 lds r22,IntegralGyroYaw |
||
| 5322 | 5337 32a0 7091 0000 lds r23,(IntegralGyroYaw)+1 |
||
| 5323 | 5338 32a4 8091 0000 lds r24,(IntegralGyroYaw)+2 |
||
| 5324 | 5339 32a8 9091 0000 lds r25,(IntegralGyroYaw)+3 |
||
| 5325 | 5340 32ac 6987 std Y+9,r22 |
||
| 5326 | 5341 32ae 7A87 std Y+10,r23 |
||
| 5327 | 5342 32b0 8B87 std Y+11,r24 |
||
| 5328 | 5343 32b2 9C87 std Y+12,r25 |
||
| 5329 | 5344 32b4 4091 0000 lds r20,StickGas |
||
| 5330 | 5345 32b8 5091 0000 lds r21,(StickGas)+1 |
||
| 5331 | 5346 32bc 2091 0000 lds r18,LowVoltageWarning |
||
| 5332 | 5347 32c0 8091 0000 lds r24,UBat |
||
| 5333 | 5348 32c4 9091 0000 lds r25,(UBat)+1 |
||
| 5334 | 5349 32c8 30E0 ldi r19,lo8(0) |
||
| 5335 | 5350 32ca 2817 cp r18,r24 |
||
| 5336 | 5351 32cc 3907 cpc r19,r25 |
||
| 5337 | 5352 32ce 04F4 brge .L603 |
||
| 5338 | 5353 32d0 6091 0000 lds r22,UBat |
||
| 5339 | 5354 32d4 7091 0000 lds r23,(UBat)+1 |
||
| 5340 | 5355 32d8 429F mul r20,r18 |
||
| 5341 | 5356 32da C001 movw r24,r0 |
||
| 5342 | 5357 32dc 439F mul r20,r19 |
||
| 5343 | 5358 32de 900D add r25,r0 |
||
| 5344 | 5359 32e0 529F mul r21,r18 |
||
| 5345 | 5360 32e2 900D add r25,r0 |
||
| 5346 | 5361 32e4 1124 clr r1 |
||
| 5347 | 5362 32e6 0E94 0000 call __udivmodhi4 |
||
| 5348 | 5363 32ea AB01 movw r20,r22 |
||
| 5349 | 5364 .L603: |
||
| 5350 | 5365 32ec CA01 movw r24,r20 |
||
| 5351 | 5366 32ee 880F lsl r24 |
||
| 5352 | 5367 32f0 991F rol r25 |
||
| 5353 | 5368 32f2 880F lsl r24 |
||
| 5354 | 5369 32f4 991F rol r25 |
||
| 5355 | 5370 32f6 99AF std Y+57,r25 |
||
| 5356 | 5371 32f8 88AF std Y+56,r24 |
||
| 5357 | 5372 32fa 8091 0000 lds r24,ParamSet+8 |
||
| 5358 | 5373 32fe 80FF sbrs r24,0 |
||
| 5359 | 5374 3300 00C0 rjmp .L604 |
||
| 5360 | 5375 3302 1123 tst r17 |
||
| 5361 | 5376 3304 01F4 brne .+2 |
||
| 5362 | 5377 3306 00C0 rjmp .L777 |
||
| 5363 | 5378 .L604: |
||
| 5364 | 5379 3308 8091 0000 lds r24,ParamSet+21 |
||
| 5365 | 5380 330c 282F mov r18,r24 |
||
| 5366 | 5381 330e 30E0 ldi r19,lo8(0) |
||
| 5367 | 5382 3310 265F subi r18,lo8(-(10)) |
||
| 5368 | 5383 3312 3F4F sbci r19,hi8(-(10)) |
||
| 5369 | 5384 3314 5901 movw r10,r18 |
||
| 5370 | 5385 3316 AA0C lsl r10 |
||
| 5371 | 5386 3318 BB1C rol r11 |
||
| 5372 | 5387 331a AA0C lsl r10 |
||
| 5373 | 5388 331c BB1C rol r11 |
||
| 5374 | 5389 331e 2A50 subi r18,lo8(-(-10)) |
||
| 5375 | 5390 3320 3040 sbci r19,hi8(-(-10)) |
||
| 5376 | 5391 3322 C8AC ldd r12,Y+56 |
||
| 5377 | 5392 3324 D9AC ldd r13,Y+57 |
||
| 5378 | 5393 3326 CA14 cp r12,r10 |
||
| 5379 | 5394 3328 DB04 cpc r13,r11 |
||
| 5380 | 5395 332a 04F0 brlt .L669 |
||
| 5381 | 5396 332c 8091 0000 lds r24,ParamSet+22 |
||
| 5382 | 5397 3330 90E0 ldi r25,lo8(0) |
||
| 5383 | 5398 3332 4497 sbiw r24,20 |
||
| 5384 | 5399 3334 880F lsl r24 |
||
| 5385 | 5400 3336 991F rol r25 |
||
| 5386 | 5401 3338 880F lsl r24 |
||
| 5387 | 5402 333a 991F rol r25 |
||
| 5388 | 5403 333c 5601 movw r10,r12 |
||
| 5389 | 5404 333e 8C15 cp r24,r12 |
||
| 5390 | 5405 3340 9D05 cpc r25,r13 |
||
| 5391 | 5406 3342 04F4 brge .+2 |
||
| 5392 | 5407 3344 00C0 rjmp .L778 |
||
| 5393 | 5408 .L669: |
||
| 5394 | 5409 3346 8091 0000 lds r24,MissingMotor |
||
| 5395 | 5410 334a 8823 tst r24 |
||
| 5396 | 5411 334c 01F0 breq .L671 |
||
| 5397 | 5412 334e 8091 0000 lds r24,ModelIsFlying |
||
| 5398 | 5413 3352 9091 0000 lds r25,(ModelIsFlying)+1 |
||
| 5399 | 5414 3356 0297 sbiw r24,2 |
||
| 5400 | 5415 3358 C097 sbiw r24,48 |
||
| 5401 | 5416 335a 00F4 brsh .+2 |
||
| 5402 | 5417 335c 00C0 rjmp .L779 |
||
| 5403 | 5418 .L672: |
||
| 5404 | 5419 335e 5901 movw r10,r18 |
||
| 5405 | 5420 3360 AA0C lsl r10 |
||
| 5406 | 5421 3362 BB1C rol r11 |
||
| 5407 | 5422 3364 AA0C lsl r10 |
||
| 5408 | 5423 3366 BB1C rol r11 |
||
| 5409 | 5424 .L671: |
||
| 5410 | 5425 3368 B092 0000 sts (DebugOut+16)+1,r11 |
||
| 5411 | 5426 336c A092 0000 sts DebugOut+16,r10 |
||
| 5412 | 5427 3370 220C lsl r2 |
||
| 5413 | 5428 3372 331C rol r3 |
||
| 5414 | 5429 3374 B101 movw r22,r2 |
||
| 5415 | 5430 3376 8827 clr r24 |
||
| 5416 | 5431 3378 77FD sbrc r23,7 |
||
| 5417 | 5432 337a 8095 com r24 |
||
| 5418 | 5433 337c 982F mov r25,r24 |
||
| 5419 | 5434 337e 262D mov r18,r6 |
||
| 5420 | 5435 3380 30E0 ldi r19,lo8(0) |
||
| 5421 | 5436 3382 40E0 ldi r20,lo8(0) |
||
| 5422 | 5437 3384 50E0 ldi r21,hi8(0) |
||
| 5423 | 5438 3386 0E94 0000 call __mulsi3 |
||
| 5424 | 5439 338a 20E4 ldi r18,lo8(64) |
||
| 5425 | 5440 338c 30E0 ldi r19,hi8(64) |
||
| 5426 | 5441 338e 40E0 ldi r20,hlo8(64) |
||
| 5427 | 5442 3390 50E0 ldi r21,hhi8(64) |
||
| 5428 | 5443 3392 0E94 0000 call __divmodsi4 |
||
| 5429 | 5444 3396 7901 movw r14,r18 |
||
| 5430 | 5445 3398 8A01 movw r16,r20 |
||
| 5431 | 5446 339a 672D mov r22,r7 |
||
| 5432 | 5447 339c 70E0 ldi r23,lo8(0) |
||
| 5433 | 5448 339e 80E0 ldi r24,lo8(0) |
||
| 5434 | 5449 33a0 90E0 ldi r25,hi8(0) |
||
| 5435 | 5450 33a2 2985 ldd r18,Y+9 |
||
| 5436 | 5451 33a4 3A85 ldd r19,Y+10 |
||
| 5437 | 5452 33a6 4B85 ldd r20,Y+11 |
||
| 5438 | 5453 33a8 5C85 ldd r21,Y+12 |
||
| 5439 | 5454 33aa 0E94 0000 call __mulsi3 |
||
| 5440 | 5455 33ae 20EF ldi r18,lo8(22000) |
||
| 5441 | 5456 33b0 35E5 ldi r19,hi8(22000) |
||
| 5442 | 5457 33b2 40E0 ldi r20,hlo8(22000) |
||
| 5443 | 5458 33b4 50E0 ldi r21,hhi8(22000) |
||
| 5444 | 5459 33b6 0E94 0000 call __divmodsi4 |
||
| 5445 | 5460 33ba C701 movw r24,r14 |
||
| 5446 | 5461 33bc 820F add r24,r18 |
||
| 5447 | 5462 33be 931F adc r25,r19 |
||
| 5448 | 5463 33c0 20E4 ldi r18,hi8(16385) |
||
| 5449 | 5464 33c2 8130 cpi r24,lo8(16385) |
||
| 5450 | 5465 33c4 9207 cpc r25,r18 |
||
| 5451 | 5466 33c6 04F0 brlt .L673 |
||
| 5452 | 5467 33c8 80E0 ldi r24,lo8(16384) |
||
| 5453 | 5468 33ca 90E4 ldi r25,hi8(16384) |
||
| 5454 | 5469 .L673: |
||
| 5455 | 5470 33cc 8C01 movw r16,r24 |
||
| 5456 | 5471 33ce 30EC ldi r19,hi8(-16384) |
||
| 5457 | 5472 33d0 8030 cpi r24,lo8(-16384) |
||
| 5458 | 5473 33d2 9307 cpc r25,r19 |
||
| 5459 | 5474 33d4 04F4 brge .L674 |
||
| 5460 | 5475 33d6 00E0 ldi r16,lo8(-16384) |
||
| 5461 | 5476 33d8 10EC ldi r17,hi8(-16384) |
||
| 5462 | 5477 .L674: |
||
| 5463 | 5478 33da 6091 0000 lds r22,SetPointYaw.2410 |
||
| 5464 | 5479 33de 7091 0000 lds r23,(SetPointYaw.2410)+1 |
||
| 5465 | 5480 33e2 8091 0000 lds r24,(SetPointYaw.2410)+2 |
||
| 5466 | 5481 33e6 9091 0000 lds r25,(SetPointYaw.2410)+3 |
||
| 5467 | 5482 33ea 2CEF ldi r18,lo8(-4) |
||
| 5468 | 5483 33ec 3FEF ldi r19,hi8(-4) |
||
| 5469 | 5484 33ee 4FEF ldi r20,hlo8(-4) |
||
| 5470 | 5485 33f0 5FEF ldi r21,hhi8(-4) |
||
| 5471 | 5486 33f2 0E94 0000 call __mulsi3 |
||
| 5472 | 5487 33f6 7801 movw r14,r16 |
||
| 5473 | 5488 33f8 E60E add r14,r22 |
||
| 5474 | 5489 33fa F71E adc r15,r23 |
||
| 5475 | 5490 33fc 41EA ldi r20,lo8(161) |
||
| 5476 | 5491 33fe A416 cp r10,r20 |
||
| 5477 | 5492 3400 B104 cpc r11,__zero_reg__ |
||
| 5478 | 5493 3402 04F4 brge .+2 |
||
| 5479 | 5494 3404 00C0 rjmp .L675 |
||
| 5480 | 5495 3406 C501 movw r24,r10 |
||
| 5481 | 5496 3408 B7FE sbrs r11,7 |
||
| 5482 | 5497 340a 00C0 rjmp .+4 |
||
| 5483 | 5498 340c 0C94 0000 jmp .L780 |
||
| 5484 | 5499 .L676: |
||
| 5485 | 5500 3410 9595 asr r25 |
||
| 5486 | 5501 3412 8795 ror r24 |
||
| 5487 | 5502 3414 2227 clr r18 |
||
| 5488 | 5503 3416 3327 clr r19 |
||
| 5489 | 5504 3418 281B sub r18,r24 |
||
| 5490 | 5505 341a 390B sbc r19,r25 |
||
| 5491 | 5506 341c E216 cp r14,r18 |
||
| 5492 | 5507 341e F306 cpc r15,r19 |
||
| 5493 | 5508 3420 04F0 brlt .+2 |
||
| 5494 | 5509 3422 00C0 rjmp .L781 |
||
| 5495 | 5510 .L677: |
||
| 5496 | 5511 3424 8091 0000 lds r24,ParamSet+22 |
||
| 5497 | 5512 3428 90E0 ldi r25,lo8(0) |
||
| 5498 | 5513 342a 880F lsl r24 |
||
| 5499 | 5514 342c 991F rol r25 |
||
| 5500 | 5515 342e 880F lsl r24 |
||
| 5501 | 5516 3430 991F rol r25 |
||
| 5502 | 5517 3432 3501 movw r6,r10 |
||
| 5503 | 5518 3434 681A sub r6,r24 |
||
| 5504 | 5519 3436 790A sbc r7,r25 |
||
| 5505 | 5520 3438 2615 cp r18,r6 |
||
| 5506 | 5521 343a 3705 cpc r19,r7 |
||
| 5507 | 5522 343c 04F0 brlt .L681 |
||
| 5508 | 5523 343e 8A19 sub r24,r10 |
||
| 5509 | 5524 3440 9B09 sbc r25,r11 |
||
| 5510 | 5525 3442 3901 movw r6,r18 |
||
| 5511 | 5526 3444 8217 cp r24,r18 |
||
| 5512 | 5527 3446 9307 cpc r25,r19 |
||
| 5513 | 5528 3448 04F4 brge .+2 |
||
| 5514 | 5529 344a 00C0 rjmp .L782 |
||
| 5515 | 5530 .L681: |
||
| 5516 | 5531 344c 6091 0000 lds r22,StickNick |
||
| 5517 | 5532 3450 7091 0000 lds r23,(StickNick)+1 |
||
| 5518 | 5533 3454 79AF std Y+57,r23 |
||
| 5519 | 5534 3456 68AF std Y+56,r22 |
||
| 5520 | 5535 3458 7401 movw r14,r8 |
||
| 5521 | 5536 345a 0027 clr r16 |
||
| 5522 | 5537 345c F7FC sbrc r15,7 |
||
| 5523 | 5538 345e 0095 com r16 |
||
| 5524 | 5539 3460 102F mov r17,r16 |
||
| 5525 | 5540 3462 EE0C lsl r14 |
||
| 5526 | 5541 3464 FF1C rol r15 |
||
| 5527 | 5542 3466 001F rol r16 |
||
| 5528 | 5543 3468 111F rol r17 |
||
| 5529 | 5544 346a EE0C lsl r14 |
||
| 5530 | 5545 346c FF1C rol r15 |
||
| 5531 | 5546 346e 001F rol r16 |
||
| 5532 | 5547 3470 111F rol r17 |
||
| 5533 | 5548 3472 EE0C lsl r14 |
||
| 5534 | 5549 3474 FF1C rol r15 |
||
| 5535 | 5550 3476 001F rol r16 |
||
| 5536 | 5551 3478 111F rol r17 |
||
| 5537 | 5552 347a EE0C lsl r14 |
||
| 5538 | 5553 347c FF1C rol r15 |
||
| 5539 | 5554 347e 001F rol r16 |
||
| 5540 | 5555 3480 111F rol r17 |
||
| 5541 | 5556 3482 EE0C lsl r14 |
||
| 5542 | 5557 3484 FF1C rol r15 |
||
| 5543 | 5558 3486 001F rol r16 |
||
| 5544 | 5559 3488 111F rol r17 |
||
| 5545 | 5560 348a EE0C lsl r14 |
||
| 5546 | 5561 348c FF1C rol r15 |
||
| 5547 | 5562 348e 001F rol r16 |
||
| 5548 | 5563 3490 111F rol r17 |
||
| 5549 | 5564 3492 EE0C lsl r14 |
||
| 5550 | 5565 3494 FF1C rol r15 |
||
| 5551 | 5566 3496 001F rol r16 |
||
| 5552 | 5567 3498 111F rol r17 |
||
| 5553 | 5568 349a 8B89 ldd r24,Y+19 |
||
| 5554 | 5569 349c 9C89 ldd r25,Y+20 |
||
| 5555 | 5570 349e 9C01 movw r18,r24 |
||
| 5556 | 5571 34a0 4427 clr r20 |
||
| 5557 | 5572 34a2 37FD sbrc r19,7 |
||
| 5558 | 5573 34a4 4095 com r20 |
||
| 5559 | 5574 34a6 542F mov r21,r20 |
||
| 5560 | 5575 34a8 6F85 ldd r22,Y+15 |
||
| 5561 | 5576 34aa 7889 ldd r23,Y+16 |
||
| 5562 | 5577 34ac 8989 ldd r24,Y+17 |
||
| 5563 | 5578 34ae 9A89 ldd r25,Y+18 |
||
| 5564 | 5579 34b0 0E94 0000 call __mulsi3 |
||
| 5565 | 5580 34b4 E60E add r14,r22 |
||
| 5566 | 5581 34b6 F71E adc r15,r23 |
||
| 5567 | 5582 34b8 081F adc r16,r24 |
||
| 5568 | 5583 34ba 191F adc r17,r25 |
||
| 5569 | 5584 34bc C801 movw r24,r16 |
||
| 5570 | 5585 34be B701 movw r22,r14 |
||
| 5571 | 5586 34c0 20E4 ldi r18,lo8(64) |
||
| 5572 | 5587 34c2 30E0 ldi r19,hi8(64) |
||
| 5573 | 5588 34c4 40E0 ldi r20,hlo8(64) |
||
| 5574 | 5589 34c6 50E0 ldi r21,hhi8(64) |
||
| 5575 | 5590 34c8 0E94 0000 call __divmodsi4 |
||
| 5576 | 5591 34cc AB81 ldd r26,Y+3 |
||
| 5577 | 5592 34ce BC81 ldd r27,Y+4 |
||
| 5578 | 5593 34d0 2A0F add r18,r26 |
||
| 5579 | 5594 34d2 3B1F adc r19,r27 |
||
| 5580 | 5595 34d4 B0E4 ldi r27,hi8(16385) |
||
| 5581 | 5596 34d6 2130 cpi r18,lo8(16385) |
||
| 5582 | 5597 34d8 3B07 cpc r19,r27 |
||
| 5583 | 5598 34da 04F0 brlt .L683 |
||
| 5584 | 5599 34dc 20E0 ldi r18,lo8(16384) |
||
| 5585 | 5600 34de 30E4 ldi r19,hi8(16384) |
||
| 5586 | 5601 .L683: |
||
| 5587 | 5602 34e0 E0EC ldi r30,hi8(-16384) |
||
| 5588 | 5603 34e2 2030 cpi r18,lo8(-16384) |
||
| 5589 | 5604 34e4 3E07 cpc r19,r30 |
||
| 5590 | 5605 34e6 04F4 brge .L684 |
||
| 5591 | 5606 34e8 20E0 ldi r18,lo8(-16384) |
||
| 5592 | 5607 34ea 30EC ldi r19,hi8(-16384) |
||
| 5593 | 5608 .L684: |
||
| 5594 | 5609 34ec 6901 movw r12,r18 |
||
| 5595 | 5610 34ee 48AD ldd r20,Y+56 |
||
| 5596 | 5611 34f0 59AD ldd r21,Y+57 |
||
| 5597 | 5612 34f2 C41A sub r12,r20 |
||
| 5598 | 5613 34f4 D50A sbc r13,r21 |
||
| 5599 | 5614 34f6 3090 0000 lds r3,GyroIFactor |
||
| 5600 | 5615 34fa 3320 tst r3 |
||
| 5601 | 5616 34fc 01F4 brne .+2 |
||
| 5602 | 5617 34fe 00C0 rjmp .L685 |
||
| 5603 | 5618 3500 441A sub r4,r20 |
||
| 5604 | 5619 3502 550A sbc r5,r21 |
||
| 5605 | 5620 3504 C201 movw r24,r4 |
||
| 5606 | 5621 3506 AA27 clr r26 |
||
| 5607 | 5622 3508 97FD sbrc r25,7 |
||
| 5608 | 5623 350a A095 com r26 |
||
| 5609 | 5624 350c BA2F mov r27,r26 |
||
| 5610 | 5625 350e E090 0000 lds r14,IPartNick.2408 |
||
| 5611 | 5626 3512 F090 0000 lds r15,(IPartNick.2408)+1 |
||
| 5612 | 5627 3516 0091 0000 lds r16,(IPartNick.2408)+2 |
||
| 5613 | 5628 351a 1091 0000 lds r17,(IPartNick.2408)+3 |
||
| 5614 | 5629 351e E80E add r14,r24 |
||
| 5615 | 5630 3520 F91E adc r15,r25 |
||
| 5616 | 5631 3522 0A1F adc r16,r26 |
||
| 5617 | 5632 3524 1B1F adc r17,r27 |
||
| 5618 | 5633 3526 E092 0000 sts IPartNick.2408,r14 |
||
| 5619 | 5634 352a F092 0000 sts (IPartNick.2408)+1,r15 |
||
| 5620 | 5635 352e 0093 0000 sts (IPartNick.2408)+2,r16 |
||
| 5621 | 5636 3532 1093 0000 sts (IPartNick.2408)+3,r17 |
||
| 5622 | 5637 .L686: |
||
| 5623 | 5638 3536 50E0 ldi r21,lo8(-64000) |
||
| 5624 | 5639 3538 E516 cp r14,r21 |
||
| 5625 | 5640 353a 56E0 ldi r21,hi8(-64000) |
||
| 5626 | 5641 353c F506 cpc r15,r21 |
||
| 5627 | 5642 353e 5FEF ldi r21,hlo8(-64000) |
||
| 5628 | 5643 3540 0507 cpc r16,r21 |
||
| 5629 | 5644 3542 5FEF ldi r21,hhi8(-64000) |
||
| 5630 | 5645 3544 1507 cpc r17,r21 |
||
| 5631 | 5646 3546 04F0 brlt .+2 |
||
| 5632 | 5647 3548 00C0 rjmp .L687 |
||
| 5633 | 5648 354a 80E0 ldi r24,lo8(-64000) |
||
| 5634 | 5649 354c 96E0 ldi r25,hi8(-64000) |
||
| 5635 | 5650 354e AFEF ldi r26,hlo8(-64000) |
||
| 5636 | 5651 3550 BFEF ldi r27,hhi8(-64000) |
||
| 5637 | 5652 3552 8093 0000 sts IPartNick.2408,r24 |
||
| 5638 | 5653 3556 9093 0000 sts (IPartNick.2408)+1,r25 |
||
| 5639 | 5654 355a A093 0000 sts (IPartNick.2408)+2,r26 |
||
| 5640 | 5655 355e B093 0000 sts (IPartNick.2408)+3,r27 |
||
| 5641 | 5656 3562 E12C mov r14,__zero_reg__ |
||
| 5642 | 5657 3564 36E0 ldi r19,hi8(-64000) |
||
| 5643 | 5658 3566 F32E mov r15,r19 |
||
| 5644 | 5659 3568 3FEF ldi r19,hlo8(-64000) |
||
| 5645 | 5660 356a 032F mov r16,r19 |
||
| 5646 | 5661 356c 3FEF ldi r19,hhi8(-64000) |
||
| 5647 | 5662 356e 132F mov r17,r19 |
||
| 5648 | 5663 .L688: |
||
| 5649 | 5664 3570 4090 0000 lds r4,Ki |
||
| 5650 | 5665 3574 5090 0000 lds r5,(Ki)+1 |
||
| 5651 | 5666 3578 9201 movw r18,r4 |
||
| 5652 | 5667 357a 4427 clr r20 |
||
| 5653 | 5668 357c 37FD sbrc r19,7 |
||
| 5654 | 5669 357e 4095 com r20 |
||
| 5655 | 5670 3580 542F mov r21,r20 |
||
| 5656 | 5671 3582 C801 movw r24,r16 |
||
| 5657 | 5672 3584 B701 movw r22,r14 |
||
| 5658 | 5673 3586 0E94 0000 call __divmodsi4 |
||
| 5659 | 5674 358a 4601 movw r8,r12 |
||
| 5660 | 5675 358c 820E add r8,r18 |
||
| 5661 | 5676 358e 931E adc r9,r19 |
||
| 5662 | 5677 3590 8091 0000 lds r24,StickRoll |
||
| 5663 | 5678 3594 9091 0000 lds r25,(StickRoll)+1 |
||
| 5664 | 5679 3598 99AF std Y+57,r25 |
||
| 5665 | 5680 359a 88AF std Y+56,r24 |
||
| 5666 | 5681 359c AE8D ldd r26,Y+30 |
||
| 5667 | 5682 359e BF8D ldd r27,Y+31 |
||
| 5668 | 5683 35a0 7D01 movw r14,r26 |
||
| 5669 | 5684 35a2 0027 clr r16 |
||
| 5670 | 5685 35a4 F7FC sbrc r15,7 |
||
| 5671 | 5686 35a6 0095 com r16 |
||
| 5672 | 5687 35a8 102F mov r17,r16 |
||
| 5673 | 5688 35aa EE0C lsl r14 |
||
| 5674 | 5689 35ac FF1C rol r15 |
||
| 5675 | 5690 35ae 001F rol r16 |
||
| 5676 | 5691 35b0 111F rol r17 |
||
| 5677 | 5692 35b2 EE0C lsl r14 |
||
| 5678 | 5693 35b4 FF1C rol r15 |
||
| 5679 | 5694 35b6 001F rol r16 |
||
| 5680 | 5695 35b8 111F rol r17 |
||
| 5681 | 5696 35ba EE0C lsl r14 |
||
| 5682 | 5697 35bc FF1C rol r15 |
||
| 5683 | 5698 35be 001F rol r16 |
||
| 5684 | 5699 35c0 111F rol r17 |
||
| 5685 | 5700 35c2 EE0C lsl r14 |
||
| 5686 | 5701 35c4 FF1C rol r15 |
||
| 5687 | 5702 35c6 001F rol r16 |
||
| 5688 | 5703 35c8 111F rol r17 |
||
| 5689 | 5704 35ca EE0C lsl r14 |
||
| 5690 | 5705 35cc FF1C rol r15 |
||
| 5691 | 5706 35ce 001F rol r16 |
||
| 5692 | 5707 35d0 111F rol r17 |
||
| 5693 | 5708 35d2 EE0C lsl r14 |
||
| 5694 | 5709 35d4 FF1C rol r15 |
||
| 5695 | 5710 35d6 001F rol r16 |
||
| 5696 | 5711 35d8 111F rol r17 |
||
| 5697 | 5712 35da EE0C lsl r14 |
||
| 5698 | 5713 35dc FF1C rol r15 |
||
| 5699 | 5714 35de 001F rol r16 |
||
| 5700 | 5715 35e0 111F rol r17 |
||
| 5701 | 5716 35e2 ED85 ldd r30,Y+13 |
||
| 5702 | 5717 35e4 FE85 ldd r31,Y+14 |
||
| 5703 | 5718 35e6 BF01 movw r22,r30 |
||
| 5704 | 5719 35e8 8827 clr r24 |
||
| 5705 | 5720 35ea 77FD sbrc r23,7 |
||
| 5706 | 5721 35ec 8095 com r24 |
||
| 5707 | 5722 35ee 982F mov r25,r24 |
||
| 5708 | 5723 35f0 2F85 ldd r18,Y+15 |
||
| 5709 | 5724 35f2 3889 ldd r19,Y+16 |
||
| 5710 | 5725 35f4 4989 ldd r20,Y+17 |
||
| 5711 | 5726 35f6 5A89 ldd r21,Y+18 |
||
| 5712 | 5727 35f8 0E94 0000 call __mulsi3 |
||
| 5713 | 5728 35fc E60E add r14,r22 |
||
| 5714 | 5729 35fe F71E adc r15,r23 |
||
| 5715 | 5730 3600 081F adc r16,r24 |
||
| 5716 | 5731 3602 191F adc r17,r25 |
||
| 5717 | 5732 3604 C801 movw r24,r16 |
||
| 5718 | 5733 3606 B701 movw r22,r14 |
||
| 5719 | 5734 3608 20E4 ldi r18,lo8(64) |
||
| 5720 | 5735 360a 30E0 ldi r19,hi8(64) |
||
| 5721 | 5736 360c 40E0 ldi r20,hlo8(64) |
||
| 5722 | 5737 360e 50E0 ldi r21,hhi8(64) |
||
| 5723 | 5738 3610 0E94 0000 call __divmodsi4 |
||
| 5724 | 5739 3614 CD80 ldd r12,Y+5 |
||
| 5725 | 5740 3616 DE80 ldd r13,Y+6 |
||
| 5726 | 5741 3618 2C0D add r18,r12 |
||
| 5727 | 5742 361a 3D1D adc r19,r13 |
||
| 5728 | 5743 361c 40E4 ldi r20,hi8(16385) |
||
| 5729 | 5744 361e 2130 cpi r18,lo8(16385) |
||
| 5730 | 5745 3620 3407 cpc r19,r20 |
||
| 5731 | 5746 3622 04F0 brlt .L689 |
||
| 5732 | 5747 3624 20E0 ldi r18,lo8(16384) |
||
| 5733 | 5748 3626 30E4 ldi r19,hi8(16384) |
||
| 5734 | 5749 .L689: |
||
| 5735 | 5750 3628 50EC ldi r21,hi8(-16384) |
||
| 5736 | 5751 362a 2030 cpi r18,lo8(-16384) |
||
| 5737 | 5752 362c 3507 cpc r19,r21 |
||
| 5738 | 5753 362e 04F4 brge .L690 |
||
| 5739 | 5754 3630 20E0 ldi r18,lo8(-16384) |
||
| 5740 | 5755 3632 30EC ldi r19,hi8(-16384) |
||
| 5741 | 5756 .L690: |
||
| 5742 | 5757 3634 6901 movw r12,r18 |
||
| 5743 | 5758 3636 68AD ldd r22,Y+56 |
||
| 5744 | 5759 3638 79AD ldd r23,Y+57 |
||
| 5745 | 5760 363a C61A sub r12,r22 |
||
| 5746 | 5761 363c D70A sbc r13,r23 |
||
| 5747 | 5762 363e 3320 tst r3 |
||
| 5748 | 5763 3640 01F4 brne .+2 |
||
| 5749 | 5764 3642 00C0 rjmp .L691 |
||
| 5750 | 5765 3644 8F81 ldd r24,Y+7 |
||
| 5751 | 5766 3646 9885 ldd r25,Y+8 |
||
| 5752 | 5767 3648 861B sub r24,r22 |
||
| 5753 | 5768 364a 970B sbc r25,r23 |
||
| 5754 | 5769 364c FC01 movw r30,r24 |
||
| 5755 | 5770 364e CF01 movw r24,r30 |
||
| 5756 | 5771 3650 AA27 clr r26 |
||
| 5757 | 5772 3652 97FD sbrc r25,7 |
||
| 5758 | 5773 3654 A095 com r26 |
||
| 5759 | 5774 3656 BA2F mov r27,r26 |
||
| 5760 | 5775 3658 E090 0000 lds r14,IPartRoll.2409 |
||
| 5761 | 5776 365c F090 0000 lds r15,(IPartRoll.2409)+1 |
||
| 5762 | 5777 3660 0091 0000 lds r16,(IPartRoll.2409)+2 |
||
| 5763 | 5778 3664 1091 0000 lds r17,(IPartRoll.2409)+3 |
||
| 5764 | 5779 3668 E80E add r14,r24 |
||
| 5765 | 5780 366a F91E adc r15,r25 |
||
| 5766 | 5781 366c 0A1F adc r16,r26 |
||
| 5767 | 5782 366e 1B1F adc r17,r27 |
||
| 5768 | 5783 3670 E092 0000 sts IPartRoll.2409,r14 |
||
| 5769 | 5784 3674 F092 0000 sts (IPartRoll.2409)+1,r15 |
||
| 5770 | 5785 3678 0093 0000 sts (IPartRoll.2409)+2,r16 |
||
| 5771 | 5786 367c 1093 0000 sts (IPartRoll.2409)+3,r17 |
||
| 5772 | 5787 .L692: |
||
| 5773 | 5788 3680 F0E0 ldi r31,lo8(-64000) |
||
| 5774 | 5789 3682 EF16 cp r14,r31 |
||
| 5775 | 5790 3684 F6E0 ldi r31,hi8(-64000) |
||
| 5776 | 5791 3686 FF06 cpc r15,r31 |
||
| 5777 | 5792 3688 FFEF ldi r31,hlo8(-64000) |
||
| 5778 | 5793 368a 0F07 cpc r16,r31 |
||
| 5779 | 5794 368c FFEF ldi r31,hhi8(-64000) |
||
| 5780 | 5795 368e 1F07 cpc r17,r31 |
||
| 5781 | 5796 3690 04F0 brlt .+2 |
||
| 5782 | 5797 3692 00C0 rjmp .L693 |
||
| 5783 | 5798 3694 80E0 ldi r24,lo8(-64000) |
||
| 5784 | 5799 3696 96E0 ldi r25,hi8(-64000) |
||
| 5785 | 5800 3698 AFEF ldi r26,hlo8(-64000) |
||
| 5786 | 5801 369a BFEF ldi r27,hhi8(-64000) |
||
| 5787 | 5802 369c 8093 0000 sts IPartRoll.2409,r24 |
||
| 5788 | 5803 36a0 9093 0000 sts (IPartRoll.2409)+1,r25 |
||
| 5789 | 5804 36a4 A093 0000 sts (IPartRoll.2409)+2,r26 |
||
| 5790 | 5805 36a8 B093 0000 sts (IPartRoll.2409)+3,r27 |
||
| 5791 | 5806 36ac E12C mov r14,__zero_reg__ |
||
| 5792 | 5807 36ae F6E0 ldi r31,hi8(-64000) |
||
| 5793 | 5808 36b0 FF2E mov r15,r31 |
||
| 5794 | 5809 36b2 FFEF ldi r31,hlo8(-64000) |
||
| 5795 | 5810 36b4 0F2F mov r16,r31 |
||
| 5796 | 5811 36b6 FFEF ldi r31,hhi8(-64000) |
||
| 5797 | 5812 36b8 1F2F mov r17,r31 |
||
| 5798 | 5813 .L694: |
||
| 5799 | 5814 36ba 9201 movw r18,r4 |
||
| 5800 | 5815 36bc 4427 clr r20 |
||
| 5801 | 5816 36be 37FD sbrc r19,7 |
||
| 5802 | 5817 36c0 4095 com r20 |
||
| 5803 | 5818 36c2 542F mov r21,r20 |
||
| 5804 | 5819 36c4 C801 movw r24,r16 |
||
| 5805 | 5820 36c6 B701 movw r22,r14 |
||
| 5806 | 5821 36c8 0E94 0000 call __divmodsi4 |
||
| 5807 | 5822 36cc 8601 movw r16,r12 |
||
| 5808 | 5823 36ce 020F add r16,r18 |
||
| 5809 | 5824 36d0 131F adc r17,r19 |
||
| 5810 | 5825 36d2 9301 movw r18,r6 |
||
| 5811 | 5826 36d4 77FC sbrc r7,7 |
||
| 5812 | 5827 36d6 00C0 rjmp .L783 |
||
| 5813 | 5828 .L695: |
||
| 5814 | 5829 36d8 3595 asr r19 |
||
| 5815 | 5830 36da 2795 ror r18 |
||
| 5816 | 5831 36dc 2A0D add r18,r10 |
||
| 5817 | 5832 36de 3B1D adc r19,r11 |
||
| 5818 | 5833 36e0 B901 movw r22,r18 |
||
| 5819 | 5834 36e2 8827 clr r24 |
||
| 5820 | 5835 36e4 77FD sbrc r23,7 |
||
| 5821 | 5836 36e6 8095 com r24 |
||
| 5822 | 5837 36e8 982F mov r25,r24 |
||
| 5823 | 5838 36ea 2091 0000 lds r18,FCParam+27 |
||
| 5824 | 5839 36ee 30E0 ldi r19,lo8(0) |
||
| 5825 | 5840 36f0 40E0 ldi r20,lo8(0) |
||
| 5826 | 5841 36f2 50E0 ldi r21,hi8(0) |
||
| 5827 | 5842 36f4 0E94 0000 call __mulsi3 |
||
| 5828 | 5843 36f8 20E4 ldi r18,lo8(64) |
||
| 5829 | 5844 36fa 30E0 ldi r19,hi8(64) |
||
| 5830 | 5845 36fc 40E0 ldi r20,hlo8(64) |
||
| 5831 | 5846 36fe 50E0 ldi r21,hhi8(64) |
||
| 5832 | 5847 3700 0E94 0000 call __divmodsi4 |
||
| 5833 | 5848 3704 B901 movw r22,r18 |
||
| 5834 | 5849 3706 8827 clr r24 |
||
| 5835 | 5850 3708 9927 clr r25 |
||
| 5836 | 5851 370a 821B sub r24,r18 |
||
| 5837 | 5852 370c 930B sbc r25,r19 |
||
| 5838 | 5853 370e 8816 cp r8,r24 |
||
| 5839 | 5854 3710 9906 cpc r9,r25 |
||
| 5840 | 5855 3712 04F0 brlt .+2 |
||
| 5841 | 5856 3714 00C0 rjmp .L696 |
||
| 5842 | 5857 3716 9C01 movw r18,r24 |
||
| 5843 | 5858 .L697: |
||
| 5844 | 5859 3718 0817 cp r16,r24 |
||
| 5845 | 5860 371a 1907 cpc r17,r25 |
||
| 5846 | 5861 371c 04F0 brlt .L700 |
||
| 5847 | 5862 371e CB01 movw r24,r22 |
||
| 5848 | 5863 3720 0617 cp r16,r22 |
||
| 5849 | 5864 3722 1707 cpc r17,r23 |
||
| 5850 | 5865 3724 04F4 brge .+2 |
||
| 5851 | 5866 3726 00C0 rjmp .L784 |
||
| 5852 | 5867 .L700: |
||
| 5853 | 5868 3728 60E0 ldi r22,lo8(Mixer+13) |
||
| 5854 | 5869 372a 262E mov r2,r22 |
||
| 5855 | 5870 372c 60E0 ldi r22,hi8(Mixer+13) |
||
| 5856 | 5871 372e 362E mov r3,r22 |
||
| 5857 | 5872 3730 50E0 ldi r21,lo8(Motor) |
||
| 5858 | 5873 3732 852E mov r8,r21 |
||
| 5859 | 5874 3734 50E0 ldi r21,hi8(Motor) |
||
| 5860 | 5875 3736 952E mov r9,r21 |
||
| 5861 | 5876 3738 40E0 ldi r20,lo8(MotorValue.2421) |
||
| 5862 | 5877 373a C42E mov r12,r20 |
||
| 5863 | 5878 373c 40E0 ldi r20,hi8(MotorValue.2421) |
||
| 5864 | 5879 373e D42E mov r13,r20 |
||
| 5865 | 5880 3740 A301 movw r20,r6 |
||
| 5866 | 5881 3742 6627 clr r22 |
||
| 5867 | 5882 3744 57FD sbrc r21,7 |
||
| 5868 | 5883 3746 6095 com r22 |
||
| 5869 | 5884 3748 762F mov r23,r22 |
||
| 5870 | 5885 374a 4CA7 std Y+44,r20 |
||
| 5871 | 5886 374c 5DA7 std Y+45,r21 |
||
| 5872 | 5887 374e 6EA7 std Y+46,r22 |
||
| 5873 | 5888 3750 7FA7 std Y+47,r23 |
||
| 5874 | 5889 3752 A501 movw r20,r10 |
||
| 5875 | 5890 3754 6627 clr r22 |
||
| 5876 | 5891 3756 57FD sbrc r21,7 |
||
| 5877 | 5892 3758 6095 com r22 |
||
| 5878 | 5893 375a 762F mov r23,r22 |
||
| 5879 | 5894 375c 48AB std Y+48,r20 |
||
| 5880 | 5895 375e 59AB std Y+49,r21 |
||
| 5881 | 5896 3760 6AAB std Y+50,r22 |
||
| 5882 | 5897 3762 7BAB std Y+51,r23 |
||
| 5883 | 5898 3764 A901 movw r20,r18 |
||
| 5884 | 5899 3766 6627 clr r22 |
||
| 5885 | 5900 3768 57FD sbrc r21,7 |
||
| 5886 | 5901 376a 6095 com r22 |
||
| 5887 | 5902 376c 762F mov r23,r22 |
||
| 5888 | 5903 376e 4CAB std Y+52,r20 |
||
| 5889 | 5904 3770 5DAB std Y+53,r21 |
||
| 5890 | 5905 3772 6EAB std Y+54,r22 |
||
| 5891 | 5906 3774 7FAB std Y+55,r23 |
||
| 5892 | 5907 3776 2C01 movw r4,r24 |
||
| 5893 | 5908 3778 6624 clr r6 |
||
| 5894 | 5909 377a 57FC sbrc r5,7 |
||
| 5895 | 5910 377c 6094 com r6 |
||
| 5896 | 5911 377e 762C mov r7,r6 |
||
| 5897 | 5912 3780 00C0 rjmp .L707 |
||
| 5898 | 5913 .L787: |
||
| 5899 | 5914 3782 1396 adiw r26,3 |
||
| 5900 | 5915 3784 2C91 ld r18,X |
||
| 5901 | 5916 3786 3327 clr r19 |
||
| 5902 | 5917 3788 27FD sbrc r18,7 |
||
| 5903 | 5918 378a 3095 com r19 |
||
| 5904 | 5919 378c 432F mov r20,r19 |
||
| 5905 | 5920 378e 532F mov r21,r19 |
||
| 5906 | 5921 3790 6CA5 ldd r22,Y+44 |
||
| 5907 | 5922 3792 7DA5 ldd r23,Y+45 |
||
| 5908 | 5923 3794 8EA5 ldd r24,Y+46 |
||
| 5909 | 5924 3796 9FA5 ldd r25,Y+47 |
||
| 5910 | 5925 3798 0E94 0000 call __mulsi3 |
||
| 5911 | 5926 379c 20E4 ldi r18,lo8(64) |
||
| 5912 | 5927 379e 30E0 ldi r19,hi8(64) |
||
| 5913 | 5928 37a0 40E0 ldi r20,hlo8(64) |
||
| 5914 | 5929 37a2 50E0 ldi r21,hhi8(64) |
||
| 5915 | 5930 37a4 0E94 0000 call __divmodsi4 |
||
| 5916 | 5931 37a8 7901 movw r14,r18 |
||
| 5917 | 5932 37aa 8A01 movw r16,r20 |
||
| 5918 | 5933 37ac 2A2D mov r18,r10 |
||
| 5919 | 5934 37ae 3327 clr r19 |
||
| 5920 | 5935 37b0 27FD sbrc r18,7 |
||
| 5921 | 5936 37b2 3095 com r19 |
||
| 5922 | 5937 37b4 432F mov r20,r19 |
||
| 5923 | 5938 37b6 532F mov r21,r19 |
||
| 5924 | 5939 37b8 68A9 ldd r22,Y+48 |
||
| 5925 | 5940 37ba 79A9 ldd r23,Y+49 |
||
| 5926 | 5941 37bc 8AA9 ldd r24,Y+50 |
||
| 5927 | 5942 37be 9BA9 ldd r25,Y+51 |
||
| 5928 | 5943 37c0 0E94 0000 call __mulsi3 |
||
| 5929 | 5944 37c4 20E4 ldi r18,lo8(64) |
||
| 5930 | 5945 37c6 30E0 ldi r19,hi8(64) |
||
| 5931 | 5946 37c8 40E0 ldi r20,hlo8(64) |
||
| 5932 | 5947 37ca 50E0 ldi r21,hhi8(64) |
||
| 5933 | 5948 37cc 0E94 0000 call __divmodsi4 |
||
| 5934 | 5949 37d0 E20E add r14,r18 |
||
| 5935 | 5950 37d2 F31E adc r15,r19 |
||
| 5936 | 5951 37d4 F101 movw r30,r2 |
||
| 5937 | 5952 37d6 2181 ldd r18,Z+1 |
||
| 5938 | 5953 37d8 3327 clr r19 |
||
| 5939 | 5954 37da 27FD sbrc r18,7 |
||
| 5940 | 5955 37dc 3095 com r19 |
||
| 5941 | 5956 37de 432F mov r20,r19 |
||
| 5942 | 5957 37e0 532F mov r21,r19 |
||
| 5943 | 5958 37e2 6CA9 ldd r22,Y+52 |
||
| 5944 | 5959 37e4 7DA9 ldd r23,Y+53 |
||
| 5945 | 5960 37e6 8EA9 ldd r24,Y+54 |
||
| 5946 | 5961 37e8 9FA9 ldd r25,Y+55 |
||
| 5947 | 5962 37ea 0E94 0000 call __mulsi3 |
||
| 5948 | 5963 37ee 20E4 ldi r18,lo8(64) |
||
| 5949 | 5964 37f0 30E0 ldi r19,hi8(64) |
||
| 5950 | 5965 37f2 40E0 ldi r20,hlo8(64) |
||
| 5951 | 5966 37f4 50E0 ldi r21,hhi8(64) |
||
| 5952 | 5967 37f6 0E94 0000 call __divmodsi4 |
||
| 5953 | 5968 37fa E20E add r14,r18 |
||
| 5954 | 5969 37fc F31E adc r15,r19 |
||
| 5955 | 5970 37fe D101 movw r26,r2 |
||
| 5956 | 5971 3800 1296 adiw r26,2 |
||
| 5957 | 5972 3802 2C91 ld r18,X |
||
| 5958 | 5973 3804 3327 clr r19 |
||
| 5959 | 5974 3806 27FD sbrc r18,7 |
||
| 5960 | 5975 3808 3095 com r19 |
||
| 5961 | 5976 380a 432F mov r20,r19 |
||
| 5962 | 5977 380c 532F mov r21,r19 |
||
| 5963 | 5978 380e C301 movw r24,r6 |
||
| 5964 | 5979 3810 B201 movw r22,r4 |
||
| 5965 | 5980 3812 0E94 0000 call __mulsi3 |
||
| 5966 | 5981 3816 20E4 ldi r18,lo8(64) |
||
| 5967 | 5982 3818 30E0 ldi r19,hi8(64) |
||
| 5968 | 5983 381a 40E0 ldi r20,hlo8(64) |
||
| 5969 | 5984 381c 50E0 ldi r21,hhi8(64) |
||
| 5970 | 5985 381e 0E94 0000 call __divmodsi4 |
||
| 5971 | 5986 3822 E20E add r14,r18 |
||
| 5972 | 5987 3824 F31E adc r15,r19 |
||
| 5973 | 5988 3826 F601 movw r30,r12 |
||
| 5974 | 5989 3828 6081 ld r22,Z |
||
| 5975 | 5990 382a 7181 ldd r23,Z+1 |
||
| 5976 | 5991 382c C701 movw r24,r14 |
||
| 5977 | 5992 382e 0E94 0000 call MotorSmoothing |
||
| 5978 | 5993 3832 D601 movw r26,r12 |
||
| 5979 | 5994 3834 8C93 st X,r24 |
||
| 5980 | 5995 3836 1196 adiw r26,1 |
||
| 5981 | 5996 3838 9C93 st X,r25 |
||
| 5982 | 5997 383a 97FD sbrc r25,7 |
||
| 5983 | 5998 383c 00C0 rjmp .L785 |
||
| 5984 | 5999 .L703: |
||
| 5985 | 6000 383e AC01 movw r20,r24 |
||
| 5986 | 6001 3840 5595 asr r21 |
||
| 5987 | 6002 3842 4795 ror r20 |
||
| 5988 | 6003 3844 5595 asr r21 |
||
| 5989 | 6004 3846 4795 ror r20 |
||
| 5990 | 6005 3848 8091 0000 lds r24,ParamSet+21 |
||
| 5991 | 6006 384c 282F mov r18,r24 |
||
| 5992 | 6007 384e 30E0 ldi r19,lo8(0) |
||
| 5993 | 6008 3850 4217 cp r20,r18 |
||
| 5994 | 6009 3852 5307 cpc r21,r19 |
||
| 5995 | 6010 3854 04F0 brlt .L704 |
||
| 5996 | 6011 3856 8091 0000 lds r24,ParamSet+22 |
||
| 5997 | 6012 385a 90E0 ldi r25,lo8(0) |
||
| 5998 | 6013 385c 9C01 movw r18,r24 |
||
| 5999 | 6014 385e 4217 cp r20,r18 |
||
| 6000 | 6015 3860 5307 cpc r21,r19 |
||
| 6001 | 6016 3862 04F4 brge .L704 |
||
| 6002 | 6017 3864 9A01 movw r18,r20 |
||
| 6003 | 6018 .L704: |
||
| 6004 | 6019 3866 F401 movw r30,r8 |
||
| 6005 | 6020 3868 2083 st Z,r18 |
||
| 6006 | 6021 .L706: |
||
| 6007 | 6022 386a E4E0 ldi r30,lo8(4) |
||
| 6008 | 6023 386c F0E0 ldi r31,hi8(4) |
||
| 6009 | 6024 386e 2E0E add r2,r30 |
||
| 6010 | 6025 3870 3F1E adc r3,r31 |
||
| 6011 | 6026 3872 95E0 ldi r25,lo8(5) |
||
| 6012 | 6027 3874 A92E mov r10,r25 |
||
| 6013 | 6028 3876 B12C mov r11,__zero_reg__ |
||
| 6014 | 6029 3878 8A0C add r8,r10 |
||
| 6015 | 6030 387a 9B1C adc r9,r11 |
||
| 6016 | 6031 387c 22E0 ldi r18,lo8(2) |
||
| 6017 | 6032 387e 30E0 ldi r19,hi8(2) |
||
| 6018 | 6033 3880 C20E add r12,r18 |
||
| 6019 | 6034 3882 D31E adc r13,r19 |
||
| 6020 | 6035 3884 30E0 ldi r19,lo8(Mixer+61) |
||
| 6021 | 6036 3886 2316 cp r2,r19 |
||
| 6022 | 6037 3888 30E0 ldi r19,hi8(Mixer+61) |
||
| 6023 | 6038 388a 3306 cpc r3,r19 |
||
| 6024 | 6039 388c 01F0 breq .L786 |
||
| 6025 | 6040 .L707: |
||
| 6026 | 6041 388e D101 movw r26,r2 |
||
| 6027 | 6042 3890 AC90 ld r10,X |
||
| 6028 | 6043 3892 1A14 cp __zero_reg__,r10 |
||
| 6029 | 6044 3894 04F4 brge .+2 |
||
| 6030 | 6045 3896 00C0 rjmp .L787 |
||
| 6031 | 6046 3898 D401 movw r26,r8 |
||
| 6032 | 6047 389a 1C92 st X,__zero_reg__ |
||
| 6033 | 6048 389c 00C0 rjmp .L706 |
||
| 6034 | 6049 .L785: |
||
| 6035 | 6050 389e 0396 adiw r24,3 |
||
| 6036 | 6051 38a0 00C0 rjmp .L703 |
||
| 6037 | 6052 .L786: |
||
| 6038 | 6053 /* epilogue start */ |
||
| 6039 | 6054 38a2 E996 adiw r28,57 |
||
| 6040 | 6055 38a4 0FB6 in __tmp_reg__,__SREG__ |
||
| 6041 | 6056 38a6 F894 cli |
||
| 6042 | 6057 38a8 DEBF out __SP_H__,r29 |
||
| 6043 | 6058 38aa 0FBE out __SREG__,__tmp_reg__ |
||
| 6044 | 6059 38ac CDBF out __SP_L__,r28 |
||
| 6045 | 6060 38ae CF91 pop r28 |
||
| 6046 | 6061 38b0 DF91 pop r29 |
||
| 6047 | 6062 38b2 1F91 pop r17 |
||
| 6048 | 6063 38b4 0F91 pop r16 |
||
| 6049 | 6064 38b6 FF90 pop r15 |
||
| 6050 | 6065 38b8 EF90 pop r14 |
||
| 6051 | 6066 38ba DF90 pop r13 |
||
| 6052 | 6067 38bc CF90 pop r12 |
||
| 6053 | 6068 38be BF90 pop r11 |
||
| 6054 | 6069 38c0 AF90 pop r10 |
||
| 6055 | 6070 38c2 9F90 pop r9 |
||
| 6056 | 6071 38c4 8F90 pop r8 |
||
| 6057 | 6072 38c6 7F90 pop r7 |
||
| 6058 | 6073 38c8 6F90 pop r6 |
||
| 6059 | 6074 38ca 5F90 pop r5 |
||
| 6060 | 6075 38cc 4F90 pop r4 |
||
| 6061 | 6076 38ce 3F90 pop r3 |
||
| 6062 | 6077 38d0 2F90 pop r2 |
||
| 6063 | 6078 38d2 0895 ret |
||
| 6064 | 6079 .L696: |
||
| 6065 | 6080 38d4 8216 cp r8,r18 |
||
| 6066 | 6081 38d6 9306 cpc r9,r19 |
||
| 6067 | 6082 38d8 04F0 brlt .+2 |
||
| 6068 | 6083 38da 00C0 rjmp .L697 |
||
| 6069 | 6084 38dc 9401 movw r18,r8 |
||
| 6070 | 6085 38de 00C0 rjmp .L697 |
||
| 6071 | 6086 .L693: |
||
| 6072 | 6087 38e0 21E0 ldi r18,lo8(64001) |
||
| 6073 | 6088 38e2 E216 cp r14,r18 |
||
| 6074 | 6089 38e4 2AEF ldi r18,hi8(64001) |
||
| 6075 | 6090 38e6 F206 cpc r15,r18 |
||
| 6076 | 6091 38e8 20E0 ldi r18,hlo8(64001) |
||
| 6077 | 6092 38ea 0207 cpc r16,r18 |
||
| 6078 | 6093 38ec 20E0 ldi r18,hhi8(64001) |
||
| 6079 | 6094 38ee 1207 cpc r17,r18 |
||
| 6080 | 6095 38f0 04F4 brge .+2 |
||
| 6081 | 6096 38f2 00C0 rjmp .L694 |
||
| 6082 | 6097 38f4 80E0 ldi r24,lo8(64000) |
||
| 6083 | 6098 38f6 9AEF ldi r25,hi8(64000) |
||
| 6084 | 6099 38f8 A0E0 ldi r26,hlo8(64000) |
||
| 6085 | 6100 38fa B0E0 ldi r27,hhi8(64000) |
||
| 6086 | 6101 38fc 8093 0000 sts IPartRoll.2409,r24 |
||
| 6087 | 6102 3900 9093 0000 sts (IPartRoll.2409)+1,r25 |
||
| 6088 | 6103 3904 A093 0000 sts (IPartRoll.2409)+2,r26 |
||
| 6089 | 6104 3908 B093 0000 sts (IPartRoll.2409)+3,r27 |
||
| 6090 | 6105 390c E12C mov r14,__zero_reg__ |
||
| 6091 | 6106 390e EAEF ldi r30,hi8(64000) |
||
| 6092 | 6107 3910 FE2E mov r15,r30 |
||
| 6093 | 6108 3912 012D mov r16,__zero_reg__ |
||
| 6094 | 6109 3914 112D mov r17,__zero_reg__ |
||
| 6095 | 6110 3916 00C0 rjmp .L694 |
||
| 6096 | 6111 .L691: |
||
| 6097 | 6112 3918 C601 movw r24,r12 |
||
| 6098 | 6113 391a AA27 clr r26 |
||
| 6099 | 6114 391c 97FD sbrc r25,7 |
||
| 6100 | 6115 391e A095 com r26 |
||
| 6101 | 6116 3920 BA2F mov r27,r26 |
||
| 6102 | 6117 3922 E090 0000 lds r14,IPartRoll.2409 |
||
| 6103 | 6118 3926 F090 0000 lds r15,(IPartRoll.2409)+1 |
||
| 6104 | 6119 392a 0091 0000 lds r16,(IPartRoll.2409)+2 |
||
| 6105 | 6120 392e 1091 0000 lds r17,(IPartRoll.2409)+3 |
||
| 6106 | 6121 3932 E80E add r14,r24 |
||
| 6107 | 6122 3934 F91E adc r15,r25 |
||
| 6108 | 6123 3936 0A1F adc r16,r26 |
||
| 6109 | 6124 3938 1B1F adc r17,r27 |
||
| 6110 | 6125 393a E092 0000 sts IPartRoll.2409,r14 |
||
| 6111 | 6126 393e F092 0000 sts (IPartRoll.2409)+1,r15 |
||
| 6112 | 6127 3942 0093 0000 sts (IPartRoll.2409)+2,r16 |
||
| 6113 | 6128 3946 1093 0000 sts (IPartRoll.2409)+3,r17 |
||
| 6114 | 6129 394a 00C0 rjmp .L692 |
||
| 6115 | 6130 .L687: |
||
| 6116 | 6131 394c 61E0 ldi r22,lo8(64001) |
||
| 6117 | 6132 394e E616 cp r14,r22 |
||
| 6118 | 6133 3950 6AEF ldi r22,hi8(64001) |
||
| 6119 | 6134 3952 F606 cpc r15,r22 |
||
| 6120 | 6135 3954 60E0 ldi r22,hlo8(64001) |
||
| 6121 | 6136 3956 0607 cpc r16,r22 |
||
| 6122 | 6137 3958 60E0 ldi r22,hhi8(64001) |
||
| 6123 | 6138 395a 1607 cpc r17,r22 |
||
| 6124 | 6139 395c 04F4 brge .+2 |
||
| 6125 | 6140 395e 00C0 rjmp .L688 |
||
| 6126 | 6141 3960 80E0 ldi r24,lo8(64000) |
||
| 6127 | 6142 3962 9AEF ldi r25,hi8(64000) |
||
| 6128 | 6143 3964 A0E0 ldi r26,hlo8(64000) |
||
| 6129 | 6144 3966 B0E0 ldi r27,hhi8(64000) |
||
| 6130 | 6145 3968 8093 0000 sts IPartNick.2408,r24 |
||
| 6131 | 6146 396c 9093 0000 sts (IPartNick.2408)+1,r25 |
||
| 6132 | 6147 3970 A093 0000 sts (IPartNick.2408)+2,r26 |
||
| 6133 | 6148 3974 B093 0000 sts (IPartNick.2408)+3,r27 |
||
| 6134 | 6149 3978 E12C mov r14,__zero_reg__ |
||
| 6135 | 6150 397a 2AEF ldi r18,hi8(64000) |
||
| 6136 | 6151 397c F22E mov r15,r18 |
||
| 6137 | 6152 397e 012D mov r16,__zero_reg__ |
||
| 6138 | 6153 3980 112D mov r17,__zero_reg__ |
||
| 6139 | 6154 3982 00C0 rjmp .L688 |
||
| 6140 | 6155 .L685: |
||
| 6141 | 6156 3984 C601 movw r24,r12 |
||
| 6142 | 6157 3986 AA27 clr r26 |
||
| 6143 | 6158 3988 97FD sbrc r25,7 |
||
| 6144 | 6159 398a A095 com r26 |
||
| 6145 | 6160 398c BA2F mov r27,r26 |
||
| 6146 | 6161 398e E090 0000 lds r14,IPartNick.2408 |
||
| 6147 | 6162 3992 F090 0000 lds r15,(IPartNick.2408)+1 |
||
| 6148 | 6163 3996 0091 0000 lds r16,(IPartNick.2408)+2 |
||
| 6149 | 6164 399a 1091 0000 lds r17,(IPartNick.2408)+3 |
||
| 6150 | 6165 399e E80E add r14,r24 |
||
| 6151 | 6166 39a0 F91E adc r15,r25 |
||
| 6152 | 6167 39a2 0A1F adc r16,r26 |
||
| 6153 | 6168 39a4 1B1F adc r17,r27 |
||
| 6154 | 6169 39a6 E092 0000 sts IPartNick.2408,r14 |
||
| 6155 | 6170 39aa F092 0000 sts (IPartNick.2408)+1,r15 |
||
| 6156 | 6171 39ae 0093 0000 sts (IPartNick.2408)+2,r16 |
||
| 6157 | 6172 39b2 1093 0000 sts (IPartNick.2408)+3,r17 |
||
| 6158 | 6173 39b6 00C0 rjmp .L686 |
||
| 6159 | 6174 .L675: |
||
| 6160 | 6175 39b8 C701 movw r24,r14 |
||
| 6161 | 6176 39ba 8135 cpi r24,81 |
||
| 6162 | 6177 39bc 9105 cpc r25,__zero_reg__ |
||
| 6163 | 6178 39be 04F0 brlt .+2 |
||
| 6164 | 6179 39c0 00C0 rjmp .L788 |
||
| 6165 | 6180 39c2 9C01 movw r18,r24 |
||
| 6166 | 6181 39c4 5FEF ldi r21,hi8(-80) |
||
| 6167 | 6182 39c6 803B cpi r24,lo8(-80) |
||
| 6168 | 6183 39c8 9507 cpc r25,r21 |
||
| 6169 | 6184 39ca 04F0 brlt .+2 |
||
| 6170 | 6185 39cc 00C0 rjmp .L677 |
||
| 6171 | 6186 .L790: |
||
| 6172 | 6187 39ce 20EB ldi r18,lo8(-80) |
||
| 6173 | 6188 39d0 3FEF ldi r19,hi8(-80) |
||
| 6174 | 6189 39d2 00C0 rjmp .L677 |
||
| 6175 | 6190 .L601: |
||
| 6176 | 6191 39d4 6091 0000 lds r22,GyroIFactor |
||
| 6177 | 6192 39d8 70E0 ldi r23,lo8(0) |
||
| 6178 | 6193 39da 80E0 ldi r24,lo8(0) |
||
| 6179 | 6194 39dc 90E0 ldi r25,hi8(0) |
||
| 6180 | 6195 39de 2091 0000 lds r18,IntegralGyroRoll |
||
| 6181 | 6196 39e2 3091 0000 lds r19,(IntegralGyroRoll)+1 |
||
| 6182 | 6197 39e6 4091 0000 lds r20,(IntegralGyroRoll)+2 |
||
| 6183 | 6198 39ea 5091 0000 lds r21,(IntegralGyroRoll)+3 |
||
| 6184 | 6199 39ee 0E94 0000 call __mulsi3 |
||
| 6185 | 6200 39f2 28EF ldi r18,lo8(11000) |
||
| 6186 | 6201 39f4 3AE2 ldi r19,hi8(11000) |
||
| 6187 | 6202 39f6 40E0 ldi r20,hlo8(11000) |
||
| 6188 | 6203 39f8 50E0 ldi r21,hhi8(11000) |
||
| 6189 | 6204 39fa 0E94 0000 call __divmodsi4 |
||
| 6190 | 6205 39fe 3887 std Y+8,r19 |
||
| 6191 | 6206 3a00 2F83 std Y+7,r18 |
||
| 6192 | 6207 3a02 3E83 std Y+6,r19 |
||
| 6193 | 6208 3a04 2D83 std Y+5,r18 |
||
| 6194 | 6209 3a06 00C0 rjmp .L602 |
||
| 6195 | 6210 .L599: |
||
| 6196 | 6211 3a08 6091 0000 lds r22,GyroIFactor |
||
| 6197 | 6212 3a0c 70E0 ldi r23,lo8(0) |
||
| 6198 | 6213 3a0e 80E0 ldi r24,lo8(0) |
||
| 6199 | 6214 3a10 90E0 ldi r25,hi8(0) |
||
| 6200 | 6215 3a12 2091 0000 lds r18,IntegralGyroNick |
||
| 6201 | 6216 3a16 3091 0000 lds r19,(IntegralGyroNick)+1 |
||
| 6202 | 6217 3a1a 4091 0000 lds r20,(IntegralGyroNick)+2 |
||
| 6203 | 6218 3a1e 5091 0000 lds r21,(IntegralGyroNick)+3 |
||
| 6204 | 6219 3a22 0E94 0000 call __mulsi3 |
||
| 6205 | 6220 3a26 28EF ldi r18,lo8(11000) |
||
| 6206 | 6221 3a28 3AE2 ldi r19,hi8(11000) |
||
| 6207 | 6222 3a2a 40E0 ldi r20,hlo8(11000) |
||
| 6208 | 6223 3a2c 50E0 ldi r21,hhi8(11000) |
||
| 6209 | 6224 3a2e 0E94 0000 call __divmodsi4 |
||
| 6210 | 6225 3a32 2901 movw r4,r18 |
||
| 6211 | 6226 3a34 3C83 std Y+4,r19 |
||
| 6212 | 6227 3a36 2B83 std Y+3,r18 |
||
| 6213 | 6228 3a38 00C0 rjmp .L600 |
||
| 6214 | 6229 .L596: |
||
| 6215 | 6230 3a3a EE8D ldd r30,Y+30 |
||
| 6216 | 6231 3a3c FF8D ldd r31,Y+31 |
||
| 6217 | 6232 3a3e E93C cpi r30,201 |
||
| 6218 | 6233 3a40 F105 cpc r31,__zero_reg__ |
||
| 6219 | 6234 3a42 04F4 brge .+2 |
||
| 6220 | 6235 3a44 00C0 rjmp .L597 |
||
| 6221 | 6236 3a46 88EC ldi r24,lo8(200) |
||
| 6222 | 6237 3a48 90E0 ldi r25,hi8(200) |
||
| 6223 | 6238 3a4a 9093 0000 sts (TrimRoll)+1,r25 |
||
| 6224 | 6239 3a4e 8093 0000 sts TrimRoll,r24 |
||
| 6225 | 6240 3a52 9F8F std Y+31,r25 |
||
| 6226 | 6241 3a54 8E8F std Y+30,r24 |
||
| 6227 | 6242 3a56 00C0 rjmp .L597 |
||
| 6228 | 6243 .L594: |
||
| 6229 | 6244 3a58 69EC ldi r22,lo8(201) |
||
| 6230 | 6245 3a5a 8616 cp r8,r22 |
||
| 6231 | 6246 3a5c 9104 cpc r9,__zero_reg__ |
||
| 6232 | 6247 3a5e 04F4 brge .+2 |
||
| 6233 | 6248 3a60 00C0 rjmp .L595 |
||
| 6234 | 6249 3a62 88EC ldi r24,lo8(200) |
||
| 6235 | 6250 3a64 90E0 ldi r25,hi8(200) |
||
| 6236 | 6251 3a66 9093 0000 sts (TrimNick)+1,r25 |
||
| 6237 | 6252 3a6a 8093 0000 sts TrimNick,r24 |
||
| 6238 | 6253 3a6e E8EC ldi r30,lo8(200) |
||
| 6239 | 6254 3a70 8E2E mov r8,r30 |
||
| 6240 | 6255 3a72 912C mov r9,__zero_reg__ |
||
| 6241 | 6256 3a74 00C0 rjmp .L595 |
||
| 6242 | 6257 .L573: |
||
| 6243 | 6258 3a76 2155 subi r18,lo8(50001) |
||
| 6244 | 6259 3a78 334C sbci r19,hi8(50001) |
||
| 6245 | 6260 3a7a 4040 sbci r20,hlo8(50001) |
||
| 6246 | 6261 3a7c 5040 sbci r21,hhi8(50001) |
||
| 6247 | 6262 3a7e 04F4 brge .+4 |
||
| 6248 | 6263 3a80 0C94 0000 jmp .L574 |
||
| 6249 | 6264 3a84 80E5 ldi r24,lo8(50000) |
||
| 6250 | 6265 3a86 93EC ldi r25,hi8(50000) |
||
| 6251 | 6266 3a88 A0E0 ldi r26,hlo8(50000) |
||
| 6252 | 6267 3a8a B0E0 ldi r27,hhi8(50000) |
||
| 6253 | 6268 3a8c 8093 0000 sts ReadingIntegralGyroYaw,r24 |
||
| 6254 | 6269 3a90 9093 0000 sts (ReadingIntegralGyroYaw)+1,r25 |
||
| 6255 | 6270 3a94 A093 0000 sts (ReadingIntegralGyroYaw)+2,r26 |
||
| 6256 | 6271 3a98 B093 0000 sts (ReadingIntegralGyroYaw)+3,r27 |
||
| 6257 | 6272 3a9c 0C94 0000 jmp .L574 |
||
| 6258 | 6273 .L740: |
||
| 6259 | 6274 3aa0 9B01 movw r18,r22 |
||
| 6260 | 6275 3aa2 77FD sbrc r23,7 |
||
| 6261 | 6276 3aa4 00C0 rjmp .L789 |
||
| 6262 | 6277 .L484: |
||
| 6263 | 6278 3aa6 C901 movw r24,r18 |
||
| 6264 | 6279 3aa8 9595 asr r25 |
||
| 6265 | 6280 3aaa 8795 ror r24 |
||
| 6266 | 6281 3aac 9595 asr r25 |
||
| 6267 | 6282 3aae 8795 ror r24 |
||
| 6268 | 6283 3ab0 9093 0000 sts (MaxStickNick)+1,r25 |
||
| 6269 | 6284 3ab4 8093 0000 sts MaxStickNick,r24 |
||
| 6270 | 6285 3ab8 8536 cpi r24,101 |
||
| 6271 | 6286 3aba 9105 cpc r25,__zero_reg__ |
||
| 6272 | 6287 3abc 04F4 brge .+4 |
||
| 6273 | 6288 3abe 0C94 0000 jmp .L485 |
||
| 6274 | 6289 3ac2 84E6 ldi r24,lo8(100) |
||
| 6275 | 6290 3ac4 90E0 ldi r25,hi8(100) |
||
| 6276 | 6291 3ac6 9093 0000 sts (MaxStickNick)+1,r25 |
||
| 6277 | 6292 3aca 8093 0000 sts MaxStickNick,r24 |
||
| 6278 | 6293 3ace 0C94 0000 jmp .L485 |
||
| 6279 | 6294 .L737: |
||
| 6280 | 6295 3ad2 1092 0000 sts GyroIFactor,__zero_reg__ |
||
| 6281 | 6296 3ad6 0C94 0000 jmp .L480 |
||
| 6282 | 6297 .L778: |
||
| 6283 | 6298 3ada 5C01 movw r10,r24 |
||
| 6284 | 6299 3adc 00C0 rjmp .L669 |
||
| 6285 | 6300 .L788: |
||
| 6286 | 6301 3ade 80E5 ldi r24,lo8(80) |
||
| 6287 | 6302 3ae0 90E0 ldi r25,hi8(80) |
||
| 6288 | 6303 3ae2 9C01 movw r18,r24 |
||
| 6289 | 6304 3ae4 5FEF ldi r21,hi8(-80) |
||
| 6290 | 6305 3ae6 803B cpi r24,lo8(-80) |
||
| 6291 | 6306 3ae8 9507 cpc r25,r21 |
||
| 6292 | 6307 3aea 04F0 brlt .+2 |
||
| 6293 | 6308 3aec 00C0 rjmp .L677 |
||
| 6294 | 6309 3aee 00C0 rjmp .L790 |
||
| 6295 | 6310 .L784: |
||
| 6296 | 6311 3af0 C801 movw r24,r16 |
||
| 6297 | 6312 3af2 00C0 rjmp .L700 |
||
| 6298 | 6313 .L782: |
||
| 6299 | 6314 3af4 3C01 movw r6,r24 |
||
| 6300 | 6315 3af6 00C0 rjmp .L681 |
||
| 6301 | 6316 .L781: |
||
| 6302 | 6317 3af8 9501 movw r18,r10 |
||
| 6303 | 6318 3afa 3595 asr r19 |
||
| 6304 | 6319 3afc 2795 ror r18 |
||
| 6305 | 6320 3afe E216 cp r14,r18 |
||
| 6306 | 6321 3b00 F306 cpc r15,r19 |
||
| 6307 | 6322 3b02 04F0 brlt .+2 |
||
| 6308 | 6323 3b04 00C0 rjmp .L677 |
||
| 6309 | 6324 3b06 9701 movw r18,r14 |
||
| 6310 | 6325 3b08 00C0 rjmp .L677 |
||
| 6311 | 6326 .L779: |
||
| 6312 | 6327 3b0a 1A14 cp __zero_reg__,r10 |
||
| 6313 | 6328 3b0c 1B04 cpc __zero_reg__,r11 |
||
| 6314 | 6329 3b0e 04F0 brlt .+2 |
||
| 6315 | 6330 3b10 00C0 rjmp .L672 |
||
| 6316 | 6331 3b12 81E0 ldi r24,lo8(1) |
||
| 6317 | 6332 3b14 90E0 ldi r25,hi8(1) |
||
| 6318 | 6333 3b16 9093 0000 sts (ModelIsFlying)+1,r25 |
||
| 6319 | 6334 3b1a 8093 0000 sts ModelIsFlying,r24 |
||
| 6320 | 6335 3b1e 8091 0000 lds r24,ParamSet+21 |
||
| 6321 | 6336 3b22 282F mov r18,r24 |
||
| 6322 | 6337 3b24 30E0 ldi r19,lo8(0) |
||
| 6323 | 6338 3b26 00C0 rjmp .L672 |
||
| 6324 | 6339 .L756: |
||
| 6325 | 6340 3b28 81E0 ldi r24,lo8(1) |
||
| 6326 | 6341 3b2a 90E0 ldi r25,hi8(1) |
||
| 6327 | 6342 3b2c 9093 0000 sts (UpdateCompassCourse.2420)+1,r25 |
||
| 6328 | 6343 3b30 8093 0000 sts UpdateCompassCourse.2420,r24 |
||
| 6329 | 6344 3b34 0C94 0000 jmp .L569 |
||
| 6330 | 6345 .L777: |
||
| 6331 | 6346 3b38 9D8D ldd r25,Y+29 |
||
| 6332 | 6347 3b3a 9923 tst r25 |
||
| 6333 | 6348 3b3c 01F0 breq .+2 |
||
| 6334 | 6349 3b3e 00C0 rjmp .L604 |
||
| 6335 | 6350 3b40 8091 0000 lds r24,HoverGas.2445 |
||
| 6336 | 6351 3b44 9091 0000 lds r25,(HoverGas.2445)+1 |
||
| 6337 | 6352 3b48 9093 0000 sts (DebugOut+44)+1,r25 |
||
| 6338 | 6353 3b4c 8093 0000 sts DebugOut+44,r24 |
||
| 6339 | 6354 3b50 8091 0000 lds r24,ReadingVario |
||
| 6340 | 6355 3b54 9091 0000 lds r25,(ReadingVario)+1 |
||
| 6341 | 6356 3b58 9093 0000 sts (DebugOut+38)+1,r25 |
||
| 6342 | 6357 3b5c 8093 0000 sts DebugOut+38,r24 |
||
| 6343 | 6358 3b60 2091 0000 lds r18,BaroExpandActive.2451 |
||
| 6344 | 6359 3b64 3091 0000 lds r19,(BaroExpandActive.2451)+1 |
||
| 6345 | 6360 3b68 2115 cp r18,__zero_reg__ |
||
| 6346 | 6361 3b6a 3105 cpc r19,__zero_reg__ |
||
| 6347 | 6362 3b6c 01F4 brne .+4 |
||
| 6348 | 6363 3b6e 0C94 0000 jmp .L605 |
||
| 6349 | 6364 3b72 8091 0000 lds r24,ReadingHeight |
||
| 6350 | 6365 3b76 9091 0000 lds r25,(ReadingHeight)+1 |
||
| 6351 | 6366 3b7a A091 0000 lds r26,(ReadingHeight)+2 |
||
| 6352 | 6367 3b7e B091 0000 lds r27,(ReadingHeight)+3 |
||
| 6353 | 6368 3b82 880F lsl r24 |
||
| 6354 | 6369 3b84 991F rol r25 |
||
| 6355 | 6370 3b86 AA1F rol r26 |
||
| 6356 | 6371 3b88 BB1F rol r27 |
||
| 6357 | 6372 3b8a 880F lsl r24 |
||
| 6358 | 6373 3b8c 991F rol r25 |
||
| 6359 | 6374 3b8e AA1F rol r26 |
||
| 6360 | 6375 3b90 BB1F rol r27 |
||
| 6361 | 6376 3b92 880F lsl r24 |
||
| 6362 | 6377 3b94 991F rol r25 |
||
| 6363 | 6378 3b96 AA1F rol r26 |
||
| 6364 | 6379 3b98 BB1F rol r27 |
||
| 6365 | 6380 3b9a 880F lsl r24 |
||
| 6366 | 6381 3b9c 991F rol r25 |
||
| 6367 | 6382 3b9e AA1F rol r26 |
||
| 6368 | 6383 3ba0 BB1F rol r27 |
||
| 6369 | 6384 3ba2 8093 0000 sts SumHeight,r24 |
||
| 6370 | 6385 3ba6 9093 0000 sts (SumHeight)+1,r25 |
||
| 6371 | 6386 3baa A093 0000 sts (SumHeight)+2,r26 |
||
| 6372 | 6387 3bae B093 0000 sts (SumHeight)+3,r27 |
||
| 6373 | 6388 3bb2 1092 0000 sts (ReadingVario)+1,__zero_reg__ |
||
| 6374 | 6389 3bb6 1092 0000 sts ReadingVario,__zero_reg__ |
||
| 6375 | 6390 3bba 2150 subi r18,lo8(-(-1)) |
||
| 6376 | 6391 3bbc 3040 sbci r19,hi8(-(-1)) |
||
| 6377 | 6392 3bbe 3093 0000 sts (BaroExpandActive.2451)+1,r19 |
||
| 6378 | 6393 3bc2 2093 0000 sts BaroExpandActive.2451,r18 |
||
| 6379 | 6394 .L606: |
||
| 6380 | 6395 3bc6 8091 0000 lds r24,ParamSet+8 |
||
| 6381 | 6396 3bca 81FF sbrs r24,1 |
||
| 6382 | 6397 3bcc 00C0 rjmp .L611 |
||
| 6383 | 6398 3bce 8091 0000 lds r24,FCParam+1 |
||
| 6384 | 6399 3bd2 8233 cpi r24,lo8(50) |
||
| 6385 | 6400 3bd4 00F0 brlo .+4 |
||
| 6386 | 6401 3bd6 0C94 0000 jmp .L612 |
||
| 6387 | 6402 3bda 8091 0000 lds r24,delay.2449 |
||
| 6388 | 6403 3bde 8150 subi r24,lo8(-(-1)) |
||
| 6389 | 6404 3be0 8093 0000 sts delay.2449,r24 |
||
| 6390 | 6405 3be4 8F5F subi r24,lo8(-(1)) |
||
| 6391 | 6406 3be6 01F0 breq .+2 |
||
| 6392 | 6407 3be8 00C0 rjmp .L613 |
||
| 6393 | 6408 3bea 8091 0000 lds r24,ReadingHeight |
||
| 6394 | 6409 3bee 9091 0000 lds r25,(ReadingHeight)+1 |
||
| 6395 | 6410 3bf2 A091 0000 lds r26,(ReadingHeight)+2 |
||
| 6396 | 6411 3bf6 B091 0000 lds r27,(ReadingHeight)+3 |
||
| 6397 | 6412 3bfa 8093 0000 sts SetPointHeight,r24 |
||
| 6398 | 6413 3bfe 9093 0000 sts (SetPointHeight)+1,r25 |
||
| 6399 | 6414 3c02 A093 0000 sts (SetPointHeight)+2,r26 |
||
| 6400 | 6415 3c06 B093 0000 sts (SetPointHeight)+3,r27 |
||
| 6401 | 6416 3c0a 1092 0000 sts HCActive.2443,__zero_reg__ |
||
| 6402 | 6417 3c0e 81E0 ldi r24,lo8(1) |
||
| 6403 | 6418 3c10 8093 0000 sts delay.2449,r24 |
||
| 6404 | 6419 3c14 00C0 rjmp .L613 |
||
| 6405 | 6420 .L732: |
||
| 6406 | 6421 3c16 0197 sbiw r24,1 |
||
| 6407 | 6422 3c18 9093 0000 sts (RcLostTimer.2415)+1,r25 |
||
| 6408 | 6423 3c1c 8093 0000 sts RcLostTimer.2415,r24 |
||
| 6409 | 6424 3c20 AAE0 ldi r26,lo8(10) |
||
| 6410 | 6425 3c22 BA2E mov r11,r26 |
||
| 6411 | 6426 3c24 DB14 cp r13,r11 |
||
| 6412 | 6427 3c26 01F0 breq .+4 |
||
| 6413 | 6428 3c28 0C94 0000 jmp .L791 |
||
| 6414 | 6429 .L406: |
||
| 6415 | 6430 3c2c 289A sbi 37-32,0 |
||
| 6416 | 6431 3c2e 0C94 0000 jmp .L408 |
||
| 6417 | 6432 .L754: |
||
| 6418 | 6433 3c32 8091 0000 lds r24,LoopingRoll |
||
| 6419 | 6434 3c36 8823 tst r24 |
||
| 6420 | 6435 3c38 01F0 breq .+4 |
||
| 6421 | 6436 3c3a 0C94 0000 jmp .L530 |
||
| 6422 | 6437 3c3e 8091 0000 lds r24,FunnelCourse |
||
| 6423 | 6438 3c42 8823 tst r24 |
||
| 6424 | 6439 3c44 01F0 breq .+4 |
||
| 6425 | 6440 3c46 0C94 0000 jmp .L530 |
||
| 6426 | 6441 3c4a 8091 0000 lds r24,ParamSet+57 |
||
| 6427 | 6442 3c4e 8823 tst r24 |
||
| 6428 | 6443 3c50 01F4 brne .+4 |
||
| 6429 | 6444 3c52 0C94 0000 jmp .L530 |
||
| 6430 | 6445 3c56 8091 0000 lds r24,MeanIntegralGyroNick |
||
| 6431 | 6446 3c5a 9091 0000 lds r25,(MeanIntegralGyroNick)+1 |
||
| 6432 | 6447 3c5e A091 0000 lds r26,(MeanIntegralGyroNick)+2 |
||
| 6433 | 6448 3c62 B091 0000 lds r27,(MeanIntegralGyroNick)+3 |
||
| 6434 | 6449 3c66 BC01 movw r22,r24 |
||
| 6435 | 6450 3c68 CD01 movw r24,r26 |
||
| 6436 | 6451 3c6a 20E0 ldi r18,lo8(256) |
||
| 6437 | 6452 3c6c 31E0 ldi r19,hi8(256) |
||
| 6438 | 6453 3c6e 40E0 ldi r20,hlo8(256) |
||
| 6439 | 6454 3c70 50E0 ldi r21,hhi8(256) |
||
| 6440 | 6455 3c72 0E94 0000 call __divmodsi4 |
||
| 6441 | 6456 3c76 2D8B std Y+21,r18 |
||
| 6442 | 6457 3c78 3E8B std Y+22,r19 |
||
| 6443 | 6458 3c7a 4F8B std Y+23,r20 |
||
| 6444 | 6459 3c7c 588F std Y+24,r21 |
||
| 6445 | 6460 3c7e 28A3 std Y+32,r18 |
||
| 6446 | 6461 3c80 39A3 std Y+33,r19 |
||
| 6447 | 6462 3c82 4AA3 std Y+34,r20 |
||
| 6448 | 6463 3c84 5BA3 std Y+35,r21 |
||
| 6449 | 6464 3c86 2093 0000 sts MeanIntegralGyroNick,r18 |
||
| 6450 | 6465 3c8a 3093 0000 sts (MeanIntegralGyroNick)+1,r19 |
||
| 6451 | 6466 3c8e 4093 0000 sts (MeanIntegralGyroNick)+2,r20 |
||
| 6452 | 6467 3c92 5093 0000 sts (MeanIntegralGyroNick)+3,r21 |
||
| 6453 | 6468 3c96 2090 0000 lds r2,MeanIntegralGyroRoll |
||
| 6454 | 6469 3c9a 3090 0000 lds r3,(MeanIntegralGyroRoll)+1 |
||
| 6455 | 6470 3c9e 4090 0000 lds r4,(MeanIntegralGyroRoll)+2 |
||
| 6456 | 6471 3ca2 5090 0000 lds r5,(MeanIntegralGyroRoll)+3 |
||
| 6457 | 6472 3ca6 C201 movw r24,r4 |
||
| 6458 | 6473 3ca8 B101 movw r22,r2 |
||
| 6459 | 6474 3caa 20E0 ldi r18,lo8(256) |
||
| 6460 | 6475 3cac 31E0 ldi r19,hi8(256) |
||
| 6461 | 6476 3cae 40E0 ldi r20,hlo8(256) |
||
| 6462 | 6477 3cb0 50E0 ldi r21,hhi8(256) |
||
| 6463 | 6478 3cb2 0E94 0000 call __divmodsi4 |
||
| 6464 | 6479 3cb6 298F std Y+25,r18 |
||
| 6465 | 6480 3cb8 3A8F std Y+26,r19 |
||
| 6466 | 6481 3cba 4B8F std Y+27,r20 |
||
| 6467 | 6482 3cbc 5C8F std Y+28,r21 |
||
| 6468 | 6483 3cbe 1901 movw r2,r18 |
||
| 6469 | 6484 3cc0 2A01 movw r4,r20 |
||
| 6470 | 6485 3cc2 2093 0000 sts MeanIntegralGyroRoll,r18 |
||
| 6471 | 6486 3cc6 3093 0000 sts (MeanIntegralGyroRoll)+1,r19 |
||
| 6472 | 6487 3cca 4093 0000 sts (MeanIntegralGyroRoll)+2,r20 |
||
| 6473 | 6488 3cce 5093 0000 sts (MeanIntegralGyroRoll)+3,r21 |
||
| 6474 | 6489 3cd2 E090 0000 lds r14,ParamSet+23 |
||
| 6475 | 6490 3cd6 FF24 clr r15 |
||
| 6476 | 6491 3cd8 00E0 ldi r16,lo8(0) |
||
| 6477 | 6492 3cda 10E0 ldi r17,hi8(0) |
||
| 6478 | 6493 3cdc 2091 0000 lds r18,MeanAccNick |
||
| 6479 | 6494 3ce0 3091 0000 lds r19,(MeanAccNick)+1 |
||
| 6480 | 6495 3ce4 4091 0000 lds r20,(MeanAccNick)+2 |
||
| 6481 | 6496 3ce8 5091 0000 lds r21,(MeanAccNick)+3 |
||
| 6482 | 6497 3cec C801 movw r24,r16 |
||
| 6483 | 6498 3cee B701 movw r22,r14 |
||
| 6484 | 6499 3cf0 0E94 0000 call __mulsi3 |
||
| 6485 | 6500 3cf4 20E0 ldi r18,lo8(256) |
||
| 6486 | 6501 3cf6 31E0 ldi r19,hi8(256) |
||
| 6487 | 6502 3cf8 40E0 ldi r20,hlo8(256) |
||
| 6488 | 6503 3cfa 50E0 ldi r21,hhi8(256) |
||
| 6489 | 6504 3cfc 0E94 0000 call __divmodsi4 |
||
| 6490 | 6505 3d00 5901 movw r10,r18 |
||
| 6491 | 6506 3d02 6A01 movw r12,r20 |
||
| 6492 | 6507 3d04 2093 0000 sts MeanAccNick,r18 |
||
| 6493 | 6508 3d08 3093 0000 sts (MeanAccNick)+1,r19 |
||
| 6494 | 6509 3d0c 4093 0000 sts (MeanAccNick)+2,r20 |
||
| 6495 | 6510 3d10 5093 0000 sts (MeanAccNick)+3,r21 |
||
| 6496 | 6511 3d14 2091 0000 lds r18,MeanAccRoll |
||
| 6497 | 6512 3d18 3091 0000 lds r19,(MeanAccRoll)+1 |
||
| 6498 | 6513 3d1c 4091 0000 lds r20,(MeanAccRoll)+2 |
||
| 6499 | 6514 3d20 5091 0000 lds r21,(MeanAccRoll)+3 |
||
| 6500 | 6515 3d24 C801 movw r24,r16 |
||
| 6501 | 6516 3d26 B701 movw r22,r14 |
||
| 6502 | 6517 3d28 0E94 0000 call __mulsi3 |
||
| 6503 | 6518 3d2c 20E0 ldi r18,lo8(256) |
||
| 6504 | 6519 3d2e 31E0 ldi r19,hi8(256) |
||
| 6505 | 6520 3d30 40E0 ldi r20,hlo8(256) |
||
| 6506 | 6521 3d32 50E0 ldi r21,hhi8(256) |
||
| 6507 | 6522 3d34 0E94 0000 call __divmodsi4 |
||
| 6508 | 6523 3d38 3901 movw r6,r18 |
||
| 6509 | 6524 3d3a 4A01 movw r8,r20 |
||
| 6510 | 6525 3d3c 2093 0000 sts MeanAccRoll,r18 |
||
| 6511 | 6526 3d40 3093 0000 sts (MeanAccRoll)+1,r19 |
||
| 6512 | 6527 3d44 4093 0000 sts (MeanAccRoll)+2,r20 |
||
| 6513 | 6528 3d48 5093 0000 sts (MeanAccRoll)+3,r21 |
||
| 6514 | 6529 3d4c 6D89 ldd r22,Y+21 |
||
| 6515 | 6530 3d4e 7E89 ldd r23,Y+22 |
||
| 6516 | 6531 3d50 8F89 ldd r24,Y+23 |
||
| 6517 | 6532 3d52 988D ldd r25,Y+24 |
||
| 6518 | 6533 3d54 6A19 sub r22,r10 |
||
| 6519 | 6534 3d56 7B09 sbc r23,r11 |
||
| 6520 | 6535 3d58 8C09 sbc r24,r12 |
||
| 6521 | 6536 3d5a 9D09 sbc r25,r13 |
||
| 6522 | 6537 3d5c 6093 0000 sts IntegralGyroNickError.2411,r22 |
||
| 6523 | 6538 3d60 7093 0000 sts (IntegralGyroNickError.2411)+1,r23 |
||
| 6524 | 6539 3d64 8093 0000 sts (IntegralGyroNickError.2411)+2,r24 |
||
| 6525 | 6540 3d68 9093 0000 sts (IntegralGyroNickError.2411)+3,r25 |
||
| 6526 | 6541 3d6c E090 0000 lds r14,ParamSet+56 |
||
| 6527 | 6542 3d70 FF24 clr r15 |
||
| 6528 | 6543 3d72 00E0 ldi r16,lo8(0) |
||
| 6529 | 6544 3d74 10E0 ldi r17,hi8(0) |
||
| 6530 | 6545 3d76 A801 movw r20,r16 |
||
| 6531 | 6546 3d78 9701 movw r18,r14 |
||
| 6532 | 6547 3d7a 0E94 0000 call __divmodsi4 |
||
| 6533 | 6548 3d7e CA01 movw r24,r20 |
||
| 6534 | 6549 3d80 2093 0000 sts CorrectionNick.2413,r18 |
||
| 6535 | 6550 3d84 3093 0000 sts CorrectionNick.2413+1,r19 |
||
| 6536 | 6551 3d88 4093 0000 sts CorrectionNick.2413+2,r20 |
||
| 6537 | 6552 3d8c 9093 0000 sts CorrectionNick.2413+3,r25 |
||
| 6538 | 6553 3d90 B901 movw r22,r18 |
||
| 6539 | 6554 3d92 20E0 ldi r18,lo8(256) |
||
| 6540 | 6555 3d94 31E0 ldi r19,hi8(256) |
||
| 6541 | 6556 3d96 40E0 ldi r20,hlo8(256) |
||
| 6542 | 6557 3d98 50E0 ldi r21,hhi8(256) |
||
| 6543 | 6558 3d9a 0E94 0000 call __divmodsi4 |
||
| 6544 | 6559 3d9e 3093 0000 sts (AttitudeCorrectionNick)+1,r19 |
||
| 6545 | 6560 3da2 2093 0000 sts AttitudeCorrectionNick,r18 |
||
| 6546 | 6561 3da6 C201 movw r24,r4 |
||
| 6547 | 6562 3da8 B101 movw r22,r2 |
||
| 6548 | 6563 3daa 6619 sub r22,r6 |
||
| 6549 | 6564 3dac 7709 sbc r23,r7 |
||
| 6550 | 6565 3dae 8809 sbc r24,r8 |
||
| 6551 | 6566 3db0 9909 sbc r25,r9 |
||
| 6552 | 6567 3db2 6093 0000 sts IntegralGyroRollError.2412,r22 |
||
| 6553 | 6568 3db6 7093 0000 sts (IntegralGyroRollError.2412)+1,r23 |
||
| 6554 | 6569 3dba 8093 0000 sts (IntegralGyroRollError.2412)+2,r24 |
||
| 6555 | 6570 3dbe 9093 0000 sts (IntegralGyroRollError.2412)+3,r25 |
||
| 6556 | 6571 3dc2 A801 movw r20,r16 |
||
| 6557 | 6572 3dc4 9701 movw r18,r14 |
||
| 6558 | 6573 3dc6 0E94 0000 call __divmodsi4 |
||
| 6559 | 6574 3dca CA01 movw r24,r20 |
||
| 6560 | 6575 3dcc 2093 0000 sts CorrectionRoll.2414,r18 |
||
| 6561 | 6576 3dd0 3093 0000 sts CorrectionRoll.2414+1,r19 |
||
| 6562 | 6577 3dd4 4093 0000 sts CorrectionRoll.2414+2,r20 |
||
| 6563 | 6578 3dd8 9093 0000 sts CorrectionRoll.2414+3,r25 |
||
| 6564 | 6579 3ddc B901 movw r22,r18 |
||
| 6565 | 6580 3dde 20E0 ldi r18,lo8(256) |
||
| 6566 | 6581 3de0 31E0 ldi r19,hi8(256) |
||
| 6567 | 6582 3de2 40E0 ldi r20,hlo8(256) |
||
| 6568 | 6583 3de4 50E0 ldi r21,hhi8(256) |
||
| 6569 | 6584 3de6 0E94 0000 call __divmodsi4 |
||
| 6570 | 6585 3dea 3093 0000 sts (AttitudeCorrectionRoll)+1,r19 |
||
| 6571 | 6586 3dee 2093 0000 sts AttitudeCorrectionRoll,r18 |
||
| 6572 | 6587 3df2 8091 0000 lds r24,MaxStickNick |
||
| 6573 | 6588 3df6 9091 0000 lds r25,(MaxStickNick)+1 |
||
| 6574 | 6589 3dfa 8134 cpi r24,65 |
||
| 6575 | 6590 3dfc 9105 cpc r25,__zero_reg__ |
||
| 6576 | 6591 3dfe 04F4 brge .L531 |
||
| 6577 | 6592 3e00 8091 0000 lds r24,MaxStickRoll |
||
| 6578 | 6593 3e04 9091 0000 lds r25,(MaxStickRoll)+1 |
||
| 6579 | 6594 3e08 8134 cpi r24,65 |
||
| 6580 | 6595 3e0a 9105 cpc r25,__zero_reg__ |
||
| 6581 | 6596 3e0c 04F4 brge .L531 |
||
| 6582 | 6597 3e0e E091 0000 lds r30,ParamSet+3 |
||
| 6583 | 6598 3e12 F0E0 ldi r31,lo8(0) |
||
| 6584 | 6599 3e14 EE0F lsl r30 |
||
| 6585 | 6600 3e16 FF1F rol r31 |
||
| 6586 | 6601 3e18 E050 subi r30,lo8(-(PPM_in)) |
||
| 6587 | 6602 3e1a F040 sbci r31,hi8(-(PPM_in)) |
||
| 6588 | 6603 3e1c 0190 ld __tmp_reg__,Z+ |
||
| 6589 | 6604 3e1e F081 ld r31,Z |
||
| 6590 | 6605 3e20 E02D mov r30,__tmp_reg__ |
||
| 6591 | 6606 3e22 F7FF sbrs r31,7 |
||
| 6592 | 6607 3e24 00C0 rjmp .+4 |
||
| 6593 | 6608 3e26 0C94 0000 jmp .L792 |
||
| 6594 | 6609 .L533: |
||
| 6595 | 6610 3e2a 7A97 sbiw r30,26 |
||
| 6596 | 6611 3e2c 04F0 brlt .L532 |
||
| 6597 | 6612 .L531: |
||
| 6598 | 6613 3e2e 8091 0000 lds r24,FCParam+31 |
||
| 6599 | 6614 3e32 8F3F cpi r24,lo8(-1) |
||
| 6600 | 6615 3e34 01F4 brne .+4 |
||
| 6601 | 6616 3e36 0C94 0000 jmp .L793 |
||
| 6602 | 6617 .L532: |
||
| 6603 | 6618 3e3a 2091 0000 lds r18,IntegralGyroNick2 |
||
| 6604 | 6619 3e3e 3091 0000 lds r19,(IntegralGyroNick2)+1 |
||
| 6605 | 6620 3e42 4091 0000 lds r20,(IntegralGyroNick2)+2 |
||
| 6606 | 6621 3e46 5091 0000 lds r21,(IntegralGyroNick2)+3 |
||
| 6607 | 6622 3e4a A8A4 ldd r10,Y+40 |
||
| 6608 | 6623 3e4c B9A4 ldd r11,Y+41 |
||
| 6609 | 6624 3e4e CAA4 ldd r12,Y+42 |
||
| 6610 | 6625 3e50 DBA4 ldd r13,Y+43 |
||
| 6611 | 6626 3e52 2A19 sub r18,r10 |
||
| 6612 | 6627 3e54 3B09 sbc r19,r11 |
||
| 6613 | 6628 3e56 4C09 sbc r20,r12 |
||
| 6614 | 6629 3e58 5D09 sbc r21,r13 |
||
| 6615 | 6630 3e5a 2093 0000 sts IntegralGyroNickError.2411,r18 |
||
| 6616 | 6631 3e5e 3093 0000 sts (IntegralGyroNickError.2411)+1,r19 |
||
| 6617 | 6632 3e62 4093 0000 sts (IntegralGyroNickError.2411)+2,r20 |
||
| 6618 | 6633 3e66 5093 0000 sts (IntegralGyroNickError.2411)+3,r21 |
||
| 6619 | 6634 3e6a 8091 0000 lds r24,ReadingIntegralGyroNick2 |
||
| 6620 | 6635 3e6e 9091 0000 lds r25,(ReadingIntegralGyroNick2)+1 |
||
| 6621 | 6636 3e72 A091 0000 lds r26,(ReadingIntegralGyroNick2)+2 |
||
| 6622 | 6637 3e76 B091 0000 lds r27,(ReadingIntegralGyroNick2)+3 |
||
| 6623 | 6638 3e7a 821B sub r24,r18 |
||
| 6624 | 6639 3e7c 930B sbc r25,r19 |
||
| 6625 | 6640 3e7e A40B sbc r26,r20 |
||
| 6626 | 6641 3e80 B50B sbc r27,r21 |
||
| 6627 | 6642 3e82 8093 0000 sts ReadingIntegralGyroNick2,r24 |
||
| 6628 | 6643 3e86 9093 0000 sts (ReadingIntegralGyroNick2)+1,r25 |
||
| 6629 | 6644 3e8a A093 0000 sts (ReadingIntegralGyroNick2)+2,r26 |
||
| 6630 | 6645 3e8e B093 0000 sts (ReadingIntegralGyroNick2)+3,r27 |
||
| 6631 | 6646 3e92 2091 0000 lds r18,IntegralGyroRoll2 |
||
| 6632 | 6647 3e96 3091 0000 lds r19,(IntegralGyroRoll2)+1 |
||
| 6633 | 6648 3e9a 4091 0000 lds r20,(IntegralGyroRoll2)+2 |
||
| 6634 | 6649 3e9e 5091 0000 lds r21,(IntegralGyroRoll2)+3 |
||
| 6635 | 6650 3ea2 6CA1 ldd r22,Y+36 |
||
| 6636 | 6651 3ea4 7DA1 ldd r23,Y+37 |
||
| 6637 | 6652 3ea6 8EA1 ldd r24,Y+38 |
||
| 6638 | 6653 3ea8 9FA1 ldd r25,Y+39 |
||
| 6639 | 6654 3eaa 261B sub r18,r22 |
||
| 6640 | 6655 3eac 370B sbc r19,r23 |
||
| 6641 | 6656 3eae 480B sbc r20,r24 |
||
| 6642 | 6657 3eb0 590B sbc r21,r25 |
||
| 6643 | 6658 3eb2 2093 0000 sts IntegralGyroRollError.2412,r18 |
||
| 6644 | 6659 3eb6 3093 0000 sts (IntegralGyroRollError.2412)+1,r19 |
||
| 6645 | 6660 3eba 4093 0000 sts (IntegralGyroRollError.2412)+2,r20 |
||
| 6646 | 6661 3ebe 5093 0000 sts (IntegralGyroRollError.2412)+3,r21 |
||
| 6647 | 6662 3ec2 8091 0000 lds r24,ReadingIntegralGyroRoll2 |
||
| 6648 | 6663 3ec6 9091 0000 lds r25,(ReadingIntegralGyroRoll2)+1 |
||
| 6649 | 6664 3eca A091 0000 lds r26,(ReadingIntegralGyroRoll2)+2 |
||
| 6650 | 6665 3ece B091 0000 lds r27,(ReadingIntegralGyroRoll2)+3 |
||
| 6651 | 6666 3ed2 821B sub r24,r18 |
||
| 6652 | 6667 3ed4 930B sbc r25,r19 |
||
| 6653 | 6668 3ed6 A40B sbc r26,r20 |
||
| 6654 | 6669 3ed8 B50B sbc r27,r21 |
||
| 6655 | 6670 3eda 8093 0000 sts ReadingIntegralGyroRoll2,r24 |
||
| 6656 | 6671 3ede 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r25 |
||
| 6657 | 6672 3ee2 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r26 |
||
| 6658 | 6673 3ee6 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r27 |
||
| 6659 | 6674 3eea 8091 0000 lds r24,ParamSet+57 |
||
| 6660 | 6675 3eee 8823 tst r24 |
||
| 6661 | 6676 3ef0 01F0 breq .L536 |
||
| 6662 | 6677 3ef2 2091 0000 lds r18,YawGyroDrift |
||
| 6663 | 6678 3ef6 3091 0000 lds r19,(YawGyroDrift)+1 |
||
| 6664 | 6679 3efa 2138 cpi r18,129 |
||
| 6665 | 6680 3efc 3105 cpc r19,__zero_reg__ |
||
| 6666 | 6681 3efe 04F0 brlt .L537 |
||
| 6667 | 6682 3f00 8091 0000 lds r24,AdBiasGyroYaw |
||
| 6668 | 6683 3f04 9091 0000 lds r25,(AdBiasGyroYaw)+1 |
||
| 6669 | 6684 3f08 0196 adiw r24,1 |
||
| 6670 | 6685 3f0a 9093 0000 sts (AdBiasGyroYaw)+1,r25 |
||
| 6671 | 6686 3f0e 8093 0000 sts AdBiasGyroYaw,r24 |
||
| 6672 | 6687 .L537: |
||
| 6673 | 6688 3f12 2058 subi r18,lo8(-128) |
||
| 6674 | 6689 3f14 3F4F sbci r19,hi8(-128) |
||
| 6675 | 6690 3f16 04F4 brge .L536 |
||
| 6676 | 6691 3f18 8091 0000 lds r24,AdBiasGyroYaw |
||
| 6677 | 6692 3f1c 9091 0000 lds r25,(AdBiasGyroYaw)+1 |
||
| 6678 | 6693 3f20 0197 sbiw r24,1 |
||
| 6679 | 6694 3f22 9093 0000 sts (AdBiasGyroYaw)+1,r25 |
||
| 6680 | 6695 3f26 8093 0000 sts AdBiasGyroYaw,r24 |
||
| 6681 | 6696 .L536: |
||
| 6682 | 6697 3f2a 1092 0000 sts (YawGyroDrift)+1,__zero_reg__ |
||
| 6683 | 6698 3f2e 1092 0000 sts YawGyroDrift,__zero_reg__ |
||
| 6684 | 6699 3f32 81E0 ldi r24,lo8(1) |
||
| 6685 | 6700 3f34 90E0 ldi r25,hi8(1) |
||
| 6686 | 6701 3f36 9093 0000 sts (cnt.2426)+1,r25 |
||
| 6687 | 6702 3f3a 8093 0000 sts cnt.2426,r24 |
||
| 6688 | 6703 3f3e E090 0000 lds r14,IntegralGyroNickError.2411 |
||
| 6689 | 6704 3f42 F090 0000 lds r15,(IntegralGyroNickError.2411)+1 |
||
| 6690 | 6705 3f46 0091 0000 lds r16,(IntegralGyroNickError.2411)+2 |
||
| 6691 | 6706 3f4a 1091 0000 lds r17,(IntegralGyroNickError.2411)+3 |
||
| 6692 | 6707 3f4e 81E0 ldi r24,lo8(513) |
||
| 6693 | 6708 3f50 E816 cp r14,r24 |
||
| 6694 | 6709 3f52 82E0 ldi r24,hi8(513) |
||
| 6695 | 6710 3f54 F806 cpc r15,r24 |
||
| 6696 | 6711 3f56 80E0 ldi r24,hlo8(513) |
||
| 6697 | 6712 3f58 0807 cpc r16,r24 |
||
| 6698 | 6713 3f5a 80E0 ldi r24,hhi8(513) |
||
| 6699 | 6714 3f5c 1807 cpc r17,r24 |
||
| 6700 | 6715 3f5e 04F0 brlt .L538 |
||
| 6701 | 6716 3f60 84E0 ldi r24,lo8(4) |
||
| 6702 | 6717 3f62 90E0 ldi r25,hi8(4) |
||
| 6703 | 6718 3f64 9093 0000 sts (cnt.2426)+1,r25 |
||
| 6704 | 6719 3f68 8093 0000 sts cnt.2426,r24 |
||
| 6705 | 6720 .L538: |
||
| 6706 | 6721 3f6c 1092 0000 sts CorrectionNick.2413,__zero_reg__ |
||
| 6707 | 6722 3f70 1092 0000 sts (CorrectionNick.2413)+1,__zero_reg__ |
||
| 6708 | 6723 3f74 1092 0000 sts (CorrectionNick.2413)+2,__zero_reg__ |
||
| 6709 | 6724 3f78 1092 0000 sts (CorrectionNick.2413)+3,__zero_reg__ |
||
| 6710 | 6725 3f7c 8091 0000 lds r24,MeanIntegralGyroNick_old.2431 |
||
| 6711 | 6726 3f80 9091 0000 lds r25,(MeanIntegralGyroNick_old.2431)+1 |
||
| 6712 | 6727 3f84 A091 0000 lds r26,(MeanIntegralGyroNick_old.2431)+2 |
||
| 6713 | 6728 3f88 B091 0000 lds r27,(MeanIntegralGyroNick_old.2431)+3 |
||
| 6714 | 6729 3f8c AD88 ldd r10,Y+21 |
||
| 6715 | 6730 3f8e BE88 ldd r11,Y+22 |
||
| 6716 | 6731 3f90 CF88 ldd r12,Y+23 |
||
| 6717 | 6732 3f92 D88C ldd r13,Y+24 |
||
| 6718 | 6733 3f94 8A19 sub r24,r10 |
||
| 6719 | 6734 3f96 9B09 sbc r25,r11 |
||
| 6720 | 6735 3f98 AC09 sbc r26,r12 |
||
| 6721 | 6736 3f9a BD09 sbc r27,r13 |
||
| 6722 | 6737 3f9c 815E subi r24,lo8(-(19999)) |
||
| 6723 | 6738 3f9e 914B sbci r25,hi8(-(19999)) |
||
| 6724 | 6739 3fa0 AF4F sbci r26,hlo8(-(19999)) |
||
| 6725 | 6740 3fa2 BF4F sbci r27,hhi8(-(19999)) |
||
| 6726 | 6741 3fa4 8F53 subi r24,lo8(39999) |
||
| 6727 | 6742 3fa6 9C49 sbci r25,hi8(39999) |
||
| 6728 | 6743 3fa8 A040 sbci r26,hlo8(39999) |
||
| 6729 | 6744 3faa B040 sbci r27,hhi8(39999) |
||
| 6730 | 6745 3fac 00F4 brsh .+4 |
||
| 6731 | 6746 3fae 0C94 0000 jmp .L539 |
||
| 6732 | 6747 3fb2 8091 0000 lds r24,FCParam+32 |
||
| 6733 | 6748 3fb6 8931 cpi r24,lo8(25) |
||
| 6734 | 6749 3fb8 04F0 brlt .+4 |
||
| 6735 | 6750 3fba 0C94 0000 jmp .L539 |
||
| 6736 | 6751 3fbe 1092 0000 sts (cnt.2426)+1,__zero_reg__ |
||
| 6737 | 6752 3fc2 1092 0000 sts cnt.2426,__zero_reg__ |
||
| 6738 | 6753 3fc6 88EE ldi r24,lo8(1000) |
||
| 6739 | 6754 3fc8 93E0 ldi r25,hi8(1000) |
||
| 6740 | 6755 3fca 9093 0000 sts (BadCompassHeading)+1,r25 |
||
| 6741 | 6756 3fce 8093 0000 sts BadCompassHeading,r24 |
||
| 6742 | 6757 3fd2 AA24 clr r10 |
||
| 6743 | 6758 3fd4 BB24 clr r11 |
||
| 6744 | 6759 .L548: |
||
| 6745 | 6760 3fd6 8091 0000 lds r24,ParamSet+57 |
||
| 6746 | 6761 3fda 90E0 ldi r25,lo8(0) |
||
| 6747 | 6762 3fdc 8A15 cp r24,r10 |
||
| 6748 | 6763 3fde 9B05 cpc r25,r11 |
||
| 6749 | 6764 3fe0 04F4 brge .L549 |
||
| 6750 | 6765 3fe2 9093 0000 sts (cnt.2426)+1,r25 |
||
| 6751 | 6766 3fe6 8093 0000 sts cnt.2426,r24 |
||
| 6752 | 6767 .L549: |
||
| 6753 | 6768 3fea D090 0000 lds r13,FCParam+32 |
||
| 6754 | 6769 3fee DD20 tst r13 |
||
| 6755 | 6770 3ff0 01F0 breq .L550 |
||
| 6756 | 6771 3ff2 2D2D mov r18,r13 |
||
| 6757 | 6772 3ff4 3327 clr r19 |
||
| 6758 | 6773 3ff6 27FD sbrc r18,7 |
||
| 6759 | 6774 3ff8 3095 com r19 |
||
| 6760 | 6775 3ffa 8091 0000 lds r24,cnt.2426 |
||
| 6761 | 6776 3ffe 9091 0000 lds r25,(cnt.2426)+1 |
||
| 6762 | 6777 4002 2817 cp r18,r24 |
||
| 6763 | 6778 4004 3907 cpc r19,r25 |
||
| 6764 | 6779 4006 04F4 brge .L550 |
||
| 6765 | 6780 4008 3093 0000 sts (cnt.2426)+1,r19 |
||
| 6766 | 6781 400c 2093 0000 sts cnt.2426,r18 |
||
| 6767 | 6782 .L550: |
||
| 6768 | 6783 4010 71E8 ldi r23,lo8(129) |
||
| 6769 | 6784 4012 E716 cp r14,r23 |
||
| 6770 | 6785 4014 F104 cpc r15,__zero_reg__ |
||
| 6771 | 6786 4016 0105 cpc r16,__zero_reg__ |
||
| 6772 | 6787 4018 1105 cpc r17,__zero_reg__ |
||
| 6773 | 6788 401a 04F0 brlt .L551 |
||
| 6774 | 6789 401c 8091 0000 lds r24,BiasHiResGyroNick |
||
| 6775 | 6790 4020 9091 0000 lds r25,(BiasHiResGyroNick)+1 |
||
| 6776 | 6791 4024 2091 0000 lds r18,cnt.2426 |
||
| 6777 | 6792 4028 3091 0000 lds r19,(cnt.2426)+1 |
||
| 6778 | 6793 402c 820F add r24,r18 |
||
| 6779 | 6794 402e 931F adc r25,r19 |
||
| 6780 | 6795 4030 9093 0000 sts (BiasHiResGyroNick)+1,r25 |
||
| 6781 | 6796 4034 8093 0000 sts BiasHiResGyroNick,r24 |
||
| 6782 | 6797 .L551: |
||
| 6783 | 6798 4038 80E8 ldi r24,lo8(-128) |
||
| 6784 | 6799 403a E816 cp r14,r24 |
||
| 6785 | 6800 403c 8FEF ldi r24,hi8(-128) |
||
| 6786 | 6801 403e F806 cpc r15,r24 |
||
| 6787 | 6802 4040 8FEF ldi r24,hlo8(-128) |
||
| 6788 | 6803 4042 0807 cpc r16,r24 |
||
| 6789 | 6804 4044 8FEF ldi r24,hhi8(-128) |
||
| 6790 | 6805 4046 1807 cpc r17,r24 |
||
| 6791 | 6806 4048 04F4 brge .L552 |
||
| 6792 | 6807 404a 8091 0000 lds r24,BiasHiResGyroNick |
||
| 6793 | 6808 404e 9091 0000 lds r25,(BiasHiResGyroNick)+1 |
||
| 6794 | 6809 4052 2091 0000 lds r18,cnt.2426 |
||
| 6795 | 6810 4056 3091 0000 lds r19,(cnt.2426)+1 |
||
| 6796 | 6811 405a 821B sub r24,r18 |
||
| 6797 | 6812 405c 930B sbc r25,r19 |
||
| 6798 | 6813 405e 9093 0000 sts (BiasHiResGyroNick)+1,r25 |
||
| 6799 | 6814 4062 8093 0000 sts BiasHiResGyroNick,r24 |
||
| 6800 | 6815 .L552: |
||
| 6801 | 6816 4066 81E0 ldi r24,lo8(1) |
||
| 6802 | 6817 4068 90E0 ldi r25,hi8(1) |
||
| 6803 | 6818 406a 9093 0000 sts (cnt.2426)+1,r25 |
||
| 6804 | 6819 406e 8093 0000 sts cnt.2426,r24 |
||
| 6805 | 6820 4072 E090 0000 lds r14,IntegralGyroRollError.2412 |
||
| 6806 | 6821 4076 F090 0000 lds r15,(IntegralGyroRollError.2412)+1 |
||
| 6807 | 6822 407a 0091 0000 lds r16,(IntegralGyroRollError.2412)+2 |
||
| 6808 | 6823 407e 1091 0000 lds r17,(IntegralGyroRollError.2412)+3 |
||
| 6809 | 6824 4082 91E0 ldi r25,lo8(513) |
||
| 6810 | 6825 4084 E916 cp r14,r25 |
||
| 6811 | 6826 4086 92E0 ldi r25,hi8(513) |
||
| 6812 | 6827 4088 F906 cpc r15,r25 |
||
| 6813 | 6828 408a 90E0 ldi r25,hlo8(513) |
||
| 6814 | 6829 408c 0907 cpc r16,r25 |
||
| 6815 | 6830 408e 90E0 ldi r25,hhi8(513) |
||
| 6816 | 6831 4090 1907 cpc r17,r25 |
||
| 6817 | 6832 4092 04F0 brlt .L553 |
||
| 6818 | 6833 4094 84E0 ldi r24,lo8(4) |
||
| 6819 | 6834 4096 90E0 ldi r25,hi8(4) |
||
| 6820 | 6835 4098 9093 0000 sts (cnt.2426)+1,r25 |
||
| 6821 | 6836 409c 8093 0000 sts cnt.2426,r24 |
||
| 6822 | 6837 .L553: |
||
| 6823 | 6838 40a0 1092 0000 sts CorrectionRoll.2414,__zero_reg__ |
||
| 6824 | 6839 40a4 1092 0000 sts (CorrectionRoll.2414)+1,__zero_reg__ |
||
| 6825 | 6840 40a8 1092 0000 sts (CorrectionRoll.2414)+2,__zero_reg__ |
||
| 6826 | 6841 40ac 1092 0000 sts (CorrectionRoll.2414)+3,__zero_reg__ |
||
| 6827 | 6842 40b0 8091 0000 lds r24,MeanIntegralGyroRoll_old.2432 |
||
| 6828 | 6843 40b4 9091 0000 lds r25,(MeanIntegralGyroRoll_old.2432)+1 |
||
| 6829 | 6844 40b8 A091 0000 lds r26,(MeanIntegralGyroRoll_old.2432)+2 |
||
| 6830 | 6845 40bc B091 0000 lds r27,(MeanIntegralGyroRoll_old.2432)+3 |
||
| 6831 | 6846 40c0 298D ldd r18,Y+25 |
||
| 6832 | 6847 40c2 3A8D ldd r19,Y+26 |
||
| 6833 | 6848 40c4 4B8D ldd r20,Y+27 |
||
| 6834 | 6849 40c6 5C8D ldd r21,Y+28 |
||
| 6835 | 6850 40c8 821B sub r24,r18 |
||
| 6836 | 6851 40ca 930B sbc r25,r19 |
||
| 6837 | 6852 40cc A40B sbc r26,r20 |
||
| 6838 | 6853 40ce B50B sbc r27,r21 |
||
| 6839 | 6854 40d0 815E subi r24,lo8(-(19999)) |
||
| 6840 | 6855 40d2 914B sbci r25,hi8(-(19999)) |
||
| 6841 | 6856 40d4 AF4F sbci r26,hlo8(-(19999)) |
||
| 6842 | 6857 40d6 BF4F sbci r27,hhi8(-(19999)) |
||
| 6843 | 6858 40d8 8F53 subi r24,lo8(39999) |
||
| 6844 | 6859 40da 9C49 sbci r25,hi8(39999) |
||
| 6845 | 6860 40dc A040 sbci r26,hlo8(39999) |
||
| 6846 | 6861 40de B040 sbci r27,hhi8(39999) |
||
| 6847 | 6862 40e0 00F4 brsh .+4 |
||
| 6848 | 6863 40e2 0C94 0000 jmp .L554 |
||
| 6849 | 6864 40e6 48E1 ldi r20,lo8(24) |
||
| 6850 | 6865 40e8 4D15 cp r20,r13 |
||
| 6851 | 6866 40ea 04F4 brge .+4 |
||
| 6852 | 6867 40ec 0C94 0000 jmp .L554 |
||
| 6853 | 6868 40f0 1092 0000 sts (cnt.2426)+1,__zero_reg__ |
||
| 6854 | 6869 40f4 1092 0000 sts cnt.2426,__zero_reg__ |
||
| 6855 | 6870 40f8 88EE ldi r24,lo8(1000) |
||
| 6856 | 6871 40fa 93E0 ldi r25,hi8(1000) |
||
| 6857 | 6872 40fc 9093 0000 sts (BadCompassHeading)+1,r25 |
||
| 6858 | 6873 4100 8093 0000 sts BadCompassHeading,r24 |
||
| 6859 | 6874 4104 AA24 clr r10 |
||
| 6860 | 6875 4106 BB24 clr r11 |
||
| 6861 | 6876 .L563: |
||
| 6862 | 6877 4108 8091 0000 lds r24,ParamSet+57 |
||
| 6863 | 6878 410c 90E0 ldi r25,lo8(0) |
||
| 6864 | 6879 410e 8A15 cp r24,r10 |
||
| 6865 | 6880 4110 9B05 cpc r25,r11 |
||
| 6866 | 6881 4112 04F4 brge .L564 |
||
| 6867 | 6882 4114 9093 0000 sts (cnt.2426)+1,r25 |
||
| 6868 | 6883 4118 8093 0000 sts cnt.2426,r24 |
||
| 6869 | 6884 .L564: |
||
| 6870 | 6885 411c DD20 tst r13 |
||
| 6871 | 6886 411e 01F0 breq .L565 |
||
| 6872 | 6887 4120 2D2D mov r18,r13 |
||
| 6873 | 6888 4122 3327 clr r19 |
||
| 6874 | 6889 4124 27FD sbrc r18,7 |
||
| 6875 | 6890 4126 3095 com r19 |
||
| 6876 | 6891 4128 8091 0000 lds r24,cnt.2426 |
||
| 6877 | 6892 412c 9091 0000 lds r25,(cnt.2426)+1 |
||
| 6878 | 6893 4130 2817 cp r18,r24 |
||
| 6879 | 6894 4132 3907 cpc r19,r25 |
||
| 6880 | 6895 4134 04F4 brge .L565 |
||
| 6881 | 6896 4136 3093 0000 sts (cnt.2426)+1,r19 |
||
| 6882 | 6897 413a 2093 0000 sts cnt.2426,r18 |
||
| 6883 | 6898 .L565: |
||
| 6884 | 6899 413e F1E8 ldi r31,lo8(129) |
||
| 6885 | 6900 4140 EF16 cp r14,r31 |
||
| 6886 | 6901 4142 F104 cpc r15,__zero_reg__ |
||
| 6887 | 6902 4144 0105 cpc r16,__zero_reg__ |
||
| 6888 | 6903 4146 1105 cpc r17,__zero_reg__ |
||
| 6889 | 6904 4148 04F0 brlt .L566 |
||
| 6890 | 6905 414a 8091 0000 lds r24,BiasHiResGyroRoll |
||
| 6891 | 6906 414e 9091 0000 lds r25,(BiasHiResGyroRoll)+1 |
||
| 6892 | 6907 4152 2091 0000 lds r18,cnt.2426 |
||
| 6893 | 6908 4156 3091 0000 lds r19,(cnt.2426)+1 |
||
| 6894 | 6909 415a 820F add r24,r18 |
||
| 6895 | 6910 415c 931F adc r25,r19 |
||
| 6896 | 6911 415e 9093 0000 sts (BiasHiResGyroRoll)+1,r25 |
||
| 6897 | 6912 4162 8093 0000 sts BiasHiResGyroRoll,r24 |
||
| 6898 | 6913 .L566: |
||
| 6899 | 6914 4166 20E8 ldi r18,lo8(-128) |
||
| 6900 | 6915 4168 E216 cp r14,r18 |
||
| 6901 | 6916 416a 2FEF ldi r18,hi8(-128) |
||
| 6902 | 6917 416c F206 cpc r15,r18 |
||
| 6903 | 6918 416e 2FEF ldi r18,hlo8(-128) |
||
| 6904 | 6919 4170 0207 cpc r16,r18 |
||
| 6905 | 6920 4172 2FEF ldi r18,hhi8(-128) |
||
| 6906 | 6921 4174 1207 cpc r17,r18 |
||
| 6907 | 6922 4176 04F0 brlt .+4 |
||
| 6908 | 6923 4178 0C94 0000 jmp .L567 |
||
| 6909 | 6924 417c 8091 0000 lds r24,BiasHiResGyroRoll |
||
| 6910 | 6925 4180 9091 0000 lds r25,(BiasHiResGyroRoll)+1 |
||
| 6911 | 6926 4184 2091 0000 lds r18,cnt.2426 |
||
| 6912 | 6927 4188 3091 0000 lds r19,(cnt.2426)+1 |
||
| 6913 | 6928 418c 821B sub r24,r18 |
||
| 6914 | 6929 418e 930B sbc r25,r19 |
||
| 6915 | 6930 4190 9093 0000 sts (BiasHiResGyroRoll)+1,r25 |
||
| 6916 | 6931 4194 8093 0000 sts BiasHiResGyroRoll,r24 |
||
| 6917 | 6932 4198 0C94 0000 jmp .L567 |
||
| 6918 | 6933 .L753: |
||
| 6919 | 6934 419c 8091 0000 lds r24,LoopingRoll |
||
| 6920 | 6935 41a0 8823 tst r24 |
||
| 6921 | 6936 41a2 01F0 breq .+4 |
||
| 6922 | 6937 41a4 0C94 0000 jmp .L510 |
||
| 6923 | 6938 .L509: |
||
| 6924 | 6939 41a8 8091 0000 lds r24,AdValueAccZ |
||
| 6925 | 6940 41ac 9091 0000 lds r25,(AdValueAccZ)+1 |
||
| 6926 | 6941 41b0 8150 subi r24,lo8(513) |
||
| 6927 | 6942 41b2 9240 sbci r25,hi8(513) |
||
| 6928 | 6943 41b4 04F4 brge .+2 |
||
| 6929 | 6944 41b6 00C0 rjmp .L794 |
||
| 6930 | 6945 .L511: |
||
| 6931 | 6946 41b8 8091 0000 lds r24,FCParam+31 |
||
| 6932 | 6947 41bc 8F3F cpi r24,lo8(-1) |
||
| 6933 | 6948 41be 01F4 brne .+2 |
||
| 6934 | 6949 41c0 00C0 rjmp .L512 |
||
| 6935 | 6950 41c2 E090 0000 lds r14,ParamSet+23 |
||
| 6936 | 6951 41c6 FF24 clr r15 |
||
| 6937 | 6952 41c8 00E0 ldi r16,lo8(0) |
||
| 6938 | 6953 41ca 10E0 ldi r17,hi8(0) |
||
| 6939 | 6954 41cc A82E mov r10,r24 |
||
| 6940 | 6955 41ce BB24 clr r11 |
||
| 6941 | 6956 41d0 A7FC sbrc r10,7 |
||
| 6942 | 6957 41d2 B094 com r11 |
||
| 6943 | 6958 41d4 CB2C mov r12,r11 |
||
| 6944 | 6959 41d6 DB2C mov r13,r11 |
||
| 6945 | 6960 41d8 68A5 ldd r22,Y+40 |
||
| 6946 | 6961 41da 79A5 ldd r23,Y+41 |
||
| 6947 | 6962 41dc 8AA5 ldd r24,Y+42 |
||
| 6948 | 6963 41de 9BA5 ldd r25,Y+43 |
||
| 6949 | 6964 41e0 A801 movw r20,r16 |
||
| 6950 | 6965 41e2 9701 movw r18,r14 |
||
| 6951 | 6966 41e4 0E94 0000 call __divmodsi4 |
||
| 6952 | 6967 41e8 8091 0000 lds r24,AccNick |
||
| 6953 | 6968 41ec 9091 0000 lds r25,(AccNick)+1 |
||
| 6954 | 6969 41f0 AA27 clr r26 |
||
| 6955 | 6970 41f2 97FD sbrc r25,7 |
||
| 6956 | 6971 41f4 A095 com r26 |
||
| 6957 | 6972 41f6 BA2F mov r27,r26 |
||
| 6958 | 6973 41f8 281B sub r18,r24 |
||
| 6959 | 6974 41fa 390B sbc r19,r25 |
||
| 6960 | 6975 41fc 4A0B sbc r20,r26 |
||
| 6961 | 6976 41fe 5B0B sbc r21,r27 |
||
| 6962 | 6977 4200 CA01 movw r24,r20 |
||
| 6963 | 6978 4202 B901 movw r22,r18 |
||
| 6964 | 6979 4204 A601 movw r20,r12 |
||
| 6965 | 6980 4206 9501 movw r18,r10 |
||
| 6966 | 6981 4208 0E94 0000 call __mulsi3 |
||
| 6967 | 6982 420c 20E0 ldi r18,lo8(512) |
||
| 6968 | 6983 420e 32E0 ldi r19,hi8(512) |
||
| 6969 | 6984 4210 40E0 ldi r20,hlo8(512) |
||
| 6970 | 6985 4212 50E0 ldi r21,hhi8(512) |
||
| 6971 | 6986 4214 0E94 0000 call __divmodsi4 |
||
| 6972 | 6987 4218 522E mov r5,r18 |
||
| 6973 | 6988 421a 432E mov r4,r19 |
||
| 6974 | 6989 421c 342E mov r3,r20 |
||
| 6975 | 6990 421e 252E mov r2,r21 |
||
| 6976 | 6991 4220 822F mov r24,r18 |
||
| 6977 | 6992 4222 932F mov r25,r19 |
||
| 6978 | 6993 4224 A42F mov r26,r20 |
||
| 6979 | 6994 4226 B52F mov r27,r21 |
||
| 6980 | 6995 4228 3C01 movw r6,r24 |
||
| 6981 | 6996 422a 4D01 movw r8,r26 |
||
| 6982 | 6997 422c 6CA1 ldd r22,Y+36 |
||
| 6983 | 6998 422e 7DA1 ldd r23,Y+37 |
||
| 6984 | 6999 4230 8EA1 ldd r24,Y+38 |
||
| 6985 | 7000 4232 9FA1 ldd r25,Y+39 |
||
| 6986 | 7001 4234 A801 movw r20,r16 |
||
| 6987 | 7002 4236 9701 movw r18,r14 |
||
| 6988 | 7003 4238 0E94 0000 call __divmodsi4 |
||
| 6989 | 7004 423c 8091 0000 lds r24,AccRoll |
||
| 6990 | 7005 4240 9091 0000 lds r25,(AccRoll)+1 |
||
| 6991 | 7006 4244 AA27 clr r26 |
||
| 6992 | 7007 4246 97FD sbrc r25,7 |
||
| 6993 | 7008 4248 A095 com r26 |
||
| 6994 | 7009 424a BA2F mov r27,r26 |
||
| 6995 | 7010 424c 281B sub r18,r24 |
||
| 6996 | 7011 424e 390B sbc r19,r25 |
||
| 6997 | 7012 4250 4A0B sbc r20,r26 |
||
| 6998 | 7013 4252 5B0B sbc r21,r27 |
||
| 6999 | 7014 4254 CA01 movw r24,r20 |
||
| 7000 | 7015 4256 B901 movw r22,r18 |
||
| 7001 | 7016 4258 A601 movw r20,r12 |
||
| 7002 | 7017 425a 9501 movw r18,r10 |
||
| 7003 | 7018 425c 0E94 0000 call __mulsi3 |
||
| 7004 | 7019 4260 20E0 ldi r18,lo8(512) |
||
| 7005 | 7020 4262 32E0 ldi r19,hi8(512) |
||
| 7006 | 7021 4264 40E0 ldi r20,hlo8(512) |
||
| 7007 | 7022 4266 50E0 ldi r21,hhi8(512) |
||
| 7008 | 7023 4268 0E94 0000 call __divmodsi4 |
||
| 7009 | 7024 426c 122F mov r17,r18 |
||
| 7010 | 7025 426e 032F mov r16,r19 |
||
| 7011 | 7026 4270 F42E mov r15,r20 |
||
| 7012 | 7027 4272 E52E mov r14,r21 |
||
| 7013 | 7028 4274 822F mov r24,r18 |
||
| 7014 | 7029 4276 932F mov r25,r19 |
||
| 7015 | 7030 4278 A42F mov r26,r20 |
||
| 7016 | 7031 427a B52F mov r27,r21 |
||
| 7017 | 7032 427c 5C01 movw r10,r24 |
||
| 7018 | 7033 427e 6D01 movw r12,r26 |
||
| 7019 | 7034 4280 8091 0000 lds r24,MaxStickNick |
||
| 7020 | 7035 4284 9091 0000 lds r25,(MaxStickNick)+1 |
||
| 7021 | 7036 4288 8134 cpi r24,65 |
||
| 7022 | 7037 428a 9105 cpc r25,__zero_reg__ |
||
| 7023 | 7038 428c 04F0 brlt .+2 |
||
| 7024 | 7039 428e 00C0 rjmp .L513 |
||
| 7025 | 7040 4290 8091 0000 lds r24,MaxStickRoll |
||
| 7026 | 7041 4294 9091 0000 lds r25,(MaxStickRoll)+1 |
||
| 7027 | 7042 4298 8134 cpi r24,65 |
||
| 7028 | 7043 429a 9105 cpc r25,__zero_reg__ |
||
| 7029 | 7044 429c 04F0 brlt .+2 |
||
| 7030 | 7045 429e 00C0 rjmp .L513 |
||
| 7031 | 7046 .L514: |
||
| 7032 | 7047 42a0 E091 0000 lds r30,ParamSet+3 |
||
| 7033 | 7048 42a4 F0E0 ldi r31,lo8(0) |
||
| 7034 | 7049 42a6 EE0F lsl r30 |
||
| 7035 | 7050 42a8 FF1F rol r31 |
||
| 7036 | 7051 42aa E050 subi r30,lo8(-(PPM_in)) |
||
| 7037 | 7052 42ac F040 sbci r31,hi8(-(PPM_in)) |
||
| 7038 | 7053 42ae 0190 ld __tmp_reg__,Z+ |
||
| 7039 | 7054 42b0 F081 ld r31,Z |
||
| 7040 | 7055 42b2 E02D mov r30,__tmp_reg__ |
||
| 7041 | 7056 42b4 F7FF sbrs r31,7 |
||
| 7042 | 7057 42b6 00C0 rjmp .+4 |
||
| 7043 | 7058 42b8 0C94 0000 jmp .L795 |
||
| 7044 | 7059 .L516: |
||
| 7045 | 7060 42bc 7A97 sbiw r30,26 |
||
| 7046 | 7061 42be 04F0 brlt .L515 |
||
| 7047 | 7062 42c0 C401 movw r24,r8 |
||
| 7048 | 7063 42c2 B301 movw r22,r6 |
||
| 7049 | 7064 42c4 23E0 ldi r18,lo8(3) |
||
| 7050 | 7065 42c6 30E0 ldi r19,hi8(3) |
||
| 7051 | 7066 42c8 40E0 ldi r20,hlo8(3) |
||
| 7052 | 7067 42ca 50E0 ldi r21,hhi8(3) |
||
| 7053 | 7068 42cc 0E94 0000 call __divmodsi4 |
||
| 7054 | 7069 42d0 C901 movw r24,r18 |
||
| 7055 | 7070 42d2 DA01 movw r26,r20 |
||
| 7056 | 7071 42d4 3C01 movw r6,r24 |
||
| 7057 | 7072 42d6 4D01 movw r8,r26 |
||
| 7058 | 7073 42d8 C601 movw r24,r12 |
||
| 7059 | 7074 42da B501 movw r22,r10 |
||
| 7060 | 7075 42dc 23E0 ldi r18,lo8(3) |
||
| 7061 | 7076 42de 30E0 ldi r19,hi8(3) |
||
| 7062 | 7077 42e0 40E0 ldi r20,hlo8(3) |
||
| 7063 | 7078 42e2 50E0 ldi r21,hhi8(3) |
||
| 7064 | 7079 42e4 0E94 0000 call __divmodsi4 |
||
| 7065 | 7080 42e8 C901 movw r24,r18 |
||
| 7066 | 7081 42ea DA01 movw r26,r20 |
||
| 7067 | 7082 42ec 5C01 movw r10,r24 |
||
| 7068 | 7083 42ee 6D01 movw r12,r26 |
||
| 7069 | 7084 .L515: |
||
| 7070 | 7085 42f0 8091 0000 lds r24,FCParam+33 |
||
| 7071 | 7086 42f4 9927 clr r25 |
||
| 7072 | 7087 42f6 87FD sbrc r24,7 |
||
| 7073 | 7088 42f8 9095 com r25 |
||
| 7074 | 7089 42fa A92F mov r26,r25 |
||
| 7075 | 7090 42fc B92F mov r27,r25 |
||
| 7076 | 7091 42fe 2227 clr r18 |
||
| 7077 | 7092 4300 3327 clr r19 |
||
| 7078 | 7093 4302 A901 movw r20,r18 |
||
| 7079 | 7094 4304 281B sub r18,r24 |
||
| 7080 | 7095 4306 390B sbc r19,r25 |
||
| 7081 | 7096 4308 4A0B sbc r20,r26 |
||
| 7082 | 7097 430a 5B0B sbc r21,r27 |
||
| 7083 | 7098 430c 6216 cp r6,r18 |
||
| 7084 | 7099 430e 7306 cpc r7,r19 |
||
| 7085 | 7100 4310 8406 cpc r8,r20 |
||
| 7086 | 7101 4312 9506 cpc r9,r21 |
||
| 7087 | 7102 4314 04F0 brlt .+2 |
||
| 7088 | 7103 4316 00C0 rjmp .L517 |
||
| 7089 | 7104 4318 7901 movw r14,r18 |
||
| 7090 | 7105 431a 8A01 movw r16,r20 |
||
| 7091 | 7106 .L518: |
||
| 7092 | 7107 431c A216 cp r10,r18 |
||
| 7093 | 7108 431e B306 cpc r11,r19 |
||
| 7094 | 7109 4320 C406 cpc r12,r20 |
||
| 7095 | 7110 4322 D506 cpc r13,r21 |
||
| 7096 | 7111 4324 04F0 brlt .+2 |
||
| 7097 | 7112 4326 00C0 rjmp .L520 |
||
| 7098 | 7113 4328 5901 movw r10,r18 |
||
| 7099 | 7114 432a 6A01 movw r12,r20 |
||
| 7100 | 7115 .L521: |
||
| 7101 | 7116 432c 8091 0000 lds r24,ReadingIntegralGyroNick |
||
| 7102 | 7117 4330 9091 0000 lds r25,(ReadingIntegralGyroNick)+1 |
||
| 7103 | 7118 4334 A091 0000 lds r26,(ReadingIntegralGyroNick)+2 |
||
| 7104 | 7119 4338 B091 0000 lds r27,(ReadingIntegralGyroNick)+3 |
||
| 7105 | 7120 433c 8E19 sub r24,r14 |
||
| 7106 | 7121 433e 9F09 sbc r25,r15 |
||
| 7107 | 7122 4340 A00B sbc r26,r16 |
||
| 7108 | 7123 4342 B10B sbc r27,r17 |
||
| 7109 | 7124 4344 8093 0000 sts ReadingIntegralGyroNick,r24 |
||
| 7110 | 7125 4348 9093 0000 sts (ReadingIntegralGyroNick)+1,r25 |
||
| 7111 | 7126 434c A093 0000 sts (ReadingIntegralGyroNick)+2,r26 |
||
| 7112 | 7127 4350 B093 0000 sts (ReadingIntegralGyroNick)+3,r27 |
||
| 7113 | 7128 4354 8091 0000 lds r24,ReadingIntegralGyroRoll |
||
| 7114 | 7129 4358 9091 0000 lds r25,(ReadingIntegralGyroRoll)+1 |
||
| 7115 | 7130 435c A091 0000 lds r26,(ReadingIntegralGyroRoll)+2 |
||
| 7116 | 7131 4360 B091 0000 lds r27,(ReadingIntegralGyroRoll)+3 |
||
| 7117 | 7132 4364 8A19 sub r24,r10 |
||
| 7118 | 7133 4366 9B09 sbc r25,r11 |
||
| 7119 | 7134 4368 AC09 sbc r26,r12 |
||
| 7120 | 7135 436a BD09 sbc r27,r13 |
||
| 7121 | 7136 436c 8093 0000 sts ReadingIntegralGyroRoll,r24 |
||
| 7122 | 7137 4370 9093 0000 sts (ReadingIntegralGyroRoll)+1,r25 |
||
| 7123 | 7138 4374 A093 0000 sts (ReadingIntegralGyroRoll)+2,r26 |
||
| 7124 | 7139 4378 B093 0000 sts (ReadingIntegralGyroRoll)+3,r27 |
||
| 7125 | 7140 437c 0C94 0000 jmp .L510 |
||
| 7126 | 7141 .L486: |
||
| 7127 | 7142 4380 4150 subi r20,lo8(-(-1)) |
||
| 7128 | 7143 4382 5040 sbci r21,hi8(-(-1)) |
||
| 7129 | 7144 4384 5093 0000 sts (MaxStickRoll)+1,r21 |
||
| 7130 | 7145 4388 4093 0000 sts MaxStickRoll,r20 |
||
| 7131 | 7146 438c 0C94 0000 jmp .L490 |
||
| 7132 | 7147 .L468: |
||
| 7133 | 7148 4390 1092 0000 sts delay_startmotors.2417,__zero_reg__ |
||
| 7134 | 7149 .L469: |
||
| 7135 | 7150 4394 E091 0000 lds r30,ParamSet+3 |
||
| 7136 | 7151 4398 F0E0 ldi r31,lo8(0) |
||
| 7137 | 7152 439a EE0F lsl r30 |
||
| 7138 | 7153 439c FF1F rol r31 |
||
| 7139 | 7154 439e E050 subi r30,lo8(-(PPM_in)) |
||
| 7140 | 7155 43a0 F040 sbci r31,hi8(-(PPM_in)) |
||
| 7141 | 7156 43a2 8081 ld r24,Z |
||
| 7142 | 7157 43a4 9181 ldd r25,Z+1 |
||
| 7143 | 7158 43a6 8C34 cpi r24,76 |
||
| 7144 | 7159 43a8 9105 cpc r25,__zero_reg__ |
||
| 7145 | 7160 43aa 04F4 brge .+2 |
||
| 7146 | 7161 43ac 00C0 rjmp .L470 |
||
| 7147 | 7162 43ae 8091 0000 lds r24,delay_stopmotors.2418 |
||
| 7148 | 7163 43b2 8F5F subi r24,lo8(-(1)) |
||
| 7149 | 7164 43b4 8093 0000 sts delay_stopmotors.2418,r24 |
||
| 7150 | 7165 43b8 893C cpi r24,lo8(-55) |
||
| 7151 | 7166 43ba 00F4 brsh .+4 |
||
| 7152 | 7167 43bc 0C94 0000 jmp .L410 |
||
| 7153 | 7168 43c0 88EC ldi r24,lo8(-56) |
||
| 7154 | 7169 43c2 8093 0000 sts delay_stopmotors.2418,r24 |
||
| 7155 | 7170 43c6 1092 0000 sts (ModelIsFlying)+1,__zero_reg__ |
||
| 7156 | 7171 43ca 1092 0000 sts ModelIsFlying,__zero_reg__ |
||
| 7157 | 7172 .L727: |
||
| 7158 | 7173 43ce 8091 0000 lds r24,MKFlags |
||
| 7159 | 7174 43d2 8E7F andi r24,lo8(-2) |
||
| 7160 | 7175 43d4 8093 0000 sts MKFlags,r24 |
||
| 7161 | 7176 43d8 0C94 0000 jmp .L410 |
||
| 7162 | 7177 .L582: |
||
| 7163 | 7178 43dc 6B01 movw r12,r22 |
||
| 7164 | 7179 43de CC0C lsl r12 |
||
| 7165 | 7180 43e0 DD1C rol r13 |
||
| 7166 | 7181 43e2 CC0C lsl r12 |
||
| 7167 | 7182 43e4 DD1C rol r13 |
||
| 7168 | 7183 43e6 CC0C lsl r12 |
||
| 7169 | 7184 43e8 DD1C rol r13 |
||
| 7170 | 7185 43ea 0C94 0000 jmp .L584 |
||
| 7171 | 7186 .L755: |
||
| 7172 | 7187 43ee 8827 clr r24 |
||
| 7173 | 7188 43f0 9927 clr r25 |
||
| 7174 | 7189 43f2 8E19 sub r24,r14 |
||
| 7175 | 7190 43f4 9F09 sbc r25,r15 |
||
| 7176 | 7191 43f6 0C94 0000 jmp .L570 |
||
| 7177 | 7192 .L783: |
||
| 7178 | 7193 43fa 2227 clr r18 |
||
| 7179 | 7194 43fc 3327 clr r19 |
||
| 7180 | 7195 43fe 2619 sub r18,r6 |
||
| 7181 | 7196 4400 3709 sbc r19,r7 |
||
| 7182 | 7197 4402 00C0 rjmp .L695 |
||
| 7183 | 7198 .L758: |
||
| 7184 | 7199 4404 6D5F subi r22,lo8(-(3)) |
||
| 7185 | 7200 4406 7F4F sbci r23,hi8(-(3)) |
||
| 7186 | 7201 4408 0C94 0000 jmp .L572 |
||
| 7187 | 7202 .L757: |
||
| 7188 | 7203 440c EE27 clr r30 |
||
| 7189 | 7204 440e FF27 clr r31 |
||
| 7190 | 7205 4410 EE19 sub r30,r14 |
||
| 7191 | 7206 4412 FF09 sbc r31,r15 |
||
| 7192 | 7207 4414 0C94 0000 jmp .L571 |
||
| 7193 | 7208 .L736: |
||
| 7194 | 7209 4418 1092 0000 sts (StickGas)+1,__zero_reg__ |
||
| 7195 | 7210 441c 1092 0000 sts StickGas,__zero_reg__ |
||
| 7196 | 7211 4420 8091 0000 lds r24,ParamSet+8 |
||
| 7197 | 7212 4424 82FD sbrc r24,2 |
||
| 7198 | 7213 4426 00C0 rjmp .+4 |
||
| 7199 | 7214 4428 0C94 0000 jmp .L480 |
||
| 7200 | 7215 442c 00C0 rjmp .L737 |
||
| 7201 | 7216 .L735: |
||
| 7202 | 7217 442e 2250 subi r18,lo8(-(-2)) |
||
| 7203 | 7218 4430 3040 sbci r19,hi8(-(-2)) |
||
| 7204 | 7219 4432 3093 0000 sts (StickYaw)+1,r19 |
||
| 7205 | 7220 4436 2093 0000 sts StickYaw,r18 |
||
| 7206 | 7221 443a 0C94 0000 jmp .L475 |
||
| 7207 | 7222 .L744: |
||
| 7208 | 7223 443e 84E6 ldi r24,lo8(100) |
||
| 7209 | 7224 4440 90E0 ldi r25,hi8(100) |
||
| 7210 | 7225 4442 9093 0000 sts (MaxStickRoll)+1,r25 |
||
| 7211 | 7226 4446 8093 0000 sts MaxStickRoll,r24 |
||
| 7212 | 7227 444a 0C94 0000 jmp .L490 |
||
| 7213 | 7228 .L503: |
||
| 7214 | 7229 444e 1092 0000 sts LoopingNick,__zero_reg__ |
||
| 7215 | 7230 4452 0C94 0000 jmp .L472 |
||
| 7216 | 7231 .L500: |
||
| 7217 | 7232 4456 1092 0000 sts LoopingRoll,__zero_reg__ |
||
| 7218 | 7233 445a 0C94 0000 jmp .L501 |
||
| 7219 | 7234 .L751: |
||
| 7220 | 7235 445e 81E0 ldi r24,lo8(1) |
||
| 7221 | 7236 4460 8093 0000 sts LoopingDown,r24 |
||
| 7222 | 7237 4464 0C94 0000 jmp .L498 |
||
| 7223 | 7238 .L749: |
||
| 7224 | 7239 4468 81E0 ldi r24,lo8(1) |
||
| 7225 | 7240 446a 8093 0000 sts LoopingTop,r24 |
||
| 7226 | 7241 446e 8091 0000 lds r24,ParamSet+49 |
||
| 7227 | 7242 4472 482F mov r20,r24 |
||
| 7228 | 7243 4474 50E0 ldi r21,lo8(0) |
||
| 7229 | 7244 4476 61E0 ldi r22,lo8(1) |
||
| 7230 | 7245 4478 0C94 0000 jmp .L496 |
||
| 7231 | 7246 .L747: |
||
| 7232 | 7247 447c 81E0 ldi r24,lo8(1) |
||
| 7233 | 7248 447e 8093 0000 sts LoopingRight,r24 |
||
| 7234 | 7249 4482 8091 0000 lds r24,ParamSet+49 |
||
| 7235 | 7250 4486 482F mov r20,r24 |
||
| 7236 | 7251 4488 50E0 ldi r21,lo8(0) |
||
| 7237 | 7252 448a 0C94 0000 jmp .L494 |
||
| 7238 | 7253 .L745: |
||
| 7239 | 7254 448e 81E0 ldi r24,lo8(1) |
||
| 7240 | 7255 4490 8093 0000 sts LoopingLeft,r24 |
||
| 7241 | 7256 4494 71E0 ldi r23,lo8(1) |
||
| 7242 | 7257 4496 0C94 0000 jmp .L492 |
||
| 7243 | 7258 .L588: |
||
| 7244 | 7259 449a 0894 sec |
||
| 7245 | 7260 449c 4108 sbc r4,__zero_reg__ |
||
| 7246 | 7261 449e 5108 sbc r5,__zero_reg__ |
||
| 7247 | 7262 44a0 5092 0000 sts (BadCompassHeading)+1,r5 |
||
| 7248 | 7263 44a4 4092 0000 sts BadCompassHeading,r4 |
||
| 7249 | 7264 44a8 0C94 0000 jmp .L575 |
||
| 7250 | 7265 .L794: |
||
| 7251 | 7266 44ac 8091 0000 lds r24,MKFlags |
||
| 7252 | 7267 44b0 80FD sbrc r24,0 |
||
| 7253 | 7268 44b2 00C0 rjmp .+4 |
||
| 7254 | 7269 44b4 0C94 0000 jmp .L510 |
||
| 7255 | 7270 44b8 00C0 rjmp .L511 |
||
| 7256 | 7271 .L748: |
||
| 7257 | 7272 44ba 1092 0000 sts LoopingRight,__zero_reg__ |
||
| 7258 | 7273 44be 8091 0000 lds r24,ParamSet+49 |
||
| 7259 | 7274 44c2 482F mov r20,r24 |
||
| 7260 | 7275 44c4 50E0 ldi r21,lo8(0) |
||
| 7261 | 7276 44c6 0C94 0000 jmp .L494 |
||
| 7262 | 7277 .L746: |
||
| 7263 | 7278 44ca 1092 0000 sts LoopingLeft,__zero_reg__ |
||
| 7264 | 7279 44ce 8091 0000 lds r24,ParamSet+1 |
||
| 7265 | 7280 44d2 A82F mov r26,r24 |
||
| 7266 | 7281 44d4 B0E0 ldi r27,lo8(0) |
||
| 7267 | 7282 44d6 8091 0000 lds r24,ParamSet+49 |
||
| 7268 | 7283 44da 482F mov r20,r24 |
||
| 7269 | 7284 44dc 50E0 ldi r21,lo8(0) |
||
| 7270 | 7285 44de AA0F lsl r26 |
||
| 7271 | 7286 44e0 BB1F rol r27 |
||
| 7272 | 7287 44e2 70E0 ldi r23,lo8(0) |
||
| 7273 | 7288 44e4 0C94 0000 jmp .L492 |
||
| 7274 | 7289 .L752: |
||
| 7275 | 7290 44e8 1092 0000 sts LoopingDown,__zero_reg__ |
||
| 7276 | 7291 44ec 0C94 0000 jmp .L498 |
||
| 7277 | 7292 .L750: |
||
| 7278 | 7293 44f0 1092 0000 sts LoopingTop,__zero_reg__ |
||
| 7279 | 7294 44f4 8091 0000 lds r24,ParamSet |
||
| 7280 | 7295 44f8 A82F mov r26,r24 |
||
| 7281 | 7296 44fa B0E0 ldi r27,lo8(0) |
||
| 7282 | 7297 44fc 8091 0000 lds r24,ParamSet+49 |
||
| 7283 | 7298 4500 482F mov r20,r24 |
||
| 7284 | 7299 4502 50E0 ldi r21,lo8(0) |
||
| 7285 | 7300 4504 AA0F lsl r26 |
||
| 7286 | 7301 4506 BB1F rol r27 |
||
| 7287 | 7302 4508 60E0 ldi r22,lo8(0) |
||
| 7288 | 7303 450a 0C94 0000 jmp .L496 |
||
| 7289 | 7304 .L412: |
||
| 7290 | 7305 450e 8091 0000 lds r24,MKFlags |
||
| 7291 | 7306 4512 8260 ori r24,lo8(2) |
||
| 7292 | 7307 4514 8093 0000 sts MKFlags,r24 |
||
| 7293 | 7308 4518 0C94 0000 jmp .L413 |
||
| 7294 | 7309 .L780: |
||
| 7295 | 7310 451c 0196 adiw r24,1 |
||
| 7296 | 7311 451e 0C94 0000 jmp .L676 |
||
| 7297 | 7312 .L764: |
||
| 7298 | 7313 4522 8091 0000 lds r24,YawGyroDrift |
||
| 7299 | 7314 4526 9091 0000 lds r25,(YawGyroDrift)+1 |
||
| 7300 | 7315 452a 860F add r24,r22 |
||
| 7301 | 7316 452c 971F adc r25,r23 |
||
| 7302 | 7317 452e 9093 0000 sts (YawGyroDrift)+1,r25 |
||
| 7303 | 7318 4532 8093 0000 sts YawGyroDrift,r24 |
||
| 7304 | 7319 4536 8091 0000 lds r24,UpdateCompassCourse.2420 |
||
| 7305 | 7320 453a 9091 0000 lds r25,(UpdateCompassCourse.2420)+1 |
||
| 7306 | 7321 453e 892B or r24,r25 |
||
| 7307 | 7322 4540 01F4 brne .+4 |
||
| 7308 | 7323 4542 0C94 0000 jmp .L585 |
||
| 7309 | 7324 4546 E090 0000 lds r14,ParamSet+23 |
||
| 7310 | 7325 454a 8AE2 ldi r24,lo8(42) |
||
| 7311 | 7326 454c E89E mul r14,r24 |
||
| 7312 | 7327 454e 7001 movw r14,r0 |
||
| 7313 | 7328 4550 1124 clr r1 |
||
| 7314 | 7329 4552 0027 clr r16 |
||
| 7315 | 7330 4554 F7FC sbrc r15,7 |
||
| 7316 | 7331 4556 0095 com r16 |
||
| 7317 | 7332 4558 102F mov r17,r16 |
||
| 7318 | 7333 455a 9501 movw r18,r10 |
||
| 7319 | 7334 455c 4427 clr r20 |
||
| 7320 | 7335 455e 37FD sbrc r19,7 |
||
| 7321 | 7336 4560 4095 com r20 |
||
| 7322 | 7337 4562 542F mov r21,r20 |
||
| 7323 | 7338 4564 C801 movw r24,r16 |
||
| 7324 | 7339 4566 B701 movw r22,r14 |
||
| 7325 | 7340 4568 0E94 0000 call __mulsi3 |
||
| 7326 | 7341 456c 6093 0000 sts YawGyroHeading,r22 |
||
| 7327 | 7342 4570 7093 0000 sts (YawGyroHeading)+1,r23 |
||
| 7328 | 7343 4574 8093 0000 sts (YawGyroHeading)+2,r24 |
||
| 7329 | 7344 4578 9093 0000 sts (YawGyroHeading)+3,r25 |
||
| 7330 | 7345 457c A801 movw r20,r16 |
||
| 7331 | 7346 457e 9701 movw r18,r14 |
||
| 7332 | 7347 4580 0E94 0000 call __divmodsi4 |
||
| 7333 | 7348 4584 3093 0000 sts (CompassCourse)+1,r19 |
||
| 7334 | 7349 4588 2093 0000 sts CompassCourse,r18 |
||
| 7335 | 7350 458c 1092 0000 sts (UpdateCompassCourse.2420)+1,__zero_reg__ |
||
| 7336 | 7351 4590 1092 0000 sts UpdateCompassCourse.2420,__zero_reg__ |
||
| 7337 | 7352 4594 0C94 0000 jmp .L585 |
||
| 7338 | 7353 .L513: |
||
| 7339 | 7354 4598 652D mov r22,r5 |
||
| 7340 | 7355 459a 742D mov r23,r4 |
||
| 7341 | 7356 459c 832D mov r24,r3 |
||
| 7342 | 7357 459e 922D mov r25,r2 |
||
| 7343 | 7358 45a0 22E0 ldi r18,lo8(2) |
||
| 7344 | 7359 45a2 30E0 ldi r19,hi8(2) |
||
| 7345 | 7360 45a4 40E0 ldi r20,hlo8(2) |
||
| 7346 | 7361 45a6 50E0 ldi r21,hhi8(2) |
||
| 7347 | 7362 45a8 0E94 0000 call __divmodsi4 |
||
| 7348 | 7363 45ac C901 movw r24,r18 |
||
| 7349 | 7364 45ae DA01 movw r26,r20 |
||
| 7350 | 7365 45b0 3C01 movw r6,r24 |
||
| 7351 | 7366 45b2 4D01 movw r8,r26 |
||
| 7352 | 7367 45b4 612F mov r22,r17 |
||
| 7353 | 7368 45b6 702F mov r23,r16 |
||
| 7354 | 7369 45b8 8F2D mov r24,r15 |
||
| 7355 | 7370 45ba 9E2D mov r25,r14 |
||
| 7356 | 7371 45bc 22E0 ldi r18,lo8(2) |
||
| 7357 | 7372 45be 30E0 ldi r19,hi8(2) |
||
| 7358 | 7373 45c0 40E0 ldi r20,hlo8(2) |
||
| 7359 | 7374 45c2 50E0 ldi r21,hhi8(2) |
||
| 7360 | 7375 45c4 0E94 0000 call __divmodsi4 |
||
| 7361 | 7376 45c8 C901 movw r24,r18 |
||
| 7362 | 7377 45ca DA01 movw r26,r20 |
||
| 7363 | 7378 45cc 5C01 movw r10,r24 |
||
| 7364 | 7379 45ce 6D01 movw r12,r26 |
||
| 7365 | 7380 45d0 00C0 rjmp .L514 |
||
| 7366 | 7381 .L451: |
||
| 7367 | 7382 45d2 8091 0000 lds r24,ParamSet+1 |
||
| 7368 | 7383 45d6 A82F mov r26,r24 |
||
| 7369 | 7384 45d8 B0E0 ldi r27,lo8(0) |
||
| 7370 | 7385 45da AA0F lsl r26 |
||
| 7371 | 7386 45dc BB1F rol r27 |
||
| 7372 | 7387 45de FD01 movw r30,r26 |
||
| 7373 | 7388 45e0 E050 subi r30,lo8(-(PPM_in)) |
||
| 7374 | 7389 45e2 F040 sbci r31,hi8(-(PPM_in)) |
||
| 7375 | 7390 45e4 0190 ld __tmp_reg__,Z+ |
||
| 7376 | 7391 45e6 F081 ld r31,Z |
||
| 7377 | 7392 45e8 E02D mov r30,__tmp_reg__ |
||
| 7378 | 7393 45ea F7FF sbrs r31,7 |
||
| 7379 | 7394 45ec 00C0 rjmp .+4 |
||
| 7380 | 7395 45ee 0C94 0000 jmp .L796 |
||
| 7381 | 7396 .L454: |
||
| 7382 | 7397 45f2 E734 cpi r30,71 |
||
| 7383 | 7398 45f4 F105 cpc r31,__zero_reg__ |
||
| 7384 | 7399 45f6 04F0 brlt .+4 |
||
| 7385 | 7400 45f8 0C94 0000 jmp .L452 |
||
| 7386 | 7401 45fc 8091 0000 lds r24,ParamSet+8 |
||
| 7387 | 7402 4600 8872 andi r24,lo8(40) |
||
| 7388 | 7403 4602 01F4 brne .+4 |
||
| 7389 | 7404 4604 0C94 0000 jmp .L461 |
||
| 7390 | 7405 4608 A050 subi r26,lo8(-(PPM_in)) |
||
| 7391 | 7406 460a B040 sbci r27,hi8(-(PPM_in)) |
||
| 7392 | 7407 460c 8D91 ld r24,X+ |
||
| 7393 | 7408 460e 9C91 ld r25,X |
||
| 7394 | 7409 4610 97FF sbrs r25,7 |
||
| 7395 | 7410 4612 00C0 rjmp .+4 |
||
| 7396 | 7411 4614 0C94 0000 jmp .L797 |
||
| 7397 | 7412 .L463: |
||
| 7398 | 7413 4618 4E97 sbiw r24,30 |
||
| 7399 | 7414 461a 04F0 brlt .+4 |
||
| 7400 | 7415 461c 0C94 0000 jmp .L461 |
||
| 7401 | 7416 4620 4050 subi r20,lo8(-(PPM_in)) |
||
| 7402 | 7417 4622 5040 sbci r21,hi8(-(PPM_in)) |
||
| 7403 | 7418 4624 FA01 movw r30,r20 |
||
| 7404 | 7419 4626 8081 ld r24,Z |
||
| 7405 | 7420 4628 9181 ldd r25,Z+1 |
||
| 7406 | 7421 462a 8A5B subi r24,lo8(-70) |
||
| 7407 | 7422 462c 9F4F sbci r25,hi8(-70) |
||
| 7408 | 7423 462e 04F0 brlt .+4 |
||
| 7409 | 7424 4630 0C94 0000 jmp .L461 |
||
| 7410 | 7425 4634 81E0 ldi r24,lo8(1) |
||
| 7411 | 7426 4636 8093 0000 sts CompassCalState,r24 |
||
| 7412 | 7427 463a 88EE ldi r24,lo8(1000) |
||
| 7413 | 7428 463c 93E0 ldi r25,hi8(1000) |
||
| 7414 | 7429 463e 9093 0000 sts (BeepTime)+1,r25 |
||
| 7415 | 7430 4642 8093 0000 sts BeepTime,r24 |
||
| 7416 | 7431 4646 8091 0000 lds r24,ParamSet+2 |
||
| 7417 | 7432 464a A82F mov r26,r24 |
||
| 7418 | 7433 464c B0E0 ldi r27,lo8(0) |
||
| 7419 | 7434 464e AA0F lsl r26 |
||
| 7420 | 7435 4650 BB1F rol r27 |
||
| 7421 | 7436 .L446: |
||
| 7422 | 7437 4652 A050 subi r26,lo8(-(PPM_in)) |
||
| 7423 | 7438 4654 B040 sbci r27,hi8(-(PPM_in)) |
||
| 7424 | 7439 4656 8D91 ld r24,X+ |
||
| 7425 | 7440 4658 9C91 ld r25,X |
||
| 7426 | 7441 465a 8B5A subi r24,lo8(-85) |
||
| 7427 | 7442 465c 9F4F sbci r25,hi8(-85) |
||
| 7428 | 7443 465e 04F0 brlt .+4 |
||
| 7429 | 7444 4660 0C94 0000 jmp .L410 |
||
| 7430 | 7445 4664 E091 0000 lds r30,ParamSet+3 |
||
| 7431 | 7446 4668 F0E0 ldi r31,lo8(0) |
||
| 7432 | 7447 466a EE0F lsl r30 |
||
| 7433 | 7448 466c FF1F rol r31 |
||
| 7434 | 7449 466e E050 subi r30,lo8(-(PPM_in)) |
||
| 7435 | 7450 4670 F040 sbci r31,hi8(-(PPM_in)) |
||
| 7436 | 7451 4672 8081 ld r24,Z |
||
| 7437 | 7452 4674 9181 ldd r25,Z+1 |
||
| 7438 | 7453 4676 855B subi r24,lo8(-75) |
||
| 7439 | 7454 4678 9F4F sbci r25,hi8(-75) |
||
| 7440 | 7455 467a 04F0 brlt .+2 |
||
| 7441 | 7456 467c 00C0 rjmp .L468 |
||
| 7442 | 7457 467e 8091 0000 lds r24,delay_startmotors.2417 |
||
| 7443 | 7458 4682 8F5F subi r24,lo8(-(1)) |
||
| 7444 | 7459 4684 8093 0000 sts delay_startmotors.2417,r24 |
||
| 7445 | 7460 4688 893C cpi r24,lo8(-55) |
||
| 7446 | 7461 468a 00F4 brsh .+2 |
||
| 7447 | 7462 468c 00C0 rjmp .L469 |
||
| 7448 | 7463 468e 88EC ldi r24,lo8(-56) |
||
| 7449 | 7464 4690 8093 0000 sts delay_startmotors.2417,r24 |
||
| 7450 | 7465 4694 81E0 ldi r24,lo8(1) |
||
| 7451 | 7466 4696 90E0 ldi r25,hi8(1) |
||
| 7452 | 7467 4698 9093 0000 sts (ModelIsFlying)+1,r25 |
||
| 7453 | 7468 469c 8093 0000 sts ModelIsFlying,r24 |
||
| 7454 | 7469 46a0 8091 0000 lds r24,MKFlags |
||
| 7455 | 7470 46a4 8960 ori r24,lo8(9) |
||
| 7456 | 7471 46a6 8093 0000 sts MKFlags,r24 |
||
| 7457 | 7472 46aa 1092 0000 sts SetPointYaw.2410,__zero_reg__ |
||
| 7458 | 7473 46ae 1092 0000 sts (SetPointYaw.2410)+1,__zero_reg__ |
||
| 7459 | 7474 46b2 1092 0000 sts (SetPointYaw.2410)+2,__zero_reg__ |
||
| 7460 | 7475 46b6 1092 0000 sts (SetPointYaw.2410)+3,__zero_reg__ |
||
| 7461 | 7476 46ba 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__ |
||
| 7462 | 7477 46be 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__ |
||
| 7463 | 7478 46c2 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__ |
||
| 7464 | 7479 46c6 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__ |
||
| 7465 | 7480 46ca 6091 0000 lds r22,AccNick |
||
| 7466 | 7481 46ce 7091 0000 lds r23,(AccNick)+1 |
||
| 7467 | 7482 46d2 8827 clr r24 |
||
| 7468 | 7483 46d4 77FD sbrc r23,7 |
||
| 7469 | 7484 46d6 8095 com r24 |
||
| 7470 | 7485 46d8 982F mov r25,r24 |
||
| 7471 | 7486 46da E090 0000 lds r14,ParamSet+23 |
||
| 7472 | 7487 46de FF24 clr r15 |
||
| 7473 | 7488 46e0 00E0 ldi r16,lo8(0) |
||
| 7474 | 7489 46e2 10E0 ldi r17,hi8(0) |
||
| 7475 | 7490 46e4 A801 movw r20,r16 |
||
| 7476 | 7491 46e6 9701 movw r18,r14 |
||
| 7477 | 7492 46e8 0E94 0000 call __mulsi3 |
||
| 7478 | 7493 46ec 6093 0000 sts ReadingIntegralGyroNick,r22 |
||
| 7479 | 7494 46f0 7093 0000 sts (ReadingIntegralGyroNick)+1,r23 |
||
| 7480 | 7495 46f4 8093 0000 sts (ReadingIntegralGyroNick)+2,r24 |
||
| 7481 | 7496 46f8 9093 0000 sts (ReadingIntegralGyroNick)+3,r25 |
||
| 7482 | 7497 46fc 6091 0000 lds r22,AccRoll |
||
| 7483 | 7498 4700 7091 0000 lds r23,(AccRoll)+1 |
||
| 7484 | 7499 4704 8827 clr r24 |
||
| 7485 | 7500 4706 77FD sbrc r23,7 |
||
| 7486 | 7501 4708 8095 com r24 |
||
| 7487 | 7502 470a 982F mov r25,r24 |
||
| 7488 | 7503 470c 0E94 0000 call __mulsi3 |
||
| 7489 | 7504 4710 6093 0000 sts ReadingIntegralGyroRoll,r22 |
||
| 7490 | 7505 4714 7093 0000 sts (ReadingIntegralGyroRoll)+1,r23 |
||
| 7491 | 7506 4718 8093 0000 sts (ReadingIntegralGyroRoll)+2,r24 |
||
| 7492 | 7507 471c 9093 0000 sts (ReadingIntegralGyroRoll)+3,r25 |
||
| 7493 | 7508 4720 8091 0000 lds r24,IntegralGyroNick |
||
| 7494 | 7509 4724 9091 0000 lds r25,(IntegralGyroNick)+1 |
||
| 7495 | 7510 4728 A091 0000 lds r26,(IntegralGyroNick)+2 |
||
| 7496 | 7511 472c B091 0000 lds r27,(IntegralGyroNick)+3 |
||
| 7497 | 7512 4730 8093 0000 sts ReadingIntegralGyroNick2,r24 |
||
| 7498 | 7513 4734 9093 0000 sts (ReadingIntegralGyroNick2)+1,r25 |
||
| 7499 | 7514 4738 A093 0000 sts (ReadingIntegralGyroNick2)+2,r26 |
||
| 7500 | 7515 473c B093 0000 sts (ReadingIntegralGyroNick2)+3,r27 |
||
| 7501 | 7516 4740 8091 0000 lds r24,IntegralGyroRoll |
||
| 7502 | 7517 4744 9091 0000 lds r25,(IntegralGyroRoll)+1 |
||
| 7503 | 7518 4748 A091 0000 lds r26,(IntegralGyroRoll)+2 |
||
| 7504 | 7519 474c B091 0000 lds r27,(IntegralGyroRoll)+3 |
||
| 7505 | 7520 4750 8093 0000 sts ReadingIntegralGyroRoll2,r24 |
||
| 7506 | 7521 4754 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r25 |
||
| 7507 | 7522 4758 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r26 |
||
| 7508 | 7523 475c B093 0000 sts (ReadingIntegralGyroRoll2)+3,r27 |
||
| 7509 | 7524 4760 1092 0000 sts IPartNick.2408,__zero_reg__ |
||
| 7510 | 7525 4764 1092 0000 sts (IPartNick.2408)+1,__zero_reg__ |
||
| 7511 | 7526 4768 1092 0000 sts (IPartNick.2408)+2,__zero_reg__ |
||
| 7512 | 7527 476c 1092 0000 sts (IPartNick.2408)+3,__zero_reg__ |
||
| 7513 | 7528 4770 1092 0000 sts IPartRoll.2409,__zero_reg__ |
||
| 7514 | 7529 4774 1092 0000 sts (IPartRoll.2409)+1,__zero_reg__ |
||
| 7515 | 7530 4778 1092 0000 sts (IPartRoll.2409)+2,__zero_reg__ |
||
| 7516 | 7531 477c 1092 0000 sts (IPartRoll.2409)+3,__zero_reg__ |
||
| 7517 | 7532 4780 00C0 rjmp .L469 |
||
| 7518 | 7533 .L739: |
||
| 7519 | 7534 4782 3095 com r19 |
||
| 7520 | 7535 4784 2195 neg r18 |
||
| 7521 | 7536 4786 3F4F sbci r19,lo8(-1) |
||
| 7522 | 7537 4788 0C94 0000 jmp .L483 |
||
| 7523 | 7538 .L742: |
||
| 7524 | 7539 478c 3095 com r19 |
||
| 7525 | 7540 478e 2195 neg r18 |
||
| 7526 | 7541 4790 3F4F sbci r19,lo8(-1) |
||
| 7527 | 7542 4792 0C94 0000 jmp .L488 |
||
| 7528 | 7543 .L741: |
||
| 7529 | 7544 4796 2D5F subi r18,lo8(-(3)) |
||
| 7530 | 7545 4798 3F4F sbci r19,hi8(-(3)) |
||
| 7531 | 7546 479a 0C94 0000 jmp .L487 |
||
| 7532 | 7547 .L733: |
||
| 7533 | 7548 479e 4D5F subi r20,lo8(-(3)) |
||
| 7534 | 7549 47a0 5F4F sbci r21,hi8(-(3)) |
||
| 7535 | 7550 47a2 0C94 0000 jmp .L473 |
||
| 7536 | 7551 .L734: |
||
| 7537 | 7552 47a6 4D5F subi r20,lo8(-(3)) |
||
| 7538 | 7553 47a8 5F4F sbci r21,hi8(-(3)) |
||
| 7539 | 7554 47aa 0C94 0000 jmp .L474 |
||
| 7540 | 7555 .L738: |
||
| 7541 | 7556 47ae 2D5F subi r18,lo8(-(3)) |
||
| 7542 | 7557 47b0 3F4F sbci r19,hi8(-(3)) |
||
| 7543 | 7558 47b2 0C94 0000 jmp .L482 |
||
| 7544 | 7559 .L762: |
||
| 7545 | 7560 47b6 60E0 ldi r22,lo8(0) |
||
| 7546 | 7561 47b8 70E0 ldi r23,hi8(0) |
||
| 7547 | 7562 47ba 0C94 0000 jmp .L581 |
||
| 7548 | 7563 .L587: |
||
| 7549 | 7564 47be 84EF ldi r24,lo8(500) |
||
| 7550 | 7565 47c0 91E0 ldi r25,hi8(500) |
||
| 7551 | 7566 47c2 9093 0000 sts (BadCompassHeading)+1,r25 |
||
| 7552 | 7567 47c6 8093 0000 sts BadCompassHeading,r24 |
||
| 7553 | 7568 47ca 0C94 0000 jmp .L575 |
||
| 7554 | 7569 .L428: |
||
| 7555 | 7570 47ce 8091 0000 lds r24,PPM_in+24 |
||
| 7556 | 7571 47d2 9091 0000 lds r25,(PPM_in+24)+1 |
||
| 7557 | 7572 47d6 8259 subi r24,lo8(-(110)) |
||
| 7558 | 7573 47d8 9F4F sbci r25,hi8(-(110)) |
||
| 7559 | 7574 47da 8217 cp r24,r18 |
||
| 7560 | 7575 47dc 9307 cpc r25,r19 |
||
| 7561 | 7576 47de 04F0 brlt .+4 |
||
| 7562 | 7577 47e0 0C94 0000 jmp .L429 |
||
| 7563 | 7578 47e4 2115 cp r18,__zero_reg__ |
||
| 7564 | 7579 47e6 3105 cpc r19,__zero_reg__ |
||
| 7565 | 7580 47e8 01F4 brne .+4 |
||
| 7566 | 7581 47ea 0C94 0000 jmp .L429 |
||
| 7567 | 7582 47ee C901 movw r24,r18 |
||
| 7568 | 7583 47f0 0197 sbiw r24,1 |
||
| 7569 | 7584 47f2 9093 0000 sts (Poti8)+1,r25 |
||
| 7570 | 7585 47f6 8093 0000 sts Poti8,r24 |
||
| 7571 | 7586 47fa 9C01 movw r18,r24 |
||
| 7572 | 7587 47fc 0C94 0000 jmp .L429 |
||
| 7573 | 7588 .L426: |
||
| 7574 | 7589 4800 8091 0000 lds r24,PPM_in+22 |
||
| 7575 | 7590 4804 9091 0000 lds r25,(PPM_in+22)+1 |
||
| 7576 | 7591 4808 8259 subi r24,lo8(-(110)) |
||
| 7577 | 7592 480a 9F4F sbci r25,hi8(-(110)) |
||
| 7578 | 7593 480c 8417 cp r24,r20 |
||
| 7579 | 7594 480e 9507 cpc r25,r21 |
||
| 7580 | 7595 4810 04F0 brlt .+4 |
||
| 7581 | 7596 4812 0C94 0000 jmp .L427 |
||
| 7582 | 7597 4816 4115 cp r20,__zero_reg__ |
||
| 7583 | 7598 4818 5105 cpc r21,__zero_reg__ |
||
| 7584 | 7599 481a 01F4 brne .+4 |
||
| 7585 | 7600 481c 0C94 0000 jmp .L427 |
||
| 7586 | 7601 4820 CA01 movw r24,r20 |
||
| 7587 | 7602 4822 0197 sbiw r24,1 |
||
| 7588 | 7603 4824 9093 0000 sts (Poti7)+1,r25 |
||
| 7589 | 7604 4828 8093 0000 sts Poti7,r24 |
||
| 7590 | 7605 482c AC01 movw r20,r24 |
||
| 7591 | 7606 482e 0C94 0000 jmp .L427 |
||
| 7592 | 7607 .L424: |
||
| 7593 | 7608 4832 8091 0000 lds r24,PPM_in+20 |
||
| 7594 | 7609 4836 9091 0000 lds r25,(PPM_in+20)+1 |
||
| 7595 | 7610 483a 8259 subi r24,lo8(-(110)) |
||
| 7596 | 7611 483c 9F4F sbci r25,hi8(-(110)) |
||
| 7597 | 7612 483e 8617 cp r24,r22 |
||
| 7598 | 7613 4840 9707 cpc r25,r23 |
||
| 7599 | 7614 4842 04F0 brlt .+4 |
||
| 7600 | 7615 4844 0C94 0000 jmp .L425 |
||
| 7601 | 7616 4848 6115 cp r22,__zero_reg__ |
||
| 7602 | 7617 484a 7105 cpc r23,__zero_reg__ |
||
| 7603 | 7618 484c 01F4 brne .+4 |
||
| 7604 | 7619 484e 0C94 0000 jmp .L425 |
||
| 7605 | 7620 4852 CB01 movw r24,r22 |
||
| 7606 | 7621 4854 0197 sbiw r24,1 |
||
| 7607 | 7622 4856 9093 0000 sts (Poti6)+1,r25 |
||
| 7608 | 7623 485a 8093 0000 sts Poti6,r24 |
||
| 7609 | 7624 485e BC01 movw r22,r24 |
||
| 7610 | 7625 4860 0C94 0000 jmp .L425 |
||
| 7611 | 7626 .L422: |
||
| 7612 | 7627 4864 8091 0000 lds r24,PPM_in+18 |
||
| 7613 | 7628 4868 9091 0000 lds r25,(PPM_in+18)+1 |
||
| 7614 | 7629 486c 8259 subi r24,lo8(-(110)) |
||
| 7615 | 7630 486e 9F4F sbci r25,hi8(-(110)) |
||
| 7616 | 7631 4870 8E17 cp r24,r30 |
||
| 7617 | 7632 4872 9F07 cpc r25,r31 |
||
| 7618 | 7633 4874 04F0 brlt .+4 |
||
| 7619 | 7634 4876 0C94 0000 jmp .L423 |
||
| 7620 | 7635 487a 3097 sbiw r30,0 |
||
| 7621 | 7636 487c 01F4 brne .+4 |
||
| 7622 | 7637 487e 0C94 0000 jmp .L423 |
||
| 7623 | 7638 4882 CF01 movw r24,r30 |
||
| 7624 | 7639 4884 0197 sbiw r24,1 |
||
| 7625 | 7640 4886 9093 0000 sts (Poti5)+1,r25 |
||
| 7626 | 7641 488a 8093 0000 sts Poti5,r24 |
||
| 7627 | 7642 488e FC01 movw r30,r24 |
||
| 7628 | 7643 4890 0C94 0000 jmp .L423 |
||
| 7629 | 7644 .L420: |
||
| 7630 | 7645 4894 8081 ld r24,Z |
||
| 7631 | 7646 4896 9181 ldd r25,Z+1 |
||
| 7632 | 7647 4898 8259 subi r24,lo8(-(110)) |
||
| 7633 | 7648 489a 9F4F sbci r25,hi8(-(110)) |
||
| 7634 | 7649 489c 8A17 cp r24,r26 |
||
| 7635 | 7650 489e 9B07 cpc r25,r27 |
||
| 7636 | 7651 48a0 04F0 brlt .+4 |
||
| 7637 | 7652 48a2 0C94 0000 jmp .L421 |
||
| 7638 | 7653 48a6 1097 sbiw r26,0 |
||
| 7639 | 7654 48a8 01F4 brne .+4 |
||
| 7640 | 7655 48aa 0C94 0000 jmp .L421 |
||
| 7641 | 7656 48ae CD01 movw r24,r26 |
||
| 7642 | 7657 48b0 0197 sbiw r24,1 |
||
| 7643 | 7658 48b2 9093 0000 sts (Poti4)+1,r25 |
||
| 7644 | 7659 48b6 8093 0000 sts Poti4,r24 |
||
| 7645 | 7660 48ba DC01 movw r26,r24 |
||
| 7646 | 7661 48bc 0C94 0000 jmp .L421 |
||
| 7647 | 7662 .L418: |
||
| 7648 | 7663 48c0 8081 ld r24,Z |
||
| 7649 | 7664 48c2 9181 ldd r25,Z+1 |
||
| 7650 | 7665 48c4 8259 subi r24,lo8(-(110)) |
||
| 7651 | 7666 48c6 9F4F sbci r25,hi8(-(110)) |
||
| 7652 | 7667 48c8 8A15 cp r24,r10 |
||
| 7653 | 7668 48ca 9B05 cpc r25,r11 |
||
| 7654 | 7669 48cc 04F0 brlt .+4 |
||
| 7655 | 7670 48ce 0C94 0000 jmp .L419 |
||
| 7656 | 7671 48d2 A114 cp r10,__zero_reg__ |
||
| 7657 | 7672 48d4 B104 cpc r11,__zero_reg__ |
||
| 7658 | 7673 48d6 01F4 brne .+4 |
||
| 7659 | 7674 48d8 0C94 0000 jmp .L419 |
||
| 7660 | 7675 48dc C501 movw r24,r10 |
||
| 7661 | 7676 48de 0197 sbiw r24,1 |
||
| 7662 | 7677 48e0 9093 0000 sts (Poti3)+1,r25 |
||
| 7663 | 7678 48e4 8093 0000 sts Poti3,r24 |
||
| 7664 | 7679 48e8 5C01 movw r10,r24 |
||
| 7665 | 7680 48ea 0C94 0000 jmp .L419 |
||
| 7666 | 7681 .L416: |
||
| 7667 | 7682 48ee 8081 ld r24,Z |
||
| 7668 | 7683 48f0 9181 ldd r25,Z+1 |
||
| 7669 | 7684 48f2 8259 subi r24,lo8(-(110)) |
||
| 7670 | 7685 48f4 9F4F sbci r25,hi8(-(110)) |
||
| 7671 | 7686 48f6 8017 cp r24,r16 |
||
| 7672 | 7687 48f8 9107 cpc r25,r17 |
||
| 7673 | 7688 48fa 04F0 brlt .+4 |
||
| 7674 | 7689 48fc 0C94 0000 jmp .L417 |
||
| 7675 | 7690 4900 0115 cp r16,__zero_reg__ |
||
| 7676 | 7691 4902 1105 cpc r17,__zero_reg__ |
||
| 7677 | 7692 4904 01F4 brne .+4 |
||
| 7678 | 7693 4906 0C94 0000 jmp .L417 |
||
| 7679 | 7694 490a C801 movw r24,r16 |
||
| 7680 | 7695 490c 0197 sbiw r24,1 |
||
| 7681 | 7696 490e 9093 0000 sts (Poti2)+1,r25 |
||
| 7682 | 7697 4912 8093 0000 sts Poti2,r24 |
||
| 7683 | 7698 4916 8C01 movw r16,r24 |
||
| 7684 | 7699 4918 0C94 0000 jmp .L417 |
||
| 7685 | 7700 .L414: |
||
| 7686 | 7701 491c 8081 ld r24,Z |
||
| 7687 | 7702 491e 9181 ldd r25,Z+1 |
||
| 7688 | 7703 4920 8259 subi r24,lo8(-(110)) |
||
| 7689 | 7704 4922 9F4F sbci r25,hi8(-(110)) |
||
| 7690 | 7705 4924 8E15 cp r24,r14 |
||
| 7691 | 7706 4926 9F05 cpc r25,r15 |
||
| 7692 | 7707 4928 04F0 brlt .+4 |
||
| 7693 | 7708 492a 0C94 0000 jmp .L415 |
||
| 7694 | 7709 492e E114 cp r14,__zero_reg__ |
||
| 7695 | 7710 4930 F104 cpc r15,__zero_reg__ |
||
| 7696 | 7711 4932 01F4 brne .+4 |
||
| 7697 | 7712 4934 0C94 0000 jmp .L415 |
||
| 7698 | 7713 4938 C701 movw r24,r14 |
||
| 7699 | 7714 493a 0197 sbiw r24,1 |
||
| 7700 | 7715 493c 9093 0000 sts (Poti1)+1,r25 |
||
| 7701 | 7716 4940 8093 0000 sts Poti1,r24 |
||
| 7702 | 7717 4944 7C01 movw r14,r24 |
||
| 7703 | 7718 4946 0C94 0000 jmp .L415 |
||
| 7704 | 7719 .L765: |
||
| 7705 | 7720 494a 4F96 adiw r24,31 |
||
| 7706 | 7721 494c 0C94 0000 jmp .L586 |
||
| 7707 | 7722 .L763: |
||
| 7708 | 7723 4950 8827 clr r24 |
||
| 7709 | 7724 4952 9927 clr r25 |
||
| 7710 | 7725 4954 8219 sub r24,r2 |
||
| 7711 | 7726 4956 9309 sbc r25,r3 |
||
| 7712 | 7727 4958 0C94 0000 jmp .L583 |
||
| 7713 | 7728 .L761: |
||
| 7714 | 7729 495c 9094 com r9 |
||
| 7715 | 7730 495e 8194 neg r8 |
||
| 7716 | 7731 4960 9108 sbc r9,__zero_reg__ |
||
| 7717 | 7732 4962 9394 inc r9 |
||
| 7718 | 7733 4964 0C94 0000 jmp .L578 |
||
| 7719 | 7734 .L760: |
||
| 7720 | 7735 4968 1095 com r17 |
||
| 7721 | 7736 496a 0195 neg r16 |
||
| 7722 | 7737 496c 1F4F sbci r17,lo8(-1) |
||
| 7723 | 7738 496e 0C94 0000 jmp .L577 |
||
| 7724 | 7739 .L477: |
||
| 7725 | 7740 4972 1092 0000 sts (StickYaw)+1,__zero_reg__ |
||
| 7726 | 7741 4976 1092 0000 sts StickYaw,__zero_reg__ |
||
| 7727 | 7742 497a 0C94 0000 jmp .L475 |
||
| 7728 | 7743 .L776: |
||
| 7729 | 7744 497e 1092 0000 sts (Poti8)+1,__zero_reg__ |
||
| 7730 | 7745 4982 1092 0000 sts Poti8,__zero_reg__ |
||
| 7731 | 7746 4986 0C94 0000 jmp .L445 |
||
| 7732 | 7747 .L775: |
||
| 7733 | 7748 498a 1092 0000 sts (Poti7)+1,__zero_reg__ |
||
| 7734 | 7749 498e 1092 0000 sts Poti7,__zero_reg__ |
||
| 7735 | 7750 4992 0C94 0000 jmp .L443 |
||
| 7736 | 7751 .L774: |
||
| 7737 | 7752 4996 1092 0000 sts (Poti6)+1,__zero_reg__ |
||
| 7738 | 7753 499a 1092 0000 sts Poti6,__zero_reg__ |
||
| 7739 | 7754 499e 0C94 0000 jmp .L441 |
||
| 7740 | 7755 .L773: |
||
| 7741 | 7756 49a2 1092 0000 sts (Poti5)+1,__zero_reg__ |
||
| 7742 | 7757 49a6 1092 0000 sts Poti5,__zero_reg__ |
||
| 7743 | 7758 49aa 0C94 0000 jmp .L439 |
||
| 7744 | 7759 .L772: |
||
| 7745 | 7760 49ae 1092 0000 sts (Poti4)+1,__zero_reg__ |
||
| 7746 | 7761 49b2 1092 0000 sts Poti4,__zero_reg__ |
||
| 7747 | 7762 49b6 0C94 0000 jmp .L437 |
||
| 7748 | 7763 .L771: |
||
| 7749 | 7764 49ba 1092 0000 sts (Poti3)+1,__zero_reg__ |
||
| 7750 | 7765 49be 1092 0000 sts Poti3,__zero_reg__ |
||
| 7751 | 7766 49c2 0C94 0000 jmp .L435 |
||
| 7752 | 7767 .L770: |
||
| 7753 | 7768 49c6 1092 0000 sts (Poti2)+1,__zero_reg__ |
||
| 7754 | 7769 49ca 1092 0000 sts Poti2,__zero_reg__ |
||
| 7755 | 7770 49ce 0C94 0000 jmp .L433 |
||
| 7756 | 7771 .L769: |
||
| 7757 | 7772 49d2 1092 0000 sts (Poti1)+1,__zero_reg__ |
||
| 7758 | 7773 49d6 1092 0000 sts Poti1,__zero_reg__ |
||
| 7759 | 7774 49da 0C94 0000 jmp .L431 |
||
| 7760 | 7775 .L590: |
||
| 7761 | 7776 49de 4427 clr r20 |
||
| 7762 | 7777 49e0 5527 clr r21 |
||
| 7763 | 7778 49e2 481B sub r20,r24 |
||
| 7764 | 7779 49e4 590B sbc r21,r25 |
||
| 7765 | 7780 49e6 B901 movw r22,r18 |
||
| 7766 | 7781 49e8 2417 cp r18,r20 |
||
| 7767 | 7782 49ea 3507 cpc r19,r21 |
||
| 7768 | 7783 49ec 04F0 brlt .+4 |
||
| 7769 | 7784 49ee 0C94 0000 jmp .L591 |
||
| 7770 | 7785 49f2 BA01 movw r22,r20 |
||
| 7771 | 7786 49f4 0C94 0000 jmp .L591 |
||
| 7772 | 7787 .L743: |
||
| 7773 | 7788 49f8 3095 com r19 |
||
| 7774 | 7789 49fa 2195 neg r18 |
||
| 7775 | 7790 49fc 3F4F sbci r19,lo8(-1) |
||
| 7776 | 7791 49fe 0C94 0000 jmp .L489 |
||
| 7777 | 7792 .L789: |
||
| 7778 | 7793 4a02 3095 com r19 |
||
| 7779 | 7794 4a04 2195 neg r18 |
||
| 7780 | 7795 4a06 3F4F sbci r19,lo8(-1) |
||
| 7781 | 7796 4a08 00C0 rjmp .L484 |
||
| 7782 | 7797 .L520: |
||
| 7783 | 7798 4a0a 8A15 cp r24,r10 |
||
| 7784 | 7799 4a0c 9B05 cpc r25,r11 |
||
| 7785 | 7800 4a0e AC05 cpc r26,r12 |
||
| 7786 | 7801 4a10 BD05 cpc r27,r13 |
||
| 7787 | 7802 4a12 04F0 brlt .+2 |
||
| 7788 | 7803 4a14 00C0 rjmp .L521 |
||
| 7789 | 7804 4a16 5C01 movw r10,r24 |
||
| 7790 | 7805 4a18 6D01 movw r12,r26 |
||
| 7791 | 7806 4a1a 00C0 rjmp .L521 |
||
| 7792 | 7807 .L517: |
||
| 7793 | 7808 4a1c 8401 movw r16,r8 |
||
| 7794 | 7809 4a1e 7301 movw r14,r6 |
||
| 7795 | 7810 4a20 8615 cp r24,r6 |
||
| 7796 | 7811 4a22 9705 cpc r25,r7 |
||
| 7797 | 7812 4a24 A805 cpc r26,r8 |
||
| 7798 | 7813 4a26 B905 cpc r27,r9 |
||
| 7799 | 7814 4a28 04F0 brlt .+2 |
||
| 7800 | 7815 4a2a 00C0 rjmp .L518 |
||
| 7801 | 7816 4a2c 7C01 movw r14,r24 |
||
| 7802 | 7817 4a2e 8D01 movw r16,r26 |
||
| 7803 | 7818 4a30 00C0 rjmp .L518 |
||
| 7804 | 7819 .L611: |
||
| 7805 | 7820 4a32 8091 0000 lds r24,BaroFlags.2450 |
||
| 7806 | 7821 4a36 90E0 ldi r25,lo8(0) |
||
| 7807 | 7822 4a38 8370 andi r24,lo8(3) |
||
| 7808 | 7823 4a3a 9070 andi r25,hi8(3) |
||
| 7809 | 7824 4a3c 892B or r24,r25 |
||
| 7810 | 7825 4a3e 01F4 brne .+2 |
||
| 7811 | 7826 4a40 00C0 rjmp .L798 |
||
| 7812 | 7827 .L614: |
||
| 7813 | 7828 4a42 81E0 ldi r24,lo8(1) |
||
| 7814 | 7829 4a44 8093 0000 sts HCActive.2443,r24 |
||
| 7815 | 7830 .L613: |
||
| 7816 | 7831 4a48 E090 0000 lds r14,ParamSet+23 |
||
| 7817 | 7832 4a4c 8AE2 ldi r24,lo8(42) |
||
| 7818 | 7833 4a4e E89E mul r14,r24 |
||
| 7819 | 7834 4a50 7001 movw r14,r0 |
||
| 7820 | 7835 4a52 1124 clr r1 |
||
| 7821 | 7836 4a54 0027 clr r16 |
||
| 7822 | 7837 4a56 F7FC sbrc r15,7 |
||
| 7823 | 7838 4a58 0095 com r16 |
||
| 7824 | 7839 4a5a 102F mov r17,r16 |
||
| 7825 | 7840 4a5c 6091 0000 lds r22,IntegralGyroNick |
||
| 7826 | 7841 4a60 7091 0000 lds r23,(IntegralGyroNick)+1 |
||
| 7827 | 7842 4a64 8091 0000 lds r24,(IntegralGyroNick)+2 |
||
| 7828 | 7843 4a68 9091 0000 lds r25,(IntegralGyroNick)+3 |
||
| 7829 | 7844 4a6c A801 movw r20,r16 |
||
| 7830 | 7845 4a6e 9701 movw r18,r14 |
||
| 7831 | 7846 4a70 0E94 0000 call __divmodsi4 |
||
| 7832 | 7847 4a74 5901 movw r10,r18 |
||
| 7833 | 7848 4a76 6A01 movw r12,r20 |
||
| 7834 | 7849 4a78 6091 0000 lds r22,IntegralGyroRoll |
||
| 7835 | 7850 4a7c 7091 0000 lds r23,(IntegralGyroRoll)+1 |
||
| 7836 | 7851 4a80 8091 0000 lds r24,(IntegralGyroRoll)+2 |
||
| 7837 | 7852 4a84 9091 0000 lds r25,(IntegralGyroRoll)+3 |
||
| 7838 | 7853 4a88 A801 movw r20,r16 |
||
| 7839 | 7854 4a8a 9701 movw r18,r14 |
||
| 7840 | 7855 4a8c 0E94 0000 call __divmodsi4 |
||
| 7841 | 7856 4a90 C501 movw r24,r10 |
||
| 7842 | 7857 4a92 B901 movw r22,r18 |
||
| 7843 | 7858 4a94 0E94 0000 call ihypot |
||
| 7844 | 7859 4a98 8D33 cpi r24,61 |
||
| 7845 | 7860 4a9a 9105 cpc r25,__zero_reg__ |
||
| 7846 | 7861 4a9c 04F0 brlt .L615 |
||
| 7847 | 7862 4a9e 8CE3 ldi r24,lo8(60) |
||
| 7848 | 7863 4aa0 90E0 ldi r25,hi8(60) |
||
| 7849 | 7864 .L615: |
||
| 7850 | 7865 4aa2 0E94 0000 call c_cos_8192 |
||
| 7851 | 7866 4aa6 9A83 std Y+2,r25 |
||
| 7852 | 7867 4aa8 8983 std Y+1,r24 |
||
| 7853 | 7868 4aaa 8091 0000 lds r24,HCActive.2443 |
||
| 7854 | 7869 4aae 8823 tst r24 |
||
| 7855 | 7870 4ab0 01F4 brne .+2 |
||
| 7856 | 7871 4ab2 00C0 rjmp .L616 |
||
| 7857 | 7872 4ab4 8091 0000 lds r24,MKFlags |
||
| 7858 | 7873 4ab8 84FD sbrc r24,4 |
||
| 7859 | 7874 4aba 00C0 rjmp .L616 |
||
| 7860 | 7875 4abc 8091 0000 lds r24,ParamSet+88 |
||
| 7861 | 7876 4ac0 80FD sbrc r24,0 |
||
| 7862 | 7877 4ac2 00C0 rjmp .L617 |
||
| 7863 | 7878 4ac4 8091 0000 lds r24,ParamSet+8 |
||
| 7864 | 7879 4ac8 81FF sbrs r24,1 |
||
| 7865 | 7880 4aca 00C0 rjmp .L617 |
||
| 7866 | 7881 4acc 8091 0000 lds r24,MKFlags |
||
| 7867 | 7882 4ad0 81FF sbrs r24,1 |
||
| 7868 | 7883 4ad2 00C0 rjmp .L620 |
||
| 7869 | 7884 4ad4 6091 0000 lds r22,StickGasHover.2444 |
||
| 7870 | 7885 4ad8 7091 0000 lds r23,(StickGasHover.2444)+1 |
||
| 7871 | 7886 4adc 4091 0000 lds r20,StickGas |
||
| 7872 | 7887 4ae0 5091 0000 lds r21,(StickGas)+1 |
||
| 7873 | 7888 4ae4 CB01 movw r24,r22 |
||
| 7874 | 7889 4ae6 0F96 adiw r24,15 |
||
| 7875 | 7890 4ae8 8417 cp r24,r20 |
||
| 7876 | 7891 4aea 9507 cpc r25,r21 |
||
| 7877 | 7892 4aec 04F0 brlt .+2 |
||
| 7878 | 7893 4aee 00C0 rjmp .L621 |
||
| 7879 | 7894 4af0 8091 0000 lds r24,BaroFlags.2450 |
||
| 7880 | 7895 4af4 80FD sbrc r24,0 |
||
| 7881 | 7896 4af6 00C0 rjmp .L621 |
||
| 7882 | 7897 4af8 2091 0000 lds r18,HeightTrimmingFlag.2452 |
||
| 7883 | 7898 4afc 21FF sbrs r18,1 |
||
| 7884 | 7899 4afe 00C0 rjmp .L622 |
||
| 7885 | 7900 4b00 2D7F andi r18,lo8(-3) |
||
| 7886 | 7901 4b02 2093 0000 sts HeightTrimmingFlag.2452,r18 |
||
| 7887 | 7902 4b06 8091 0000 lds r24,ReadingHeight |
||
| 7888 | 7903 4b0a 9091 0000 lds r25,(ReadingHeight)+1 |
||
| 7889 | 7904 4b0e A091 0000 lds r26,(ReadingHeight)+2 |
||
| 7890 | 7905 4b12 B091 0000 lds r27,(ReadingHeight)+3 |
||
| 7891 | 7906 4b16 8093 0000 sts SetPointHeight,r24 |
||
| 7892 | 7907 4b1a 9093 0000 sts (SetPointHeight)+1,r25 |
||
| 7893 | 7908 4b1e A093 0000 sts (SetPointHeight)+2,r26 |
||
| 7894 | 7909 4b22 B093 0000 sts (SetPointHeight)+3,r27 |
||
| 7895 | 7910 .L622: |
||
| 7896 | 7911 4b26 2160 ori r18,lo8(1) |
||
| 7897 | 7912 4b28 2093 0000 sts HeightTrimmingFlag.2452,r18 |
||
| 7898 | 7913 4b2c CA01 movw r24,r20 |
||
| 7899 | 7914 4b2e 0F97 sbiw r24,15 |
||
| 7900 | 7915 4b30 861B sub r24,r22 |
||
| 7901 | 7916 4b32 970B sbc r25,r23 |
||
| 7902 | 7917 4b34 97FD sbrc r25,7 |
||
| 7903 | 7918 4b36 00C0 rjmp .L799 |
||
| 7904 | 7919 .L623: |
||
| 7905 | 7920 4b38 2091 0000 lds r18,HeightTrimming.2442 |
||
| 7906 | 7921 4b3c 3091 0000 lds r19,(HeightTrimming.2442)+1 |
||
| 7907 | 7922 4b40 280F add r18,r24 |
||
| 7908 | 7923 4b42 391F adc r19,r25 |
||
| 7909 | 7924 4b44 3093 0000 sts (HeightTrimming.2442)+1,r19 |
||
| 7910 | 7925 4b48 2093 0000 sts HeightTrimming.2442,r18 |
||
| 7911 | 7926 .L624: |
||
| 7912 | 7927 4b4c C901 movw r24,r18 |
||
| 7913 | 7928 4b4e 37FF sbrs r19,7 |
||
| 7914 | 7929 4b50 00C0 rjmp .L629 |
||
| 7915 | 7930 4b52 8827 clr r24 |
||
| 7916 | 7931 4b54 9927 clr r25 |
||
| 7917 | 7932 4b56 821B sub r24,r18 |
||
| 7918 | 7933 4b58 930B sbc r25,r19 |
||
| 7919 | 7934 .L629: |
||
| 7920 | 7935 4b5a 8150 subi r24,lo8(513) |
||
| 7921 | 7936 4b5c 9240 sbci r25,hi8(513) |
||
| 7922 | 7937 4b5e 04F4 brge .+2 |
||
| 7923 | 7938 4b60 00C0 rjmp .L628 |
||
| 7924 | 7939 4b62 8091 0000 lds r24,ParamSet+13 |
||
| 7925 | 7940 4b66 90E0 ldi r25,lo8(0) |
||
| 7926 | 7941 4b68 5C01 movw r10,r24 |
||
| 7927 | 7942 4b6a A29E mul r10,r18 |
||
| 7928 | 7943 4b6c C001 movw r24,r0 |
||
| 7929 | 7944 4b6e A39E mul r10,r19 |
||
| 7930 | 7945 4b70 900D add r25,r0 |
||
| 7931 | 7946 4b72 B29E mul r11,r18 |
||
| 7932 | 7947 4b74 900D add r25,r0 |
||
| 7933 | 7948 4b76 1124 clr r1 |
||
| 7934 | 7949 4b78 60E0 ldi r22,lo8(1280) |
||
| 7935 | 7950 4b7a 75E0 ldi r23,hi8(1280) |
||
| 7936 | 7951 4b7c 0E94 0000 call __divmodhi4 |
||
| 7937 | 7952 4b80 8827 clr r24 |
||
| 7938 | 7953 4b82 77FD sbrc r23,7 |
||
| 7939 | 7954 4b84 8095 com r24 |
||
| 7940 | 7955 4b86 982F mov r25,r24 |
||
| 7941 | 7956 4b88 2091 0000 lds r18,SetPointHeight |
||
| 7942 | 7957 4b8c 3091 0000 lds r19,(SetPointHeight)+1 |
||
| 7943 | 7958 4b90 4091 0000 lds r20,(SetPointHeight)+2 |
||
| 7944 | 7959 4b94 5091 0000 lds r21,(SetPointHeight)+3 |
||
| 7945 | 7960 4b98 260F add r18,r22 |
||
| 7946 | 7961 4b9a 371F adc r19,r23 |
||
| 7947 | 7962 4b9c 481F adc r20,r24 |
||
| 7948 | 7963 4b9e 591F adc r21,r25 |
||
| 7949 | 7964 4ba0 2093 0000 sts SetPointHeight,r18 |
||
| 7950 | 7965 4ba4 3093 0000 sts (SetPointHeight)+1,r19 |
||
| 7951 | 7966 4ba8 4093 0000 sts (SetPointHeight)+2,r20 |
||
| 7952 | 7967 4bac 5093 0000 sts (SetPointHeight)+3,r21 |
||
| 7953 | 7968 4bb0 1092 0000 sts (HeightTrimming.2442)+1,__zero_reg__ |
||
| 7954 | 7969 4bb4 1092 0000 sts HeightTrimming.2442,__zero_reg__ |
||
| 7955 | 7970 4bb8 8091 0000 lds r24,ParamSet+88 |
||
| 7956 | 7971 4bbc 81FF sbrs r24,1 |
||
| 7957 | 7972 4bbe 00C0 rjmp .L630 |
||
| 7958 | 7973 4bc0 8BE4 ldi r24,lo8(75) |
||
| 7959 | 7974 4bc2 90E0 ldi r25,hi8(75) |
||
| 7960 | 7975 4bc4 9093 0000 sts (BeepTime)+1,r25 |
||
| 7961 | 7976 4bc8 8093 0000 sts BeepTime,r24 |
||
| 7962 | 7977 .L630: |
||
| 7963 | 7978 4bcc 8091 0000 lds r24,ParamSet+17 |
||
| 7964 | 7979 4bd0 8823 tst r24 |
||
| 7965 | 7980 4bd2 01F4 brne .L628 |
||
| 7966 | 7981 4bd4 8091 0000 lds r24,HoverGas.2445 |
||
| 7967 | 7982 4bd8 9091 0000 lds r25,HoverGas.2445+1 |
||
| 7968 | 7983 4bdc 9C01 movw r18,r24 |
||
| 7969 | 7984 4bde 37FD sbrc r19,7 |
||
| 7970 | 7985 4be0 00C0 rjmp .L800 |
||
| 7971 | 7986 .L631: |
||
| 7972 | 7987 4be2 3595 asr r19 |
||
| 7973 | 7988 4be4 2795 ror r18 |
||
| 7974 | 7989 4be6 3595 asr r19 |
||
| 7975 | 7990 4be8 2795 ror r18 |
||
| 7976 | 7991 4bea 3093 0000 sts (StickGasHover.2444)+1,r19 |
||
| 7977 | 7992 4bee 2093 0000 sts StickGasHover.2444,r18 |
||
| 7978 | 7993 4bf2 8091 0000 lds r24,UBat |
||
| 7979 | 7994 4bf6 9091 0000 lds r25,(UBat)+1 |
||
| 7980 | 7995 4bfa 6091 0000 lds r22,LowVoltageWarning |
||
| 7981 | 7996 4bfe 6C01 movw r12,r24 |
||
| 7982 | 7997 4c00 2C9D mul r18,r12 |
||
| 7983 | 7998 4c02 C001 movw r24,r0 |
||
| 7984 | 7999 4c04 2D9D mul r18,r13 |
||
| 7985 | 8000 4c06 900D add r25,r0 |
||
| 7986 | 8001 4c08 3C9D mul r19,r12 |
||
| 7987 | 8002 4c0a 900D add r25,r0 |
||
| 7988 | 8003 4c0c 1124 clr r1 |
||
| 7989 | 8004 4c0e 70E0 ldi r23,lo8(0) |
||
| 7990 | 8005 4c10 0E94 0000 call __divmodhi4 |
||
| 7991 | 8006 4c14 7093 0000 sts (StickGasHover.2444)+1,r23 |
||
| 7992 | 8007 4c18 6093 0000 sts StickGasHover.2444,r22 |
||
| 7993 | 8008 4c1c 6634 cpi r22,70 |
||
| 7994 | 8009 4c1e 7105 cpc r23,__zero_reg__ |
||
| 7995 | 8010 4c20 04F0 brlt .+2 |
||
| 7996 | 8011 4c22 00C0 rjmp .L632 |
||
| 7997 | 8012 4c24 86E4 ldi r24,lo8(70) |
||
| 7998 | 8013 4c26 90E0 ldi r25,hi8(70) |
||
| 7999 | 8014 4c28 9093 0000 sts (StickGasHover.2444)+1,r25 |
||
| 8000 | 8015 4c2c 8093 0000 sts StickGasHover.2444,r24 |
||
| 8001 | 8016 .L628: |
||
| 8002 | 8017 4c30 8091 0000 lds r24,BaroExpandActive.2451 |
||
| 8003 | 8018 4c34 9091 0000 lds r25,(BaroExpandActive.2451)+1 |
||
| 8004 | 8019 4c38 892B or r24,r25 |
||
| 8005 | 8020 4c3a 01F0 breq .L633 |
||
| 8006 | 8021 4c3c 8091 0000 lds r24,ReadingHeight |
||
| 8007 | 8022 4c40 9091 0000 lds r25,(ReadingHeight)+1 |
||
| 8008 | 8023 4c44 A091 0000 lds r26,(ReadingHeight)+2 |
||
| 8009 | 8024 4c48 B091 0000 lds r27,(ReadingHeight)+3 |
||
| 8010 | 8025 4c4c 8093 0000 sts SetPointHeight,r24 |
||
| 8011 | 8026 4c50 9093 0000 sts (SetPointHeight)+1,r25 |
||
| 8012 | 8027 4c54 A093 0000 sts (SetPointHeight)+2,r26 |
||
| 8013 | 8028 4c58 B093 0000 sts (SetPointHeight)+3,r27 |
||
| 8014 | 8029 .L633: |
||
| 8015 | 8030 4c5c 0091 0000 lds r16,HoverGas.2445 |
||
| 8016 | 8031 4c60 1091 0000 lds r17,(HoverGas.2445)+1 |
||
| 8017 | 8032 .L619: |
||
| 8018 | 8033 4c64 8091 0000 lds r24,ReadingHeight |
||
| 8019 | 8034 4c68 9091 0000 lds r25,(ReadingHeight)+1 |
||
| 8020 | 8035 4c6c A091 0000 lds r26,(ReadingHeight)+2 |
||
| 8021 | 8036 4c70 B091 0000 lds r27,(ReadingHeight)+3 |
||
| 8022 | 8037 4c74 2091 0000 lds r18,SetPointHeight |
||
| 8023 | 8038 4c78 3091 0000 lds r19,(SetPointHeight)+1 |
||
| 8024 | 8039 4c7c 4091 0000 lds r20,(SetPointHeight)+2 |
||
| 8025 | 8040 4c80 5091 0000 lds r21,(SetPointHeight)+3 |
||
| 8026 | 8041 4c84 2817 cp r18,r24 |
||
| 8027 | 8042 4c86 3907 cpc r19,r25 |
||
| 8028 | 8043 4c88 4A07 cpc r20,r26 |
||
| 8029 | 8044 4c8a 5B07 cpc r21,r27 |
||
| 8030 | 8045 4c8c 04F0 brlt .L635 |
||
| 8031 | 8046 4c8e 8091 0000 lds r24,ParamSet+88 |
||
| 8032 | 8047 4c92 80FD sbrc r24,0 |
||
| 8033 | 8048 4c94 00C0 rjmp .L636 |
||
| 8034 | 8049 .L635: |
||
| 8035 | 8050 4c96 8091 0000 lds r24,BaroExpandActive.2451 |
||
| 8036 | 8051 4c9a 9091 0000 lds r25,(BaroExpandActive.2451)+1 |
||
| 8037 | 8052 4c9e 892B or r24,r25 |
||
| 8038 | 8053 4ca0 01F4 brne .+2 |
||
| 8039 | 8054 4ca2 00C0 rjmp .L637 |
||
| 8040 | 8055 4ca4 0091 0000 lds r16,HoverGas.2445 |
||
| 8041 | 8056 4ca8 1091 0000 lds r17,(HoverGas.2445)+1 |
||
| 8042 | 8057 .L638: |
||
| 8043 | 8058 4cac 6091 0000 lds r22,NCGpsZ |
||
| 8044 | 8059 4cb0 7727 clr r23 |
||
| 8045 | 8060 4cb2 67FD sbrc r22,7 |
||
| 8046 | 8061 4cb4 7095 com r23 |
||
| 8047 | 8062 4cb6 872F mov r24,r23 |
||
| 8048 | 8063 4cb8 972F mov r25,r23 |
||
| 8049 | 8064 4cba 2091 0000 lds r18,ParamSet+16 |
||
| 8050 | 8065 4cbe 30E0 ldi r19,lo8(0) |
||
| 8051 | 8066 4cc0 40E0 ldi r20,lo8(0) |
||
| 8052 | 8067 4cc2 50E0 ldi r21,hi8(0) |
||
| 8053 | 8068 4cc4 0E94 0000 call __mulsi3 |
||
| 8054 | 8069 4cc8 20E8 ldi r18,lo8(128) |
||
| 8055 | 8070 4cca 30E0 ldi r19,hi8(128) |
||
| 8056 | 8071 4ccc 40E0 ldi r20,hlo8(128) |
||
| 8057 | 8072 4cce 50E0 ldi r21,hhi8(128) |
||
| 8058 | 8073 4cd0 0E94 0000 call __divmodsi4 |
||
| 8059 | 8074 4cd4 A901 movw r20,r18 |
||
| 8060 | 8075 4cd6 C901 movw r24,r18 |
||
| 8061 | 8076 4cd8 2FEF ldi r18,hi8(-127) |
||
| 8062 | 8077 4cda 4138 cpi r20,lo8(-127) |
||
| 8063 | 8078 4cdc 5207 cpc r21,r18 |
||
| 8064 | 8079 4cde 04F4 brge .L652 |
||
| 8065 | 8080 4ce0 81E8 ldi r24,lo8(-127) |
||
| 8066 | 8081 4ce2 9FEF ldi r25,hi8(-127) |
||
| 8067 | 8082 .L652: |
||
| 8068 | 8083 4ce4 081B sub r16,r24 |
||
| 8069 | 8084 4ce6 190B sbc r17,r25 |
||
| 8070 | 8085 4ce8 B801 movw r22,r16 |
||
| 8071 | 8086 4cea 8827 clr r24 |
||
| 8072 | 8087 4cec 77FD sbrc r23,7 |
||
| 8073 | 8088 4cee 8095 com r24 |
||
| 8074 | 8089 4cf0 982F mov r25,r24 |
||
| 8075 | 8090 4cf2 EDE0 ldi r30,13 |
||
| 8076 | 8091 4cf4 660F 1: lsl r22 |
||
| 8077 | 8092 4cf6 771F rol r23 |
||
| 8078 | 8093 4cf8 881F rol r24 |
||
| 8079 | 8094 4cfa 991F rol r25 |
||
| 8080 | 8095 4cfc EA95 dec r30 |
||
| 8081 | 8096 4cfe 01F4 brne 1b |
||
| 8082 | 8097 4d00 A981 ldd r26,Y+1 |
||
| 8083 | 8098 4d02 BA81 ldd r27,Y+2 |
||
| 8084 | 8099 4d04 9D01 movw r18,r26 |
||
| 8085 | 8100 4d06 4427 clr r20 |
||
| 8086 | 8101 4d08 37FD sbrc r19,7 |
||
| 8087 | 8102 4d0a 4095 com r20 |
||
| 8088 | 8103 4d0c 542F mov r21,r20 |
||
| 8089 | 8104 4d0e 0E94 0000 call __divmodsi4 |
||
| 8090 | 8105 4d12 8091 0000 lds r24,FilterHCGas.2441 |
||
| 8091 | 8106 4d16 9091 0000 lds r25,(FilterHCGas.2441)+1 |
||
| 8092 | 8107 4d1a AC01 movw r20,r24 |
||
| 8093 | 8108 4d1c 440F lsl r20 |
||
| 8094 | 8109 4d1e 551F rol r21 |
||
| 8095 | 8110 4d20 480F add r20,r24 |
||
| 8096 | 8111 4d22 591F adc r21,r25 |
||
| 8097 | 8112 4d24 420F add r20,r18 |
||
| 8098 | 8113 4d26 531F adc r21,r19 |
||
| 8099 | 8114 4d28 57FD sbrc r21,7 |
||
| 8100 | 8115 4d2a 00C0 rjmp .L801 |
||
| 8101 | 8116 .L653: |
||
| 8102 | 8117 4d2c 5595 asr r21 |
||
| 8103 | 8118 4d2e 4795 ror r20 |
||
| 8104 | 8119 4d30 5595 asr r21 |
||
| 8105 | 8120 4d32 4795 ror r20 |
||
| 8106 | 8121 4d34 5093 0000 sts (FilterHCGas.2441)+1,r21 |
||
| 8107 | 8122 4d38 4093 0000 sts FilterHCGas.2441,r20 |
||
| 8108 | 8123 4d3c 8091 0000 lds r24,ParamSet+9 |
||
| 8109 | 8124 4d40 282F mov r18,r24 |
||
| 8110 | 8125 4d42 30E0 ldi r19,lo8(0) |
||
| 8111 | 8126 4d44 220F lsl r18 |
||
| 8112 | 8127 4d46 331F rol r19 |
||
| 8113 | 8128 4d48 220F lsl r18 |
||
| 8114 | 8129 4d4a 331F rol r19 |
||
| 8115 | 8130 4d4c 4217 cp r20,r18 |
||
| 8116 | 8131 4d4e 5307 cpc r21,r19 |
||
| 8117 | 8132 4d50 04F0 brlt .L731 |
||
| 8118 | 8133 4d52 8091 0000 lds r24,ParamSet+22 |
||
| 8119 | 8134 4d56 282F mov r18,r24 |
||
| 8120 | 8135 4d58 30E0 ldi r19,lo8(0) |
||
| 8121 | 8136 4d5a 2451 subi r18,lo8(-(-20)) |
||
| 8122 | 8137 4d5c 3040 sbci r19,hi8(-(-20)) |
||
| 8123 | 8138 4d5e 220F lsl r18 |
||
| 8124 | 8139 4d60 331F rol r19 |
||
| 8125 | 8140 4d62 220F lsl r18 |
||
| 8126 | 8141 4d64 331F rol r19 |
||
| 8127 | 8142 4d66 2417 cp r18,r20 |
||
| 8128 | 8143 4d68 3507 cpc r19,r21 |
||
| 8129 | 8144 4d6a 04F4 brge .L655 |
||
| 8130 | 8145 .L731: |
||
| 8131 | 8146 4d6c 3093 0000 sts (FilterHCGas.2441)+1,r19 |
||
| 8132 | 8147 4d70 2093 0000 sts FilterHCGas.2441,r18 |
||
| 8133 | 8148 .L655: |
||
| 8134 | 8149 4d74 8091 0000 lds r24,ParamSet+88 |
||
| 8135 | 8150 4d78 80FD sbrc r24,0 |
||
| 8136 | 8151 4d7a 00C0 rjmp .L725 |
||
| 8137 | 8152 4d7c 8091 0000 lds r24,FilterHCGas.2441 |
||
| 8138 | 8153 4d80 9091 0000 lds r25,(FilterHCGas.2441)+1 |
||
| 8139 | 8154 .L656: |
||
| 8140 | 8155 4d84 99AF std Y+57,r25 |
||
| 8141 | 8156 4d86 88AF std Y+56,r24 |
||
| 8142 | 8157 4d88 00C0 rjmp .L636 |
||
| 8143 | 8158 .L616: |
||
| 8144 | 8159 4d8a 8091 0000 lds r24,ParamSet+17 |
||
| 8145 | 8160 4d8e 8823 tst r24 |
||
| 8146 | 8161 4d90 01F0 breq .+2 |
||
| 8147 | 8162 4d92 00C0 rjmp .L802 |
||
| 8148 | 8163 4d94 8091 0000 lds r24,HoverGas.2445 |
||
| 8149 | 8164 4d98 9091 0000 lds r25,HoverGas.2445+1 |
||
| 8150 | 8165 4d9c 9C01 movw r18,r24 |
||
| 8151 | 8166 4d9e 37FD sbrc r19,7 |
||
| 8152 | 8167 4da0 00C0 rjmp .L803 |
||
| 8153 | 8168 .L659: |
||
| 8154 | 8169 4da2 3595 asr r19 |
||
| 8155 | 8170 4da4 2795 ror r18 |
||
| 8156 | 8171 4da6 3595 asr r19 |
||
| 8157 | 8172 4da8 2795 ror r18 |
||
| 8158 | 8173 4daa 3093 0000 sts (StickGasHover.2444)+1,r19 |
||
| 8159 | 8174 4dae 2093 0000 sts StickGasHover.2444,r18 |
||
| 8160 | 8175 4db2 8091 0000 lds r24,UBat |
||
| 8161 | 8176 4db6 9091 0000 lds r25,(UBat)+1 |
||
| 8162 | 8177 4dba 6091 0000 lds r22,LowVoltageWarning |
||
| 8163 | 8178 4dbe 5C01 movw r10,r24 |
||
| 8164 | 8179 4dc0 2A9D mul r18,r10 |
||
| 8165 | 8180 4dc2 C001 movw r24,r0 |
||
| 8166 | 8181 4dc4 2B9D mul r18,r11 |
||
| 8167 | 8182 4dc6 900D add r25,r0 |
||
| 8168 | 8183 4dc8 3A9D mul r19,r10 |
||
| 8169 | 8184 4dca 900D add r25,r0 |
||
| 8170 | 8185 4dcc 1124 clr r1 |
||
| 8171 | 8186 4dce 70E0 ldi r23,lo8(0) |
||
| 8172 | 8187 4dd0 0E94 0000 call __divmodhi4 |
||
| 8173 | 8188 4dd4 7093 0000 sts (StickGasHover.2444)+1,r23 |
||
| 8174 | 8189 4dd8 6093 0000 sts StickGasHover.2444,r22 |
||
| 8175 | 8190 .L658: |
||
| 8176 | 8191 4ddc 8091 0000 lds r24,StickGasHover.2444 |
||
| 8177 | 8192 4de0 9091 0000 lds r25,(StickGasHover.2444)+1 |
||
| 8178 | 8193 4de4 8634 cpi r24,70 |
||
| 8179 | 8194 4de6 9105 cpc r25,__zero_reg__ |
||
| 8180 | 8195 4de8 04F0 brlt .+2 |
||
| 8181 | 8196 4dea 00C0 rjmp .L660 |
||
| 8182 | 8197 4dec 86E4 ldi r24,lo8(70) |
||
| 8183 | 8198 4dee 90E0 ldi r25,hi8(70) |
||
| 8184 | 8199 4df0 9093 0000 sts (StickGasHover.2444)+1,r25 |
||
| 8185 | 8200 4df4 8093 0000 sts StickGasHover.2444,r24 |
||
| 8186 | 8201 .L661: |
||
| 8187 | 8202 4df8 C8AC ldd r12,Y+56 |
||
| 8188 | 8203 4dfa D9AC ldd r13,Y+57 |
||
| 8189 | 8204 4dfc D092 0000 sts (FilterHCGas.2441)+1,r13 |
||
| 8190 | 8205 4e00 C092 0000 sts FilterHCGas.2441,r12 |
||
| 8191 | 8206 .L636: |
||
| 8192 | 8207 4e04 8091 0000 lds r24,MKFlags |
||
| 8193 | 8208 4e08 81FD sbrc r24,1 |
||
| 8194 | 8209 4e0a 00C0 rjmp .+4 |
||
| 8195 | 8210 4e0c 0C94 0000 jmp .L604 |
||
| 8196 | 8211 4e10 8091 0000 lds r24,MKFlags |
||
| 8197 | 8212 4e14 84FF sbrs r24,4 |
||
| 8198 | 8213 4e16 00C0 rjmp .+4 |
||
| 8199 | 8214 4e18 0C94 0000 jmp .L604 |
||
| 8200 | 8215 4e1c 8091 0000 lds r24,HoverGasFilter.2448 |
||
| 8201 | 8216 4e20 9091 0000 lds r25,(HoverGasFilter.2448)+1 |
||
| 8202 | 8217 4e24 A091 0000 lds r26,(HoverGasFilter.2448)+2 |
||
| 8203 | 8218 4e28 B091 0000 lds r27,(HoverGasFilter.2448)+3 |
||
| 8204 | 8219 4e2c 0097 sbiw r24,0 |
||
| 8205 | 8220 4e2e A105 cpc r26,__zero_reg__ |
||
| 8206 | 8221 4e30 B105 cpc r27,__zero_reg__ |
||
| 8207 | 8222 4e32 01F4 brne .L662 |
||
| 8208 | 8223 4e34 28AD ldd r18,Y+56 |
||
| 8209 | 8224 4e36 39AD ldd r19,Y+57 |
||
| 8210 | 8225 4e38 C901 movw r24,r18 |
||
| 8211 | 8226 4e3a AA27 clr r26 |
||
| 8212 | 8227 4e3c 97FD sbrc r25,7 |
||
| 8213 | 8228 4e3e A095 com r26 |
||
| 8214 | 8229 4e40 BA2F mov r27,r26 |
||
| 8215 | 8230 4e42 1CE0 ldi r17,12 |
||
| 8216 | 8231 4e44 880F 1: lsl r24 |
||
| 8217 | 8232 4e46 991F rol r25 |
||
| 8218 | 8233 4e48 AA1F rol r26 |
||
| 8219 | 8234 4e4a BB1F rol r27 |
||
| 8220 | 8235 4e4c 1A95 dec r17 |
||
| 8221 | 8236 4e4e 01F4 brne 1b |
||
| 8222 | 8237 4e50 8093 0000 sts HoverGasFilter.2448,r24 |
||
| 8223 | 8238 4e54 9093 0000 sts (HoverGasFilter.2448)+1,r25 |
||
| 8224 | 8239 4e58 A093 0000 sts (HoverGasFilter.2448)+2,r26 |
||
| 8225 | 8240 4e5c B093 0000 sts (HoverGasFilter.2448)+3,r27 |
||
| 8226 | 8241 .L662: |
||
| 8227 | 8242 4e60 8091 0000 lds r24,ReadingVario |
||
| 8228 | 8243 4e64 9091 0000 lds r25,(ReadingVario)+1 |
||
| 8229 | 8244 4e68 97FD sbrc r25,7 |
||
| 8230 | 8245 4e6a 00C0 rjmp .L804 |
||
| 8231 | 8246 .L663: |
||
| 8232 | 8247 4e6c 8436 cpi r24,100 |
||
| 8233 | 8248 4e6e 9105 cpc r25,__zero_reg__ |
||
| 8234 | 8249 4e70 04F0 brlt .+4 |
||
| 8235 | 8250 4e72 0C94 0000 jmp .L604 |
||
| 8236 | 8251 4e76 48AD ldd r20,Y+56 |
||
| 8237 | 8252 4e78 59AD ldd r21,Y+57 |
||
| 8238 | 8253 4e7a BA01 movw r22,r20 |
||
| 8239 | 8254 4e7c 8827 clr r24 |
||
| 8240 | 8255 4e7e 77FD sbrc r23,7 |
||
| 8241 | 8256 4e80 8095 com r24 |
||
| 8242 | 8257 4e82 982F mov r25,r24 |
||
| 8243 | 8258 4e84 A981 ldd r26,Y+1 |
||
| 8244 | 8259 4e86 BA81 ldd r27,Y+2 |
||
| 8245 | 8260 4e88 9D01 movw r18,r26 |
||
| 8246 | 8261 4e8a 4427 clr r20 |
||
| 8247 | 8262 4e8c 37FD sbrc r19,7 |
||
| 8248 | 8263 4e8e 4095 com r20 |
||
| 8249 | 8264 4e90 542F mov r21,r20 |
||
| 8250 | 8265 4e92 0E94 0000 call __mulsi3 |
||
| 8251 | 8266 4e96 20E0 ldi r18,lo8(8192) |
||
| 8252 | 8267 4e98 30E2 ldi r19,hi8(8192) |
||
| 8253 | 8268 4e9a 40E0 ldi r20,hlo8(8192) |
||
| 8254 | 8269 4e9c 50E0 ldi r21,hhi8(8192) |
||
| 8255 | 8270 4e9e 0E94 0000 call __divmodsi4 |
||
| 8256 | 8271 4ea2 7901 movw r14,r18 |
||
| 8257 | 8272 4ea4 8A01 movw r16,r20 |
||
| 8258 | 8273 4ea6 8091 0000 lds r24,ModelIsFlying |
||
| 8259 | 8274 4eaa 9091 0000 lds r25,(ModelIsFlying)+1 |
||
| 8260 | 8275 4eae B7E0 ldi r27,hi8(2000) |
||
| 8261 | 8276 4eb0 803D cpi r24,lo8(2000) |
||
| 8262 | 8277 4eb2 9B07 cpc r25,r27 |
||
| 8263 | 8278 4eb4 00F0 brlo .+2 |
||
| 8264 | 8279 4eb6 00C0 rjmp .L664 |
||
| 8265 | 8280 4eb8 2091 0000 lds r18,HoverGasFilter.2448 |
||
| 8266 | 8281 4ebc 3091 0000 lds r19,(HoverGasFilter.2448)+1 |
||
| 8267 | 8282 4ec0 4091 0000 lds r20,(HoverGasFilter.2448)+2 |
||
| 8268 | 8283 4ec4 5091 0000 lds r21,(HoverGasFilter.2448)+3 |
||
| 8269 | 8284 4ec8 DA01 movw r26,r20 |
||
| 8270 | 8285 4eca C901 movw r24,r18 |
||
| 8271 | 8286 4ecc F9E0 ldi r31,9 |
||
| 8272 | 8287 4ece B695 1: lsr r27 |
||
| 8273 | 8288 4ed0 A795 ror r26 |
||
| 8274 | 8289 4ed2 9795 ror r25 |
||
| 8275 | 8290 4ed4 8795 ror r24 |
||
| 8276 | 8291 4ed6 FA95 dec r31 |
||
| 8277 | 8292 4ed8 01F4 brne 1b |
||
| 8278 | 8293 4eda 5901 movw r10,r18 |
||
| 8279 | 8294 4edc 6A01 movw r12,r20 |
||
| 8280 | 8295 4ede A81A sub r10,r24 |
||
| 8281 | 8296 4ee0 B90A sbc r11,r25 |
||
| 8282 | 8297 4ee2 CA0A sbc r12,r26 |
||
| 8283 | 8298 4ee4 DB0A sbc r13,r27 |
||
| 8284 | 8299 4ee6 A801 movw r20,r16 |
||
| 8285 | 8300 4ee8 9701 movw r18,r14 |
||
| 8286 | 8301 4eea 220F lsl r18 |
||
| 8287 | 8302 4eec 331F rol r19 |
||
| 8288 | 8303 4eee 441F rol r20 |
||
| 8289 | 8304 4ef0 551F rol r21 |
||
| 8290 | 8305 4ef2 220F lsl r18 |
||
| 8291 | 8306 4ef4 331F rol r19 |
||
| 8292 | 8307 4ef6 441F rol r20 |
||
| 8293 | 8308 4ef8 551F rol r21 |
||
| 8294 | 8309 4efa 220F lsl r18 |
||
| 8295 | 8310 4efc 331F rol r19 |
||
| 8296 | 8311 4efe 441F rol r20 |
||
| 8297 | 8312 4f00 551F rol r21 |
||
| 8298 | 8313 4f02 2A0D add r18,r10 |
||
| 8299 | 8314 4f04 3B1D adc r19,r11 |
||
| 8300 | 8315 4f06 4C1D adc r20,r12 |
||
| 8301 | 8316 4f08 5D1D adc r21,r13 |
||
| 8302 | 8317 4f0a 2093 0000 sts HoverGasFilter.2448,r18 |
||
| 8303 | 8318 4f0e 3093 0000 sts (HoverGasFilter.2448)+1,r19 |
||
| 8304 | 8319 4f12 4093 0000 sts (HoverGasFilter.2448)+2,r20 |
||
| 8305 | 8320 4f16 5093 0000 sts (HoverGasFilter.2448)+3,r21 |
||
| 8306 | 8321 .L665: |
||
| 8307 | 8322 4f1a DA01 movw r26,r20 |
||
| 8308 | 8323 4f1c C901 movw r24,r18 |
||
| 8309 | 8324 4f1e 2CE0 ldi r18,12 |
||
| 8310 | 8325 4f20 B695 1: lsr r27 |
||
| 8311 | 8326 4f22 A795 ror r26 |
||
| 8312 | 8327 4f24 9795 ror r25 |
||
| 8313 | 8328 4f26 8795 ror r24 |
||
| 8314 | 8329 4f28 2A95 dec r18 |
||
| 8315 | 8330 4f2a 01F4 brne 1b |
||
| 8316 | 8331 4f2c FC01 movw r30,r24 |
||
| 8317 | 8332 4f2e 9093 0000 sts (HoverGas.2445)+1,r25 |
||
| 8318 | 8333 4f32 8093 0000 sts HoverGas.2445,r24 |
||
| 8319 | 8334 4f36 6091 0000 lds r22,ParamSet+15 |
||
| 8320 | 8335 4f3a 6623 tst r22 |
||
| 8321 | 8336 4f3c 01F4 brne .+2 |
||
| 8322 | 8337 4f3e 00C0 rjmp .L668 |
||
| 8323 | 8338 4f40 70E0 ldi r23,lo8(0) |
||
| 8324 | 8339 4f42 0E94 0000 call __divmodhi4 |
||
| 8325 | 8340 4f46 CB01 movw r24,r22 |
||
| 8326 | 8341 4f48 9F01 movw r18,r30 |
||
| 8327 | 8342 4f4a 261B sub r18,r22 |
||
| 8328 | 8343 4f4c 370B sbc r19,r23 |
||
| 8329 | 8344 4f4e 3093 0000 sts (HoverGasMin.2446)+1,r19 |
||
| 8330 | 8345 4f52 2093 0000 sts HoverGasMin.2446,r18 |
||
| 8331 | 8346 4f56 8E0F add r24,r30 |
||
| 8332 | 8347 4f58 9F1F adc r25,r31 |
||
| 8333 | 8348 4f5a 9093 0000 sts (HoverGasMax.2447)+1,r25 |
||
| 8334 | 8349 4f5e 8093 0000 sts HoverGasMax.2447,r24 |
||
| 8335 | 8350 4f62 0C94 0000 jmp .L604 |
||
| 8336 | 8351 .L605: |
||
| 8337 | 8352 4f66 8091 0000 lds r24,AdAirPressure |
||
| 8338 | 8353 4f6a 9091 0000 lds r25,(AdAirPressure)+1 |
||
| 8339 | 8354 4f6e 8C59 subi r24,lo8(924) |
||
| 8340 | 8355 4f70 9340 sbci r25,hi8(924) |
||
| 8341 | 8356 4f72 04F0 brlt .+2 |
||
| 8342 | 8357 4f74 00C0 rjmp .L805 |
||
| 8343 | 8358 4f76 8091 0000 lds r24,AdAirPressure |
||
| 8344 | 8359 4f7a 9091 0000 lds r25,(AdAirPressure)+1 |
||
| 8345 | 8360 4f7e 8436 cpi r24,100 |
||
| 8346 | 8361 4f80 9105 cpc r25,__zero_reg__ |
||
| 8347 | 8362 4f82 04F0 brlt .+2 |
||
| 8348 | 8363 4f84 00C0 rjmp .L609 |
||
| 8349 | 8364 4f86 87B5 in r24,71-32 |
||
| 8350 | 8365 4f88 8B30 cpi r24,lo8(11) |
||
| 8351 | 8366 4f8a 00F4 brsh .+2 |
||
| 8352 | 8367 4f8c 00C0 rjmp .L610 |
||
| 8353 | 8368 4f8e 8091 0000 lds r24,ExpandBaro |
||
| 8354 | 8369 4f92 8F5F subi r24,lo8(-(1)) |
||
| 8355 | 8370 .L729: |
||
| 8356 | 8371 4f94 8093 0000 sts ExpandBaro,r24 |
||
| 8357 | 8372 4f98 26EF ldi r18,lo8(-10) |
||
| 8358 | 8373 4f9a 8202 muls r24,r18 |
||
| 8359 | 8374 4f9c C001 movw r24,r0 |
||
| 8360 | 8375 4f9e 1124 clr r1 |
||
| 8361 | 8376 4fa0 2091 0000 lds r18,PressureSensorOffset |
||
| 8362 | 8377 4fa4 280F add r18,r24 |
||
| 8363 | 8378 4fa6 27BD out 71-32,r18 |
||
| 8364 | 8379 4fa8 8CE2 ldi r24,lo8(300) |
||
| 8365 | 8380 4faa 91E0 ldi r25,hi8(300) |
||
| 8366 | 8381 4fac 9093 0000 sts (BeepTime)+1,r25 |
||
| 8367 | 8382 4fb0 8093 0000 sts BeepTime,r24 |
||
| 8368 | 8383 4fb4 8EE5 ldi r24,lo8(350) |
||
| 8369 | 8384 4fb6 91E0 ldi r25,hi8(350) |
||
| 8370 | 8385 4fb8 9093 0000 sts (BaroExpandActive.2451)+1,r25 |
||
| 8371 | 8386 4fbc 8093 0000 sts BaroExpandActive.2451,r24 |
||
| 8372 | 8387 4fc0 0C94 0000 jmp .L606 |
||
| 8373 | 8388 .L470: |
||
| 8374 | 8389 4fc4 1092 0000 sts delay_stopmotors.2418,__zero_reg__ |
||
| 8375 | 8390 4fc8 0C94 0000 jmp .L410 |
||
| 8376 | 8391 .L512: |
||
| 8377 | 8392 4fcc E090 0000 lds r14,ParamSet+23 |
||
| 8378 | 8393 4fd0 FF24 clr r15 |
||
| 8379 | 8394 4fd2 00E0 ldi r16,lo8(0) |
||
| 8380 | 8395 4fd4 10E0 ldi r17,hi8(0) |
||
| 8381 | 8396 4fd6 68A5 ldd r22,Y+40 |
||
| 8382 | 8397 4fd8 79A5 ldd r23,Y+41 |
||
| 8383 | 8398 4fda 8AA5 ldd r24,Y+42 |
||
| 8384 | 8399 4fdc 9BA5 ldd r25,Y+43 |
||
| 8385 | 8400 4fde A801 movw r20,r16 |
||
| 8386 | 8401 4fe0 9701 movw r18,r14 |
||
| 8387 | 8402 4fe2 0E94 0000 call __divmodsi4 |
||
| 8388 | 8403 4fe6 8091 0000 lds r24,AccNick |
||
| 8389 | 8404 4fea 9091 0000 lds r25,(AccNick)+1 |
||
| 8390 | 8405 4fee AA27 clr r26 |
||
| 8391 | 8406 4ff0 97FD sbrc r25,7 |
||
| 8392 | 8407 4ff2 A095 com r26 |
||
| 8393 | 8408 4ff4 BA2F mov r27,r26 |
||
| 8394 | 8409 4ff6 281B sub r18,r24 |
||
| 8395 | 8410 4ff8 390B sbc r19,r25 |
||
| 8396 | 8411 4ffa 4A0B sbc r20,r26 |
||
| 8397 | 8412 4ffc 5B0B sbc r21,r27 |
||
| 8398 | 8413 4ffe CA01 movw r24,r20 |
||
| 8399 | 8414 5000 B901 movw r22,r18 |
||
| 8400 | 8415 5002 20E1 ldi r18,lo8(16) |
||
| 8401 | 8416 5004 30E0 ldi r19,hi8(16) |
||
| 8402 | 8417 5006 40E0 ldi r20,hlo8(16) |
||
| 8403 | 8418 5008 50E0 ldi r21,hhi8(16) |
||
| 8404 | 8419 500a 0E94 0000 call __divmodsi4 |
||
| 8405 | 8420 500e 522E mov r5,r18 |
||
| 8406 | 8421 5010 432E mov r4,r19 |
||
| 8407 | 8422 5012 342E mov r3,r20 |
||
| 8408 | 8423 5014 252E mov r2,r21 |
||
| 8409 | 8424 5016 4201 movw r8,r4 |
||
| 8410 | 8425 5018 3101 movw r6,r2 |
||
| 8411 | 8426 501a 6CA1 ldd r22,Y+36 |
||
| 8412 | 8427 501c 7DA1 ldd r23,Y+37 |
||
| 8413 | 8428 501e 8EA1 ldd r24,Y+38 |
||
| 8414 | 8429 5020 9FA1 ldd r25,Y+39 |
||
| 8415 | 8430 5022 A801 movw r20,r16 |
||
| 8416 | 8431 5024 9701 movw r18,r14 |
||
| 8417 | 8432 5026 0E94 0000 call __divmodsi4 |
||
| 8418 | 8433 502a 8091 0000 lds r24,AccRoll |
||
| 8419 | 8434 502e 9091 0000 lds r25,(AccRoll)+1 |
||
| 8420 | 8435 5032 AA27 clr r26 |
||
| 8421 | 8436 5034 97FD sbrc r25,7 |
||
| 8422 | 8437 5036 A095 com r26 |
||
| 8423 | 8438 5038 BA2F mov r27,r26 |
||
| 8424 | 8439 503a 281B sub r18,r24 |
||
| 8425 | 8440 503c 390B sbc r19,r25 |
||
| 8426 | 8441 503e 4A0B sbc r20,r26 |
||
| 8427 | 8442 5040 5B0B sbc r21,r27 |
||
| 8428 | 8443 5042 CA01 movw r24,r20 |
||
| 8429 | 8444 5044 B901 movw r22,r18 |
||
| 8430 | 8445 5046 20E1 ldi r18,lo8(16) |
||
| 8431 | 8446 5048 30E0 ldi r19,hi8(16) |
||
| 8432 | 8447 504a 40E0 ldi r20,hlo8(16) |
||
| 8433 | 8448 504c 50E0 ldi r21,hhi8(16) |
||
| 8434 | 8449 504e 0E94 0000 call __divmodsi4 |
||
| 8435 | 8450 5052 122F mov r17,r18 |
||
| 8436 | 8451 5054 032F mov r16,r19 |
||
| 8437 | 8452 5056 F42E mov r15,r20 |
||
| 8438 | 8453 5058 E52E mov r14,r21 |
||
| 8439 | 8454 505a 822F mov r24,r18 |
||
| 8440 | 8455 505c 932F mov r25,r19 |
||
| 8441 | 8456 505e A42F mov r26,r20 |
||
| 8442 | 8457 5060 B52F mov r27,r21 |
||
| 8443 | 8458 5062 5C01 movw r10,r24 |
||
| 8444 | 8459 5064 6D01 movw r12,r26 |
||
| 8445 | 8460 5066 8091 0000 lds r24,MaxStickNick |
||
| 8446 | 8461 506a 9091 0000 lds r25,(MaxStickNick)+1 |
||
| 8447 | 8462 506e 8134 cpi r24,65 |
||
| 8448 | 8463 5070 9105 cpc r25,__zero_reg__ |
||
| 8449 | 8464 5072 04F4 brge .+2 |
||
| 8450 | 8465 5074 00C0 rjmp .L806 |
||
| 8451 | 8466 .L522: |
||
| 8452 | 8467 5076 652D mov r22,r5 |
||
| 8453 | 8468 5078 742D mov r23,r4 |
||
| 8454 | 8469 507a 832D mov r24,r3 |
||
| 8455 | 8470 507c 922D mov r25,r2 |
||
| 8456 | 8471 507e 23E0 ldi r18,lo8(3) |
||
| 8457 | 8472 5080 30E0 ldi r19,hi8(3) |
||
| 8458 | 8473 5082 40E0 ldi r20,hlo8(3) |
||
| 8459 | 8474 5084 50E0 ldi r21,hhi8(3) |
||
| 8460 | 8475 5086 0E94 0000 call __divmodsi4 |
||
| 8461 | 8476 508a 922E mov r9,r18 |
||
| 8462 | 8477 508c 832E mov r8,r19 |
||
| 8463 | 8478 508e 742E mov r7,r20 |
||
| 8464 | 8479 5090 652E mov r6,r21 |
||
| 8465 | 8480 5092 612F mov r22,r17 |
||
| 8466 | 8481 5094 702F mov r23,r16 |
||
| 8467 | 8482 5096 8F2D mov r24,r15 |
||
| 8468 | 8483 5098 9E2D mov r25,r14 |
||
| 8469 | 8484 509a 23E0 ldi r18,lo8(3) |
||
| 8470 | 8485 509c 30E0 ldi r19,hi8(3) |
||
| 8471 | 8486 509e 40E0 ldi r20,hlo8(3) |
||
| 8472 | 8487 50a0 50E0 ldi r21,hhi8(3) |
||
| 8473 | 8488 50a2 0E94 0000 call __divmodsi4 |
||
| 8474 | 8489 50a6 C901 movw r24,r18 |
||
| 8475 | 8490 50a8 DA01 movw r26,r20 |
||
| 8476 | 8491 50aa 5C01 movw r10,r24 |
||
| 8477 | 8492 50ac 6D01 movw r12,r26 |
||
| 8478 | 8493 .L523: |
||
| 8479 | 8494 50ae E091 0000 lds r30,ParamSet+3 |
||
| 8480 | 8495 50b2 F0E0 ldi r31,lo8(0) |
||
| 8481 | 8496 50b4 EE0F lsl r30 |
||
| 8482 | 8497 50b6 FF1F rol r31 |
||
| 8483 | 8498 50b8 E050 subi r30,lo8(-(PPM_in)) |
||
| 8484 | 8499 50ba F040 sbci r31,hi8(-(PPM_in)) |
||
| 8485 | 8500 50bc 0190 ld __tmp_reg__,Z+ |
||
| 8486 | 8501 50be F081 ld r31,Z |
||
| 8487 | 8502 50c0 E02D mov r30,__tmp_reg__ |
||
| 8488 | 8503 50c2 F7FD sbrc r31,7 |
||
| 8489 | 8504 50c4 00C0 rjmp .L807 |
||
| 8490 | 8505 .L525: |
||
| 8491 | 8506 50c6 7A97 sbiw r30,26 |
||
| 8492 | 8507 50c8 04F0 brlt .L524 |
||
| 8493 | 8508 50ca 692D mov r22,r9 |
||
| 8494 | 8509 50cc 782D mov r23,r8 |
||
| 8495 | 8510 50ce 872D mov r24,r7 |
||
| 8496 | 8511 50d0 962D mov r25,r6 |
||
| 8497 | 8512 50d2 23E0 ldi r18,lo8(3) |
||
| 8498 | 8513 50d4 30E0 ldi r19,hi8(3) |
||
| 8499 | 8514 50d6 40E0 ldi r20,hlo8(3) |
||
| 8500 | 8515 50d8 50E0 ldi r21,hhi8(3) |
||
| 8501 | 8516 50da 0E94 0000 call __divmodsi4 |
||
| 8502 | 8517 50de 922E mov r9,r18 |
||
| 8503 | 8518 50e0 832E mov r8,r19 |
||
| 8504 | 8519 50e2 742E mov r7,r20 |
||
| 8505 | 8520 50e4 652E mov r6,r21 |
||
| 8506 | 8521 50e6 C601 movw r24,r12 |
||
| 8507 | 8522 50e8 B501 movw r22,r10 |
||
| 8508 | 8523 50ea 23E0 ldi r18,lo8(3) |
||
| 8509 | 8524 50ec 30E0 ldi r19,hi8(3) |
||
| 8510 | 8525 50ee 40E0 ldi r20,hlo8(3) |
||
| 8511 | 8526 50f0 50E0 ldi r21,hhi8(3) |
||
| 8512 | 8527 50f2 0E94 0000 call __divmodsi4 |
||
| 8513 | 8528 50f6 C901 movw r24,r18 |
||
| 8514 | 8529 50f8 DA01 movw r26,r20 |
||
| 8515 | 8530 50fa 5C01 movw r10,r24 |
||
| 8516 | 8531 50fc 6D01 movw r12,r26 |
||
| 8517 | 8532 .L524: |
||
| 8518 | 8533 50fe 292D mov r18,r9 |
||
| 8519 | 8534 5100 382D mov r19,r8 |
||
| 8520 | 8535 5102 472D mov r20,r7 |
||
| 8521 | 8536 5104 562D mov r21,r6 |
||
| 8522 | 8537 5106 C901 movw r24,r18 |
||
| 8523 | 8538 5108 DA01 movw r26,r20 |
||
| 8524 | 8539 510a BC01 movw r22,r24 |
||
| 8525 | 8540 510c CD01 movw r24,r26 |
||
| 8526 | 8541 510e 6132 cpi r22,lo8(33) |
||
| 8527 | 8542 5110 7105 cpc r23,__zero_reg__ |
||
| 8528 | 8543 5112 8105 cpc r24,__zero_reg__ |
||
| 8529 | 8544 5114 9105 cpc r25,__zero_reg__ |
||
| 8530 | 8545 5116 04F0 brlt .L526 |
||
| 8531 | 8546 5118 60E2 ldi r22,lo8(32) |
||
| 8532 | 8547 511a 70E0 ldi r23,hi8(32) |
||
| 8533 | 8548 511c 80E0 ldi r24,hlo8(32) |
||
| 8534 | 8549 511e 90E0 ldi r25,hhi8(32) |
||
| 8535 | 8550 .L526: |
||
| 8536 | 8551 5120 7B01 movw r14,r22 |
||
| 8537 | 8552 5122 8C01 movw r16,r24 |
||
| 8538 | 8553 5124 603E cpi r22,lo8(-32) |
||
| 8539 | 8554 5126 3FEF ldi r19,hi8(-32) |
||
| 8540 | 8555 5128 7307 cpc r23,r19 |
||
| 8541 | 8556 512a 3FEF ldi r19,hlo8(-32) |
||
| 8542 | 8557 512c 8307 cpc r24,r19 |
||
| 8543 | 8558 512e 3FEF ldi r19,hhi8(-32) |
||
| 8544 | 8559 5130 9307 cpc r25,r19 |
||
| 8545 | 8560 5132 04F4 brge .L527 |
||
| 8546 | 8561 5134 90EE ldi r25,lo8(-32) |
||
| 8547 | 8562 5136 E92E mov r14,r25 |
||
| 8548 | 8563 5138 9FEF ldi r25,hi8(-32) |
||
| 8549 | 8564 513a F92E mov r15,r25 |
||
| 8550 | 8565 513c 9FEF ldi r25,hlo8(-32) |
||
| 8551 | 8566 513e 092F mov r16,r25 |
||
| 8552 | 8567 5140 9FEF ldi r25,hhi8(-32) |
||
| 8553 | 8568 5142 192F mov r17,r25 |
||
| 8554 | 8569 .L527: |
||
| 8555 | 8570 5144 40EE ldi r20,lo8(-32) |
||
| 8556 | 8571 5146 A416 cp r10,r20 |
||
| 8557 | 8572 5148 4FEF ldi r20,hi8(-32) |
||
| 8558 | 8573 514a B406 cpc r11,r20 |
||
| 8559 | 8574 514c 4FEF ldi r20,hlo8(-32) |
||
| 8560 | 8575 514e C406 cpc r12,r20 |
||
| 8561 | 8576 5150 4FEF ldi r20,hhi8(-32) |
||
| 8562 | 8577 5152 D406 cpc r13,r20 |
||
| 8563 | 8578 5154 04F0 brlt .+2 |
||
| 8564 | 8579 5156 00C0 rjmp .L528 |
||
| 8565 | 8580 5158 80EE ldi r24,lo8(-32) |
||
| 8566 | 8581 515a A82E mov r10,r24 |
||
| 8567 | 8582 515c 8FEF ldi r24,hi8(-32) |
||
| 8568 | 8583 515e B82E mov r11,r24 |
||
| 8569 | 8584 5160 8FEF ldi r24,hlo8(-32) |
||
| 8570 | 8585 5162 C82E mov r12,r24 |
||
| 8571 | 8586 5164 8FEF ldi r24,hhi8(-32) |
||
| 8572 | 8587 5166 D82E mov r13,r24 |
||
| 8573 | 8588 5168 00C0 rjmp .L521 |
||
| 8574 | 8589 .L802: |
||
| 8575 | 8590 516a 8093 0000 sts StickGasHover.2444,r24 |
||
| 8576 | 8591 516e 1092 0000 sts StickGasHover.2444+1,__zero_reg__ |
||
| 8577 | 8592 5172 00C0 rjmp .L658 |
||
| 8578 | 8593 .L798: |
||
| 8579 | 8594 5174 8091 0000 lds r24,FCParam+1 |
||
| 8580 | 8595 5178 2091 0000 lds r18,ExternHeightValue |
||
| 8581 | 8596 517c 3091 0000 lds r19,(ExternHeightValue)+1 |
||
| 8582 | 8597 5180 280F add r18,r24 |
||
| 8583 | 8598 5182 311D adc r19,__zero_reg__ |
||
| 8584 | 8599 5184 8091 0000 lds r24,ParamSet+13 |
||
| 8585 | 8600 5188 90E0 ldi r25,lo8(0) |
||
| 8586 | 8601 518a FC01 movw r30,r24 |
||
| 8587 | 8602 518c 2E9F mul r18,r30 |
||
| 8588 | 8603 518e C001 movw r24,r0 |
||
| 8589 | 8604 5190 2F9F mul r18,r31 |
||
| 8590 | 8605 5192 900D add r25,r0 |
||
| 8591 | 8606 5194 3E9F mul r19,r30 |
||
| 8592 | 8607 5196 900D add r25,r0 |
||
| 8593 | 8608 5198 1124 clr r1 |
||
| 8594 | 8609 519a AA27 clr r26 |
||
| 8595 | 8610 519c 97FD sbrc r25,7 |
||
| 8596 | 8611 519e A095 com r26 |
||
| 8597 | 8612 51a0 BA2F mov r27,r26 |
||
| 8598 | 8613 51a2 8093 0000 sts SetPointHeight,r24 |
||
| 8599 | 8614 51a6 9093 0000 sts (SetPointHeight)+1,r25 |
||
| 8600 | 8615 51aa A093 0000 sts (SetPointHeight)+2,r26 |
||
| 8601 | 8616 51ae B093 0000 sts (SetPointHeight)+3,r27 |
||
| 8602 | 8617 51b2 00C0 rjmp .L614 |
||
| 8603 | 8618 .L612: |
||
| 8604 | 8619 51b4 81E0 ldi r24,lo8(1) |
||
| 8605 | 8620 51b6 8093 0000 sts HCActive.2443,r24 |
||
| 8606 | 8621 51ba 88EC ldi r24,lo8(-56) |
||
| 8607 | 8622 51bc 8093 0000 sts delay.2449,r24 |
||
| 8608 | 8623 51c0 00C0 rjmp .L613 |
||
| 8609 | 8624 .L447: |
||
| 8610 | 8625 51c2 8081 ld r24,Z |
||
| 8611 | 8626 51c4 9181 ldd r25,Z+1 |
||
| 8612 | 8627 51c6 855B subi r24,lo8(-75) |
||
| 8613 | 8628 51c8 9F4F sbci r25,hi8(-75) |
||
| 8614 | 8629 51ca 04F0 brlt .+2 |
||
| 8615 | 8630 51cc 00C0 rjmp .L464 |
||
| 8616 | 8631 51ce 8091 0000 lds r24,delay_neutral.2416 |
||
| 8617 | 8632 51d2 8F5F subi r24,lo8(-(1)) |
||
| 8618 | 8633 51d4 8093 0000 sts delay_neutral.2416,r24 |
||
| 8619 | 8634 51d8 893C cpi r24,lo8(-55) |
||
| 8620 | 8635 51da 00F4 brsh .+2 |
||
| 8621 | 8636 51dc 00C0 rjmp .L446 |
||
| 8622 | 8637 51de 1092 0000 sts delay_neutral.2416,__zero_reg__ |
||
| 8623 | 8638 51e2 3BE0 ldi r19,lo8(11) |
||
| 8624 | 8639 51e4 3D15 cp r19,r13 |
||
| 8625 | 8640 51e6 00F4 brsh .+2 |
||
| 8626 | 8641 51e8 00C0 rjmp .L466 |
||
| 8627 | 8642 51ea 2998 cbi 37-32,1 |
||
| 8628 | 8643 .L467: |
||
| 8629 | 8644 51ec 1092 0000 sts (ModelIsFlying)+1,__zero_reg__ |
||
| 8630 | 8645 51f0 1092 0000 sts ModelIsFlying,__zero_reg__ |
||
| 8631 | 8646 51f4 0E94 0000 call Servo_Off |
||
| 8632 | 8647 51f8 81E0 ldi r24,lo8(1) |
||
| 8633 | 8648 .L726: |
||
| 8634 | 8649 51fa 0E94 0000 call SetNeutral |
||
| 8635 | 8650 51fe 0E94 0000 call Servo_On |
||
| 8636 | 8651 5202 0E94 0000 call GetActiveParamSet |
||
| 8637 | 8652 5206 68E7 ldi r22,lo8(120) |
||
| 8638 | 8653 5208 70E0 ldi r23,hi8(120) |
||
| 8639 | 8654 520a 0E94 0000 call Beep |
||
| 8640 | 8655 520e 8091 0000 lds r24,ParamSet+2 |
||
| 8641 | 8656 5212 A82F mov r26,r24 |
||
| 8642 | 8657 5214 B0E0 ldi r27,lo8(0) |
||
| 8643 | 8658 5216 AA0F lsl r26 |
||
| 8644 | 8659 5218 BB1F rol r27 |
||
| 8645 | 8660 521a 00C0 rjmp .L446 |
||
| 8646 | 8661 .L805: |
||
| 8647 | 8662 521c 87B5 in r24,71-32 |
||
| 8648 | 8663 521e 853F cpi r24,lo8(-11) |
||
| 8649 | 8664 5220 00F0 brlo .+2 |
||
| 8650 | 8665 5222 00C0 rjmp .L608 |
||
| 8651 | 8666 5224 8091 0000 lds r24,ExpandBaro |
||
| 8652 | 8667 5228 8150 subi r24,lo8(-(-1)) |
||
| 8653 | 8668 522a 00C0 rjmp .L729 |
||
| 8654 | 8669 .L806: |
||
| 8655 | 8670 522c 8091 0000 lds r24,MaxStickRoll |
||
| 8656 | 8671 5230 9091 0000 lds r25,(MaxStickRoll)+1 |
||
| 8657 | 8672 5234 8134 cpi r24,65 |
||
| 8658 | 8673 5236 9105 cpc r25,__zero_reg__ |
||
| 8659 | 8674 5238 04F4 brge .+2 |
||
| 8660 | 8675 523a 00C0 rjmp .L523 |
||
| 8661 | 8676 523c 00C0 rjmp .L522 |
||
| 8662 | 8677 .L660: |
||
| 8663 | 8678 523e 8739 cpi r24,151 |
||
| 8664 | 8679 5240 9105 cpc r25,__zero_reg__ |
||
| 8665 | 8680 5242 04F4 brge .+2 |
||
| 8666 | 8681 5244 00C0 rjmp .L661 |
||
| 8667 | 8682 5246 86E9 ldi r24,lo8(150) |
||
| 8668 | 8683 5248 90E0 ldi r25,hi8(150) |
||
| 8669 | 8684 524a 9093 0000 sts (StickGasHover.2444)+1,r25 |
||
| 8670 | 8685 524e 8093 0000 sts StickGasHover.2444,r24 |
||
| 8671 | 8686 5252 00C0 rjmp .L661 |
||
| 8672 | 8687 .L768: |
||
| 8673 | 8688 5254 81E0 ldi r24,lo8(1) |
||
| 8674 | 8689 5256 90E0 ldi r25,hi8(1) |
||
| 8675 | 8690 5258 9093 0000 sts (UpdateCompassCourse.2420)+1,r25 |
||
| 8676 | 8691 525c 8093 0000 sts UpdateCompassCourse.2420,r24 |
||
| 8677 | 8692 5260 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__ |
||
| 8678 | 8693 5264 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__ |
||
| 8679 | 8694 5268 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__ |
||
| 8680 | 8695 526c 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__ |
||
| 8681 | 8696 5270 1092 0000 sts SetPointYaw.2410,__zero_reg__ |
||
| 8682 | 8697 5274 1092 0000 sts (SetPointYaw.2410)+1,__zero_reg__ |
||
| 8683 | 8698 5278 1092 0000 sts (SetPointYaw.2410)+2,__zero_reg__ |
||
| 8684 | 8699 527c 1092 0000 sts (SetPointYaw.2410)+3,__zero_reg__ |
||
| 8685 | 8700 5280 0C94 0000 jmp .L413 |
||
| 8686 | 8701 .L766: |
||
| 8687 | 8702 5284 27E0 ldi r18,lo8(7) |
||
| 8688 | 8703 5286 30E0 ldi r19,hi8(7) |
||
| 8689 | 8704 5288 420E add r4,r18 |
||
| 8690 | 8705 528a 531E adc r5,r19 |
||
| 8691 | 8706 528c 0C94 0000 jmp .L589 |
||
| 8692 | 8707 .L528: |
||
| 8693 | 8708 5290 51E2 ldi r21,lo8(33) |
||
| 8694 | 8709 5292 A516 cp r10,r21 |
||
| 8695 | 8710 5294 B104 cpc r11,__zero_reg__ |
||
| 8696 | 8711 5296 C104 cpc r12,__zero_reg__ |
||
| 8697 | 8712 5298 D104 cpc r13,__zero_reg__ |
||
| 8698 | 8713 529a 04F4 brge .+2 |
||
| 8699 | 8714 529c 00C0 rjmp .L521 |
||
| 8700 | 8715 529e B0E2 ldi r27,lo8(32) |
||
| 8701 | 8716 52a0 AB2E mov r10,r27 |
||
| 8702 | 8717 52a2 B12C mov r11,__zero_reg__ |
||
| 8703 | 8718 52a4 C12C mov r12,__zero_reg__ |
||
| 8704 | 8719 52a6 D12C mov r13,__zero_reg__ |
||
| 8705 | 8720 52a8 00C0 rjmp .L521 |
||
| 8706 | 8721 .L795: |
||
| 8707 | 8722 52aa F095 com r31 |
||
| 8708 | 8723 52ac E195 neg r30 |
||
| 8709 | 8724 52ae FF4F sbci r31,lo8(-1) |
||
| 8710 | 8725 52b0 0C94 0000 jmp .L516 |
||
| 8711 | 8726 .L554: |
||
| 8712 | 8727 52b4 51E0 ldi r21,lo8(4097) |
||
| 8713 | 8728 52b6 E516 cp r14,r21 |
||
| 8714 | 8729 52b8 50E1 ldi r21,hi8(4097) |
||
| 8715 | 8730 52ba F506 cpc r15,r21 |
||
| 8716 | 8731 52bc 50E0 ldi r21,hlo8(4097) |
||
| 8717 | 8732 52be 0507 cpc r16,r21 |
||
| 8718 | 8733 52c0 50E0 ldi r21,hhi8(4097) |
||
| 8719 | 8734 52c2 1507 cpc r17,r21 |
||
| 8720 | 8735 52c4 04F4 brge .+2 |
||
| 8721 | 8736 52c6 00C0 rjmp .L556 |
||
| 8722 | 8737 52c8 8091 0000 lds r24,last_r_p.2429 |
||
| 8723 | 8738 52cc 8823 tst r24 |
||
| 8724 | 8739 52ce 01F4 brne .+2 |
||
| 8725 | 8740 52d0 00C0 rjmp .L557 |
||
| 8726 | 8741 52d2 D801 movw r26,r16 |
||
| 8727 | 8742 52d4 C701 movw r24,r14 |
||
| 8728 | 8743 52d6 39E0 ldi r19,9 |
||
| 8729 | 8744 52d8 B595 1: asr r27 |
||
| 8730 | 8745 52da A795 ror r26 |
||
| 8731 | 8746 52dc 9795 ror r25 |
||
| 8732 | 8747 52de 8795 ror r24 |
||
| 8733 | 8748 52e0 3A95 dec r19 |
||
| 8734 | 8749 52e2 01F4 brne 1b |
||
| 8735 | 8750 52e4 A090 0000 lds r10,cnt.2426 |
||
| 8736 | 8751 52e8 B090 0000 lds r11,(cnt.2426)+1 |
||
| 8737 | 8752 52ec A80E add r10,r24 |
||
| 8738 | 8753 52ee B91E adc r11,r25 |
||
| 8739 | 8754 52f0 B092 0000 sts (cnt.2426)+1,r11 |
||
| 8740 | 8755 52f4 A092 0000 sts cnt.2426,r10 |
||
| 8741 | 8756 52f8 C801 movw r24,r16 |
||
| 8742 | 8757 52fa B701 movw r22,r14 |
||
| 8743 | 8758 52fc 28E0 ldi r18,lo8(8) |
||
| 8744 | 8759 52fe 30E0 ldi r19,hi8(8) |
||
| 8745 | 8760 5300 40E0 ldi r20,hlo8(8) |
||
| 8746 | 8761 5302 50E0 ldi r21,hhi8(8) |
||
| 8747 | 8762 5304 0E94 0000 call __divmodsi4 |
||
| 8748 | 8763 5308 C901 movw r24,r18 |
||
| 8749 | 8764 530a DA01 movw r26,r20 |
||
| 8750 | 8765 530c 8093 0000 sts CorrectionRoll.2414,r24 |
||
| 8751 | 8766 5310 9093 0000 sts (CorrectionRoll.2414)+1,r25 |
||
| 8752 | 8767 5314 A093 0000 sts (CorrectionRoll.2414)+2,r26 |
||
| 8753 | 8768 5318 B093 0000 sts (CorrectionRoll.2414)+3,r27 |
||
| 8754 | 8769 531c 8958 subi r24,lo8(5001) |
||
| 8755 | 8770 531e 9341 sbci r25,hi8(5001) |
||
| 8756 | 8771 5320 A040 sbci r26,hlo8(5001) |
||
| 8757 | 8772 5322 B040 sbci r27,hhi8(5001) |
||
| 8758 | 8773 5324 04F0 brlt .L558 |
||
| 8759 | 8774 5326 88E8 ldi r24,lo8(5000) |
||
| 8760 | 8775 5328 93E1 ldi r25,hi8(5000) |
||
| 8761 | 8776 532a A0E0 ldi r26,hlo8(5000) |
||
| 8762 | 8777 532c B0E0 ldi r27,hhi8(5000) |
||
| 8763 | 8778 532e 8093 0000 sts CorrectionRoll.2414,r24 |
||
| 8764 | 8779 5332 9093 0000 sts (CorrectionRoll.2414)+1,r25 |
||
| 8765 | 8780 5336 A093 0000 sts (CorrectionRoll.2414)+2,r26 |
||
| 8766 | 8781 533a B093 0000 sts (CorrectionRoll.2414)+3,r27 |
||
| 8767 | 8782 .L558: |
||
| 8768 | 8783 533e 6091 0000 lds r22,CorrectionRoll.2414 |
||
| 8769 | 8784 5342 7091 0000 lds r23,(CorrectionRoll.2414)+1 |
||
| 8770 | 8785 5346 8091 0000 lds r24,(CorrectionRoll.2414)+2 |
||
| 8771 | 8786 534a 9091 0000 lds r25,(CorrectionRoll.2414)+3 |
||
| 8772 | 8787 534e 20E0 ldi r18,lo8(256) |
||
| 8773 | 8788 5350 31E0 ldi r19,hi8(256) |
||
| 8774 | 8789 5352 40E0 ldi r20,hlo8(256) |
||
| 8775 | 8790 5354 50E0 ldi r21,hhi8(256) |
||
| 8776 | 8791 5356 0E94 0000 call __divmodsi4 |
||
| 8777 | 8792 535a 8091 0000 lds r24,AttitudeCorrectionRoll |
||
| 8778 | 8793 535e 9091 0000 lds r25,(AttitudeCorrectionRoll)+1 |
||
| 8779 | 8794 5362 820F add r24,r18 |
||
| 8780 | 8795 5364 931F adc r25,r19 |
||
| 8781 | 8796 5366 9093 0000 sts (AttitudeCorrectionRoll)+1,r25 |
||
| 8782 | 8797 536a 8093 0000 sts AttitudeCorrectionRoll,r24 |
||
| 8783 | 8798 .L559: |
||
| 8784 | 8799 536e 70E0 ldi r23,lo8(-4096) |
||
| 8785 | 8800 5370 E716 cp r14,r23 |
||
| 8786 | 8801 5372 70EF ldi r23,hi8(-4096) |
||
| 8787 | 8802 5374 F706 cpc r15,r23 |
||
| 8788 | 8803 5376 7FEF ldi r23,hlo8(-4096) |
||
| 8789 | 8804 5378 0707 cpc r16,r23 |
||
| 8790 | 8805 537a 7FEF ldi r23,hhi8(-4096) |
||
| 8791 | 8806 537c 1707 cpc r17,r23 |
||
| 8792 | 8807 537e 04F0 brlt .+2 |
||
| 8793 | 8808 5380 00C0 rjmp .L560 |
||
| 8794 | 8809 5382 8091 0000 lds r24,last_r_n.2430 |
||
| 8795 | 8810 5386 8823 tst r24 |
||
| 8796 | 8811 5388 01F4 brne .+2 |
||
| 8797 | 8812 538a 00C0 rjmp .L561 |
||
| 8798 | 8813 538c 8827 clr r24 |
||
| 8799 | 8814 538e 9927 clr r25 |
||
| 8800 | 8815 5390 DC01 movw r26,r24 |
||
| 8801 | 8816 5392 8E19 sub r24,r14 |
||
| 8802 | 8817 5394 9F09 sbc r25,r15 |
||
| 8803 | 8818 5396 A00B sbc r26,r16 |
||
| 8804 | 8819 5398 B10B sbc r27,r17 |
||
| 8805 | 8820 539a 29E0 ldi r18,9 |
||
| 8806 | 8821 539c B595 1: asr r27 |
||
| 8807 | 8822 539e A795 ror r26 |
||
| 8808 | 8823 53a0 9795 ror r25 |
||
| 8809 | 8824 53a2 8795 ror r24 |
||
| 8810 | 8825 53a4 2A95 dec r18 |
||
| 8811 | 8826 53a6 01F4 brne 1b |
||
| 8812 | 8827 53a8 A80E add r10,r24 |
||
| 8813 | 8828 53aa B91E adc r11,r25 |
||
| 8814 | 8829 53ac B092 0000 sts (cnt.2426)+1,r11 |
||
| 8815 | 8830 53b0 A092 0000 sts cnt.2426,r10 |
||
| 8816 | 8831 53b4 C801 movw r24,r16 |
||
| 8817 | 8832 53b6 B701 movw r22,r14 |
||
| 8818 | 8833 53b8 28E0 ldi r18,lo8(8) |
||
| 8819 | 8834 53ba 30E0 ldi r19,hi8(8) |
||
| 8820 | 8835 53bc 40E0 ldi r20,hlo8(8) |
||
| 8821 | 8836 53be 50E0 ldi r21,hhi8(8) |
||
| 8822 | 8837 53c0 0E94 0000 call __divmodsi4 |
||
| 8823 | 8838 53c4 C901 movw r24,r18 |
||
| 8824 | 8839 53c6 DA01 movw r26,r20 |
||
| 8825 | 8840 53c8 8093 0000 sts CorrectionRoll.2414,r24 |
||
| 8826 | 8841 53cc 9093 0000 sts (CorrectionRoll.2414)+1,r25 |
||
| 8827 | 8842 53d0 A093 0000 sts (CorrectionRoll.2414)+2,r26 |
||
| 8828 | 8843 53d4 B093 0000 sts (CorrectionRoll.2414)+3,r27 |
||
| 8829 | 8844 53d8 8857 subi r24,lo8(-5000) |
||
| 8830 | 8845 53da 9C4E sbci r25,hi8(-5000) |
||
| 8831 | 8846 53dc AF4F sbci r26,hlo8(-5000) |
||
| 8832 | 8847 53de BF4F sbci r27,hhi8(-5000) |
||
| 8833 | 8848 53e0 04F4 brge .L562 |
||
| 8834 | 8849 53e2 88E7 ldi r24,lo8(-5000) |
||
| 8835 | 8850 53e4 9CEE ldi r25,hi8(-5000) |
||
| 8836 | 8851 53e6 AFEF ldi r26,hlo8(-5000) |
||
| 8837 | 8852 53e8 BFEF ldi r27,hhi8(-5000) |
||
| 8838 | 8853 53ea 8093 0000 sts CorrectionRoll.2414,r24 |
||
| 8839 | 8854 53ee 9093 0000 sts (CorrectionRoll.2414)+1,r25 |
||
| 8840 | 8855 53f2 A093 0000 sts (CorrectionRoll.2414)+2,r26 |
||
| 8841 | 8856 53f6 B093 0000 sts (CorrectionRoll.2414)+3,r27 |
||
| 8842 | 8857 .L562: |
||
| 8843 | 8858 53fa 6091 0000 lds r22,CorrectionRoll.2414 |
||
| 8844 | 8859 53fe 7091 0000 lds r23,(CorrectionRoll.2414)+1 |
||
| 8845 | 8860 5402 8091 0000 lds r24,(CorrectionRoll.2414)+2 |
||
| 8846 | 8861 5406 9091 0000 lds r25,(CorrectionRoll.2414)+3 |
||
| 8847 | 8862 540a 20E0 ldi r18,lo8(256) |
||
| 8848 | 8863 540c 31E0 ldi r19,hi8(256) |
||
| 8849 | 8864 540e 40E0 ldi r20,hlo8(256) |
||
| 8850 | 8865 5410 50E0 ldi r21,hhi8(256) |
||
| 8851 | 8866 5412 0E94 0000 call __divmodsi4 |
||
| 8852 | 8867 5416 8091 0000 lds r24,AttitudeCorrectionRoll |
||
| 8853 | 8868 541a 9091 0000 lds r25,(AttitudeCorrectionRoll)+1 |
||
| 8854 | 8869 541e 820F add r24,r18 |
||
| 8855 | 8870 5420 931F adc r25,r19 |
||
| 8856 | 8871 5422 9093 0000 sts (AttitudeCorrectionRoll)+1,r25 |
||
| 8857 | 8872 5426 8093 0000 sts AttitudeCorrectionRoll,r24 |
||
| 8858 | 8873 542a 0C94 0000 jmp .L563 |
||
| 8859 | 8874 .L539: |
||
| 8860 | 8875 542e 31E0 ldi r19,lo8(4097) |
||
| 8861 | 8876 5430 E316 cp r14,r19 |
||
| 8862 | 8877 5432 30E1 ldi r19,hi8(4097) |
||
| 8863 | 8878 5434 F306 cpc r15,r19 |
||
| 8864 | 8879 5436 30E0 ldi r19,hlo8(4097) |
||
| 8865 | 8880 5438 0307 cpc r16,r19 |
||
| 8866 | 8881 543a 30E0 ldi r19,hhi8(4097) |
||
| 8867 | 8882 543c 1307 cpc r17,r19 |
||
| 8868 | 8883 543e 04F4 brge .+2 |
||
| 8869 | 8884 5440 00C0 rjmp .L541 |
||
| 8870 | 8885 5442 8091 0000 lds r24,last_n_p.2427 |
||
| 8871 | 8886 5446 8823 tst r24 |
||
| 8872 | 8887 5448 01F4 brne .+2 |
||
| 8873 | 8888 544a 00C0 rjmp .L542 |
||
| 8874 | 8889 544c D801 movw r26,r16 |
||
| 8875 | 8890 544e C701 movw r24,r14 |
||
| 8876 | 8891 5450 59E0 ldi r21,9 |
||
| 8877 | 8892 5452 B595 1: asr r27 |
||
| 8878 | 8893 5454 A795 ror r26 |
||
| 8879 | 8894 5456 9795 ror r25 |
||
| 8880 | 8895 5458 8795 ror r24 |
||
| 8881 | 8896 545a 5A95 dec r21 |
||
| 8882 | 8897 545c 01F4 brne 1b |
||
| 8883 | 8898 545e A090 0000 lds r10,cnt.2426 |
||
| 8884 | 8899 5462 B090 0000 lds r11,(cnt.2426)+1 |
||
| 8885 | 8900 5466 A80E add r10,r24 |
||
| 8886 | 8901 5468 B91E adc r11,r25 |
||
| 8887 | 8902 546a B092 0000 sts (cnt.2426)+1,r11 |
||
| 8888 | 8903 546e A092 0000 sts cnt.2426,r10 |
||
| 8889 | 8904 5472 C801 movw r24,r16 |
||
| 8890 | 8905 5474 B701 movw r22,r14 |
||
| 8891 | 8906 5476 28E0 ldi r18,lo8(8) |
||
| 8892 | 8907 5478 30E0 ldi r19,hi8(8) |
||
| 8893 | 8908 547a 40E0 ldi r20,hlo8(8) |
||
| 8894 | 8909 547c 50E0 ldi r21,hhi8(8) |
||
| 8895 | 8910 547e 0E94 0000 call __divmodsi4 |
||
| 8896 | 8911 5482 C901 movw r24,r18 |
||
| 8897 | 8912 5484 DA01 movw r26,r20 |
||
| 8898 | 8913 5486 8093 0000 sts CorrectionNick.2413,r24 |
||
| 8899 | 8914 548a 9093 0000 sts (CorrectionNick.2413)+1,r25 |
||
| 8900 | 8915 548e A093 0000 sts (CorrectionNick.2413)+2,r26 |
||
| 8901 | 8916 5492 B093 0000 sts (CorrectionNick.2413)+3,r27 |
||
| 8902 | 8917 5496 8958 subi r24,lo8(5001) |
||
| 8903 | 8918 5498 9341 sbci r25,hi8(5001) |
||
| 8904 | 8919 549a A040 sbci r26,hlo8(5001) |
||
| 8905 | 8920 549c B040 sbci r27,hhi8(5001) |
||
| 8906 | 8921 549e 04F0 brlt .L543 |
||
| 8907 | 8922 54a0 88E8 ldi r24,lo8(5000) |
||
| 8908 | 8923 54a2 93E1 ldi r25,hi8(5000) |
||
| 8909 | 8924 54a4 A0E0 ldi r26,hlo8(5000) |
||
| 8910 | 8925 54a6 B0E0 ldi r27,hhi8(5000) |
||
| 8911 | 8926 54a8 8093 0000 sts CorrectionNick.2413,r24 |
||
| 8912 | 8927 54ac 9093 0000 sts (CorrectionNick.2413)+1,r25 |
||
| 8913 | 8928 54b0 A093 0000 sts (CorrectionNick.2413)+2,r26 |
||
| 8914 | 8929 54b4 B093 0000 sts (CorrectionNick.2413)+3,r27 |
||
| 8915 | 8930 .L543: |
||
| 8916 | 8931 54b8 6091 0000 lds r22,CorrectionNick.2413 |
||
| 8917 | 8932 54bc 7091 0000 lds r23,(CorrectionNick.2413)+1 |
||
| 8918 | 8933 54c0 8091 0000 lds r24,(CorrectionNick.2413)+2 |
||
| 8919 | 8934 54c4 9091 0000 lds r25,(CorrectionNick.2413)+3 |
||
| 8920 | 8935 54c8 20E0 ldi r18,lo8(256) |
||
| 8921 | 8936 54ca 31E0 ldi r19,hi8(256) |
||
| 8922 | 8937 54cc 40E0 ldi r20,hlo8(256) |
||
| 8923 | 8938 54ce 50E0 ldi r21,hhi8(256) |
||
| 8924 | 8939 54d0 0E94 0000 call __divmodsi4 |
||
| 8925 | 8940 54d4 8091 0000 lds r24,AttitudeCorrectionNick |
||
| 8926 | 8941 54d8 9091 0000 lds r25,(AttitudeCorrectionNick)+1 |
||
| 8927 | 8942 54dc 820F add r24,r18 |
||
| 8928 | 8943 54de 931F adc r25,r19 |
||
| 8929 | 8944 54e0 9093 0000 sts (AttitudeCorrectionNick)+1,r25 |
||
| 8930 | 8945 54e4 8093 0000 sts AttitudeCorrectionNick,r24 |
||
| 8931 | 8946 .L544: |
||
| 8932 | 8947 54e8 50E0 ldi r21,lo8(-4096) |
||
| 8933 | 8948 54ea E516 cp r14,r21 |
||
| 8934 | 8949 54ec 50EF ldi r21,hi8(-4096) |
||
| 8935 | 8950 54ee F506 cpc r15,r21 |
||
| 8936 | 8951 54f0 5FEF ldi r21,hlo8(-4096) |
||
| 8937 | 8952 54f2 0507 cpc r16,r21 |
||
| 8938 | 8953 54f4 5FEF ldi r21,hhi8(-4096) |
||
| 8939 | 8954 54f6 1507 cpc r17,r21 |
||
| 8940 | 8955 54f8 04F0 brlt .+2 |
||
| 8941 | 8956 54fa 00C0 rjmp .L545 |
||
| 8942 | 8957 54fc 8091 0000 lds r24,last_n_n.2428 |
||
| 8943 | 8958 5500 8823 tst r24 |
||
| 8944 | 8959 5502 01F4 brne .+2 |
||
| 8945 | 8960 5504 00C0 rjmp .L546 |
||
| 8946 | 8961 5506 8827 clr r24 |
||
| 8947 | 8962 5508 9927 clr r25 |
||
| 8948 | 8963 550a DC01 movw r26,r24 |
||
| 8949 | 8964 550c 8E19 sub r24,r14 |
||
| 8950 | 8965 550e 9F09 sbc r25,r15 |
||
| 8951 | 8966 5510 A00B sbc r26,r16 |
||
| 8952 | 8967 5512 B10B sbc r27,r17 |
||
| 8953 | 8968 5514 49E0 ldi r20,9 |
||
| 8954 | 8969 5516 B595 1: asr r27 |
||
| 8955 | 8970 5518 A795 ror r26 |
||
| 8956 | 8971 551a 9795 ror r25 |
||
| 8957 | 8972 551c 8795 ror r24 |
||
| 8958 | 8973 551e 4A95 dec r20 |
||
| 8959 | 8974 5520 01F4 brne 1b |
||
| 8960 | 8975 5522 A80E add r10,r24 |
||
| 8961 | 8976 5524 B91E adc r11,r25 |
||
| 8962 | 8977 5526 B092 0000 sts (cnt.2426)+1,r11 |
||
| 8963 | 8978 552a A092 0000 sts cnt.2426,r10 |
||
| 8964 | 8979 552e C801 movw r24,r16 |
||
| 8965 | 8980 5530 B701 movw r22,r14 |
||
| 8966 | 8981 5532 28E0 ldi r18,lo8(8) |
||
| 8967 | 8982 5534 30E0 ldi r19,hi8(8) |
||
| 8968 | 8983 5536 40E0 ldi r20,hlo8(8) |
||
| 8969 | 8984 5538 50E0 ldi r21,hhi8(8) |
||
| 8970 | 8985 553a 0E94 0000 call __divmodsi4 |
||
| 8971 | 8986 553e C901 movw r24,r18 |
||
| 8972 | 8987 5540 DA01 movw r26,r20 |
||
| 8973 | 8988 5542 8093 0000 sts CorrectionNick.2413,r24 |
||
| 8974 | 8989 5546 9093 0000 sts (CorrectionNick.2413)+1,r25 |
||
| 8975 | 8990 554a A093 0000 sts (CorrectionNick.2413)+2,r26 |
||
| 8976 | 8991 554e B093 0000 sts (CorrectionNick.2413)+3,r27 |
||
| 8977 | 8992 5552 8857 subi r24,lo8(-5000) |
||
| 8978 | 8993 5554 9C4E sbci r25,hi8(-5000) |
||
| 8979 | 8994 5556 AF4F sbci r26,hlo8(-5000) |
||
| 8980 | 8995 5558 BF4F sbci r27,hhi8(-5000) |
||
| 8981 | 8996 555a 04F4 brge .L547 |
||
| 8982 | 8997 555c 88E7 ldi r24,lo8(-5000) |
||
| 8983 | 8998 555e 9CEE ldi r25,hi8(-5000) |
||
| 8984 | 8999 5560 AFEF ldi r26,hlo8(-5000) |
||
| 8985 | 9000 5562 BFEF ldi r27,hhi8(-5000) |
||
| 8986 | 9001 5564 8093 0000 sts CorrectionNick.2413,r24 |
||
| 8987 | 9002 5568 9093 0000 sts (CorrectionNick.2413)+1,r25 |
||
| 8988 | 9003 556c A093 0000 sts (CorrectionNick.2413)+2,r26 |
||
| 8989 | 9004 5570 B093 0000 sts (CorrectionNick.2413)+3,r27 |
||
| 8990 | 9005 .L547: |
||
| 8991 | 9006 5574 6091 0000 lds r22,CorrectionNick.2413 |
||
| 8992 | 9007 5578 7091 0000 lds r23,(CorrectionNick.2413)+1 |
||
| 8993 | 9008 557c 8091 0000 lds r24,(CorrectionNick.2413)+2 |
||
| 8994 | 9009 5580 9091 0000 lds r25,(CorrectionNick.2413)+3 |
||
| 8995 | 9010 5584 20E0 ldi r18,lo8(256) |
||
| 8996 | 9011 5586 31E0 ldi r19,hi8(256) |
||
| 8997 | 9012 5588 40E0 ldi r20,hlo8(256) |
||
| 8998 | 9013 558a 50E0 ldi r21,hhi8(256) |
||
| 8999 | 9014 558c 0E94 0000 call __divmodsi4 |
||
| 9000 | 9015 5590 8091 0000 lds r24,AttitudeCorrectionNick |
||
| 9001 | 9016 5594 9091 0000 lds r25,(AttitudeCorrectionNick)+1 |
||
| 9002 | 9017 5598 820F add r24,r18 |
||
| 9003 | 9018 559a 931F adc r25,r19 |
||
| 9004 | 9019 559c 9093 0000 sts (AttitudeCorrectionNick)+1,r25 |
||
| 9005 | 9020 55a0 8093 0000 sts AttitudeCorrectionNick,r24 |
||
| 9006 | 9021 55a4 0C94 0000 jmp .L548 |
||
| 9007 | 9022 .L617: |
||
| 9008 | 9023 55a8 1092 0000 sts (HeightTrimming.2442)+1,__zero_reg__ |
||
| 9009 | 9024 55ac 1092 0000 sts HeightTrimming.2442,__zero_reg__ |
||
| 9010 | 9025 55b0 08AD ldd r16,Y+56 |
||
| 9011 | 9026 55b2 19AD ldd r17,Y+57 |
||
| 9012 | 9027 55b4 00C0 rjmp .L619 |
||
| 9013 | 9028 .L608: |
||
| 9014 | 9029 55b6 8091 0000 lds r24,BaroFlags.2450 |
||
| 9015 | 9030 55ba 8260 ori r24,lo8(2) |
||
| 9016 | 9031 55bc 8093 0000 sts BaroFlags.2450,r24 |
||
| 9017 | 9032 55c0 0C94 0000 jmp .L606 |
||
| 9018 | 9033 .L609: |
||
| 9019 | 9034 55c4 8091 0000 lds r24,BaroFlags.2450 |
||
| 9020 | 9035 55c8 8C7F andi r24,lo8(-4) |
||
| 9021 | 9036 55ca 8093 0000 sts BaroFlags.2450,r24 |
||
| 9022 | 9037 55ce 0C94 0000 jmp .L606 |
||
| 9023 | 9038 .L464: |
||
| 9024 | 9039 55d2 1092 0000 sts delay_neutral.2416,__zero_reg__ |
||
| 9025 | 9040 55d6 00C0 rjmp .L446 |
||
| 9026 | 9041 .L637: |
||
| 9027 | 9042 55d8 8091 0000 lds r24,ReadingHeight |
||
| 9028 | 9043 55dc 9091 0000 lds r25,(ReadingHeight)+1 |
||
| 9029 | 9044 55e0 A091 0000 lds r26,(ReadingHeight)+2 |
||
| 9030 | 9045 55e4 B091 0000 lds r27,(ReadingHeight)+3 |
||
| 9031 | 9046 55e8 5C01 movw r10,r24 |
||
| 9032 | 9047 55ea A21A sub r10,r18 |
||
| 9033 | 9048 55ec B30A sbc r11,r19 |
||
| 9034 | 9049 55ee F090 0000 lds r15,FCParam+2 |
||
| 9035 | 9050 55f2 8091 0000 lds r24,ReadingVario |
||
| 9036 | 9051 55f6 9091 0000 lds r25,(ReadingVario)+1 |
||
| 9037 | 9052 55fa 97FD sbrc r25,7 |
||
| 9038 | 9053 55fc 00C0 rjmp .L808 |
||
| 9039 | 9054 .L639: |
||
| 9040 | 9055 55fe 9595 asr r25 |
||
| 9041 | 9056 5600 8795 ror r24 |
||
| 9042 | 9057 5602 9595 asr r25 |
||
| 9043 | 9058 5604 8795 ror r24 |
||
| 9044 | 9059 5606 9595 asr r25 |
||
| 9045 | 9060 5608 8795 ror r24 |
||
| 9046 | 9061 560a 8930 cpi r24,9 |
||
| 9047 | 9062 560c 9105 cpc r25,__zero_reg__ |
||
| 9048 | 9063 560e 04F0 brlt .+2 |
||
| 9049 | 9064 5610 00C0 rjmp .L809 |
||
| 9050 | 9065 5612 1816 cp __zero_reg__,r24 |
||
| 9051 | 9066 5614 1906 cpc __zero_reg__,r25 |
||
| 9052 | 9067 5616 04F4 brge .+2 |
||
| 9053 | 9068 5618 00C0 rjmp .L641 |
||
| 9054 | 9069 561a 889F mul r24,r24 |
||
| 9055 | 9070 561c A001 movw r20,r0 |
||
| 9056 | 9071 561e 899F mul r24,r25 |
||
| 9057 | 9072 5620 500D add r21,r0 |
||
| 9058 | 9073 5622 989F mul r25,r24 |
||
| 9059 | 9074 5624 500D add r21,r0 |
||
| 9060 | 9075 5626 1124 clr r1 |
||
| 9061 | 9076 5628 57FF sbrs r21,7 |
||
| 9062 | 9077 562a 00C0 rjmp .L644 |
||
| 9063 | 9078 562c 4D5F subi r20,lo8(-(3)) |
||
| 9064 | 9079 562e 5F4F sbci r21,hi8(-(3)) |
||
| 9065 | 9080 .L644: |
||
| 9066 | 9081 5630 5595 asr r21 |
||
| 9067 | 9082 5632 4795 ror r20 |
||
| 9068 | 9083 5634 5595 asr r21 |
||
| 9069 | 9084 5636 4795 ror r20 |
||
| 9070 | 9085 5638 2091 0000 lds r18,ReadingVario |
||
| 9071 | 9086 563c 3091 0000 lds r19,(ReadingVario)+1 |
||
| 9072 | 9087 5640 241B sub r18,r20 |
||
| 9073 | 9088 5642 350B sbc r19,r21 |
||
| 9074 | 9089 .L643: |
||
| 9075 | 9090 5644 B901 movw r22,r18 |
||
| 9076 | 9091 5646 8827 clr r24 |
||
| 9077 | 9092 5648 77FD sbrc r23,7 |
||
| 9078 | 9093 564a 8095 com r24 |
||
| 9079 | 9094 564c 982F mov r25,r24 |
||
| 9080 | 9095 564e 2091 0000 lds r18,FCParam |
||
| 9081 | 9096 5652 30E0 ldi r19,lo8(0) |
||
| 9082 | 9097 5654 40E0 ldi r20,lo8(0) |
||
| 9083 | 9098 5656 50E0 ldi r21,hi8(0) |
||
| 9084 | 9099 5658 0E94 0000 call __mulsi3 |
||
| 9085 | 9100 565c 20E8 ldi r18,lo8(128) |
||
| 9086 | 9101 565e 30E0 ldi r19,hi8(128) |
||
| 9087 | 9102 5660 40E0 ldi r20,hlo8(128) |
||
| 9088 | 9103 5662 50E0 ldi r21,hhi8(128) |
||
| 9089 | 9104 5664 0E94 0000 call __divmodsi4 |
||
| 9090 | 9105 5668 A901 movw r20,r18 |
||
| 9091 | 9106 566a 2F3F cpi r18,255 |
||
| 9092 | 9107 566c 3105 cpc r19,__zero_reg__ |
||
| 9093 | 9108 566e 01F0 breq .L645 |
||
| 9094 | 9109 5670 04F0 brlt .L645 |
||
| 9095 | 9110 5672 4FEF ldi r20,lo8(255) |
||
| 9096 | 9111 5674 50E0 ldi r21,hi8(255) |
||
| 9097 | 9112 .L645: |
||
| 9098 | 9113 5676 8F2D mov r24,r15 |
||
| 9099 | 9114 5678 90E0 ldi r25,lo8(0) |
||
| 9100 | 9115 567a A89E mul r10,r24 |
||
| 9101 | 9116 567c 9001 movw r18,r0 |
||
| 9102 | 9117 567e A99E mul r10,r25 |
||
| 9103 | 9118 5680 300D add r19,r0 |
||
| 9104 | 9119 5682 B89E mul r11,r24 |
||
| 9105 | 9120 5684 300D add r19,r0 |
||
| 9106 | 9121 5686 1124 clr r1 |
||
| 9107 | 9122 5688 37FD sbrc r19,7 |
||
| 9108 | 9123 568a 00C0 rjmp .L810 |
||
| 9109 | 9124 .L646: |
||
| 9110 | 9125 568c 3595 asr r19 |
||
| 9111 | 9126 568e 2795 ror r18 |
||
| 9112 | 9127 5690 3595 asr r19 |
||
| 9113 | 9128 5692 2795 ror r18 |
||
| 9114 | 9129 5694 3595 asr r19 |
||
| 9115 | 9130 5696 2795 ror r18 |
||
| 9116 | 9131 5698 3595 asr r19 |
||
| 9117 | 9132 569a 2795 ror r18 |
||
| 9118 | 9133 569c B801 movw r22,r16 |
||
| 9119 | 9134 569e 621B sub r22,r18 |
||
| 9120 | 9135 56a0 730B sbc r23,r19 |
||
| 9121 | 9136 56a2 9B01 movw r18,r22 |
||
| 9122 | 9137 56a4 CA01 movw r24,r20 |
||
| 9123 | 9138 56a6 7FEF ldi r23,hi8(-127) |
||
| 9124 | 9139 56a8 4138 cpi r20,lo8(-127) |
||
| 9125 | 9140 56aa 5707 cpc r21,r23 |
||
| 9126 | 9141 56ac 04F4 brge .L647 |
||
| 9127 | 9142 56ae 81E8 ldi r24,lo8(-127) |
||
| 9128 | 9143 56b0 9FEF ldi r25,hi8(-127) |
||
| 9129 | 9144 .L647: |
||
| 9130 | 9145 56b2 6901 movw r12,r18 |
||
| 9131 | 9146 56b4 C81A sub r12,r24 |
||
| 9132 | 9147 56b6 D90A sbc r13,r25 |
||
| 9133 | 9148 56b8 6091 0000 lds r22,ReadingIntegralTop |
||
| 9134 | 9149 56bc 7091 0000 lds r23,(ReadingIntegralTop)+1 |
||
| 9135 | 9150 56c0 8091 0000 lds r24,(ReadingIntegralTop)+2 |
||
| 9136 | 9151 56c4 9091 0000 lds r25,(ReadingIntegralTop)+3 |
||
| 9137 | 9152 56c8 E090 0000 lds r14,FCParam+3 |
||
| 9138 | 9153 56cc FF24 clr r15 |
||
| 9139 | 9154 56ce 00E0 ldi r16,lo8(0) |
||
| 9140 | 9155 56d0 10E0 ldi r17,hi8(0) |
||
| 9141 | 9156 56d2 20E8 ldi r18,lo8(128) |
||
| 9142 | 9157 56d4 30E0 ldi r19,hi8(128) |
||
| 9143 | 9158 56d6 40E0 ldi r20,hlo8(128) |
||
| 9144 | 9159 56d8 50E0 ldi r21,hhi8(128) |
||
| 9145 | 9160 56da 0E94 0000 call __divmodsi4 |
||
| 9146 | 9161 56de C801 movw r24,r16 |
||
| 9147 | 9162 56e0 B701 movw r22,r14 |
||
| 9148 | 9163 56e2 0E94 0000 call __mulsi3 |
||
| 9149 | 9164 56e6 20E2 ldi r18,lo8(32) |
||
| 9150 | 9165 56e8 30E0 ldi r19,hi8(32) |
||
| 9151 | 9166 56ea 40E0 ldi r20,hlo8(32) |
||
| 9152 | 9167 56ec 50E0 ldi r21,hhi8(32) |
||
| 9153 | 9168 56ee 0E94 0000 call __divmodsi4 |
||
| 9154 | 9169 56f2 C901 movw r24,r18 |
||
| 9155 | 9170 56f4 2F3F cpi r18,255 |
||
| 9156 | 9171 56f6 3105 cpc r19,__zero_reg__ |
||
| 9157 | 9172 56f8 01F0 breq .L648 |
||
| 9158 | 9173 56fa 04F0 brlt .L648 |
||
| 9159 | 9174 56fc 8FEF ldi r24,lo8(255) |
||
| 9160 | 9175 56fe 90E0 ldi r25,hi8(255) |
||
| 9161 | 9176 .L648: |
||
| 9162 | 9177 5700 AFEF ldi r26,hi8(-127) |
||
| 9163 | 9178 5702 8138 cpi r24,lo8(-127) |
||
| 9164 | 9179 5704 9A07 cpc r25,r26 |
||
| 9165 | 9180 5706 04F4 brge .L649 |
||
| 9166 | 9181 5708 81E8 ldi r24,lo8(-127) |
||
| 9167 | 9182 570a 9FEF ldi r25,hi8(-127) |
||
| 9168 | 9183 .L649: |
||
| 9169 | 9184 570c 9601 movw r18,r12 |
||
| 9170 | 9185 570e 281B sub r18,r24 |
||
| 9171 | 9186 5710 390B sbc r19,r25 |
||
| 9172 | 9187 5712 E5E9 ldi r30,lo8(149) |
||
| 9173 | 9188 5714 F0E0 ldi r31,hi8(149) |
||
| 9174 | 9189 5716 AE0E add r10,r30 |
||
| 9175 | 9190 5718 BF1E adc r11,r31 |
||
| 9176 | 9191 571a FBE2 ldi r31,lo8(299) |
||
| 9177 | 9192 571c AF16 cp r10,r31 |
||
| 9178 | 9193 571e F1E0 ldi r31,hi8(299) |
||
| 9179 | 9194 5720 BF06 cpc r11,r31 |
||
| 9180 | 9195 5722 00F0 brlo .+2 |
||
| 9181 | 9196 5724 00C0 rjmp .L650 |
||
| 9182 | 9197 5726 8091 0000 lds r24,HeightTrimming.2442 |
||
| 9183 | 9198 572a 9091 0000 lds r25,(HeightTrimming.2442)+1 |
||
| 9184 | 9199 572e 892B or r24,r25 |
||
| 9185 | 9200 5730 01F0 breq .+2 |
||
| 9186 | 9201 5732 00C0 rjmp .L650 |
||
| 9187 | 9202 5734 8091 0000 lds r24,HoverGas.2445 |
||
| 9188 | 9203 5738 9091 0000 lds r25,(HoverGas.2445)+1 |
||
| 9189 | 9204 573c 1816 cp __zero_reg__,r24 |
||
| 9190 | 9205 573e 1906 cpc __zero_reg__,r25 |
||
| 9191 | 9206 5740 04F0 brlt .+2 |
||
| 9192 | 9207 5742 00C0 rjmp .L650 |
||
| 9193 | 9208 5744 0091 0000 lds r16,HoverGasMin.2446 |
||
| 9194 | 9209 5748 1091 0000 lds r17,(HoverGasMin.2446)+1 |
||
| 9195 | 9210 574c 2017 cp r18,r16 |
||
| 9196 | 9211 574e 3107 cpc r19,r17 |
||
| 9197 | 9212 5750 04F4 brge .+2 |
||
| 9198 | 9213 5752 00C0 rjmp .L638 |
||
| 9199 | 9214 5754 8091 0000 lds r24,HoverGasMax.2447 |
||
| 9200 | 9215 5758 9091 0000 lds r25,(HoverGasMax.2447)+1 |
||
| 9201 | 9216 575c 8901 movw r16,r18 |
||
| 9202 | 9217 575e 8217 cp r24,r18 |
||
| 9203 | 9218 5760 9307 cpc r25,r19 |
||
| 9204 | 9219 5762 04F0 brlt .+2 |
||
| 9205 | 9220 5764 00C0 rjmp .L638 |
||
| 9206 | 9221 5766 8C01 movw r16,r24 |
||
| 9207 | 9222 5768 00C0 rjmp .L638 |
||
| 9208 | 9223 .L725: |
||
| 9209 | 9224 576a 8091 0000 lds r24,FilterHCGas.2441 |
||
| 9210 | 9225 576e 9091 0000 lds r25,(FilterHCGas.2441)+1 |
||
| 9211 | 9226 5772 E8AD ldd r30,Y+56 |
||
| 9212 | 9227 5774 F9AD ldd r31,Y+57 |
||
| 9213 | 9228 5776 E817 cp r30,r24 |
||
| 9214 | 9229 5778 F907 cpc r31,r25 |
||
| 9215 | 9230 577a 04F0 brlt .+2 |
||
| 9216 | 9231 577c 00C0 rjmp .L656 |
||
| 9217 | 9232 577e F093 0000 sts (FilterHCGas.2441)+1,r31 |
||
| 9218 | 9233 5782 E093 0000 sts FilterHCGas.2441,r30 |
||
| 9219 | 9234 5786 CF01 movw r24,r30 |
||
| 9220 | 9235 5788 00C0 rjmp .L656 |
||
| 9221 | 9236 .L545: |
||
| 9222 | 9237 578a 1092 0000 sts last_n_n.2428,__zero_reg__ |
||
| 9223 | 9238 578e 0C94 0000 jmp .L548 |
||
| 9224 | 9239 .L541: |
||
| 9225 | 9240 5792 1092 0000 sts last_n_p.2427,__zero_reg__ |
||
| 9226 | 9241 5796 A090 0000 lds r10,cnt.2426 |
||
| 9227 | 9242 579a B090 0000 lds r11,(cnt.2426)+1 |
||
| 9228 | 9243 579e 00C0 rjmp .L544 |
||
| 9229 | 9244 .L556: |
||
| 9230 | 9245 57a0 1092 0000 sts last_r_p.2429,__zero_reg__ |
||
| 9231 | 9246 57a4 A090 0000 lds r10,cnt.2426 |
||
| 9232 | 9247 57a8 B090 0000 lds r11,(cnt.2426)+1 |
||
| 9233 | 9248 57ac 00C0 rjmp .L559 |
||
| 9234 | 9249 .L560: |
||
| 9235 | 9250 57ae 1092 0000 sts last_r_n.2430,__zero_reg__ |
||
| 9236 | 9251 57b2 0C94 0000 jmp .L563 |
||
| 9237 | 9252 .L807: |
||
| 9238 | 9253 57b6 F095 com r31 |
||
| 9239 | 9254 57b8 E195 neg r30 |
||
| 9240 | 9255 57ba FF4F sbci r31,lo8(-1) |
||
| 9241 | 9256 57bc 00C0 rjmp .L525 |
||
| 9242 | 9257 .L803: |
||
| 9243 | 9258 57be 2D5F subi r18,lo8(-(3)) |
||
| 9244 | 9259 57c0 3F4F sbci r19,hi8(-(3)) |
||
| 9245 | 9260 57c2 00C0 rjmp .L659 |
||
| 9246 | 9261 .L793: |
||
| 9247 | 9262 57c4 8091 0000 lds r24,AttitudeCorrectionNick |
||
| 9248 | 9263 57c8 9091 0000 lds r25,AttitudeCorrectionNick+1 |
||
| 9249 | 9264 57cc 9C01 movw r18,r24 |
||
| 9250 | 9265 57ce 37FD sbrc r19,7 |
||
| 9251 | 9266 57d0 00C0 rjmp .L811 |
||
| 9252 | 9267 .L534: |
||
| 9253 | 9268 57d2 3595 asr r19 |
||
| 9254 | 9269 57d4 2795 ror r18 |
||
| 9255 | 9270 57d6 3093 0000 sts (AttitudeCorrectionNick)+1,r19 |
||
| 9256 | 9271 57da 2093 0000 sts AttitudeCorrectionNick,r18 |
||
| 9257 | 9272 57de 8091 0000 lds r24,AttitudeCorrectionRoll |
||
| 9258 | 9273 57e2 9091 0000 lds r25,AttitudeCorrectionRoll+1 |
||
| 9259 | 9274 57e6 9C01 movw r18,r24 |
||
| 9260 | 9275 57e8 37FD sbrc r19,7 |
||
| 9261 | 9276 57ea 00C0 rjmp .L812 |
||
| 9262 | 9277 .L535: |
||
| 9263 | 9278 57ec 3595 asr r19 |
||
| 9264 | 9279 57ee 2795 ror r18 |
||
| 9265 | 9280 57f0 3093 0000 sts (AttitudeCorrectionRoll)+1,r19 |
||
| 9266 | 9281 57f4 2093 0000 sts AttitudeCorrectionRoll,r18 |
||
| 9267 | 9282 57f8 0C94 0000 jmp .L532 |
||
| 9268 | 9283 .L650: |
||
| 9269 | 9284 57fc 8901 movw r16,r18 |
||
| 9270 | 9285 57fe 00C0 rjmp .L638 |
||
| 9271 | 9286 .L449: |
||
| 9272 | 9287 5800 299A sbi 37-32,1 |
||
| 9273 | 9288 5802 0C94 0000 jmp .L450 |
||
| 9274 | 9289 .L668: |
||
| 9275 | 9290 5806 1092 0000 sts (HoverGasMin.2446)+1,__zero_reg__ |
||
| 9276 | 9291 580a 1092 0000 sts HoverGasMin.2446,__zero_reg__ |
||
| 9277 | 9292 580e 8FEF ldi r24,lo8(1023) |
||
| 9278 | 9293 5810 93E0 ldi r25,hi8(1023) |
||
| 9279 | 9294 5812 9093 0000 sts (HoverGasMax.2447)+1,r25 |
||
| 9280 | 9295 5816 8093 0000 sts HoverGasMax.2447,r24 |
||
| 9281 | 9296 581a 0C94 0000 jmp .L604 |
||
| 9282 | 9297 .L456: |
||
| 9283 | 9298 581e 21E0 ldi r18,lo8(1) |
||
| 9284 | 9299 5820 0C94 0000 jmp .L457 |
||
| 9285 | 9300 .L664: |
||
| 9286 | 9301 5824 2FE0 ldi r18,hi8(4000) |
||
| 9287 | 9302 5826 803A cpi r24,lo8(4000) |
||
| 9288 | 9303 5828 9207 cpc r25,r18 |
||
| 9289 | 9304 582a 00F0 brlo .+2 |
||
| 9290 | 9305 582c 00C0 rjmp .L666 |
||
| 9291 | 9306 582e 2091 0000 lds r18,HoverGasFilter.2448 |
||
| 9292 | 9307 5832 3091 0000 lds r19,(HoverGasFilter.2448)+1 |
||
| 9293 | 9308 5836 4091 0000 lds r20,(HoverGasFilter.2448)+2 |
||
| 9294 | 9309 583a 5091 0000 lds r21,(HoverGasFilter.2448)+3 |
||
| 9295 | 9310 583e DA01 movw r26,r20 |
||
| 9296 | 9311 5840 C901 movw r24,r18 |
||
| 9297 | 9312 5842 6AE0 ldi r22,10 |
||
| 9298 | 9313 5844 B695 1: lsr r27 |
||
| 9299 | 9314 5846 A795 ror r26 |
||
| 9300 | 9315 5848 9795 ror r25 |
||
| 9301 | 9316 584a 8795 ror r24 |
||
| 9302 | 9317 584c 6A95 dec r22 |
||
| 9303 | 9318 584e 01F4 brne 1b |
||
| 9304 | 9319 5850 5901 movw r10,r18 |
||
| 9305 | 9320 5852 6A01 movw r12,r20 |
||
| 9306 | 9321 5854 A81A sub r10,r24 |
||
| 9307 | 9322 5856 B90A sbc r11,r25 |
||
| 9308 | 9323 5858 CA0A sbc r12,r26 |
||
| 9309 | 9324 585a DB0A sbc r13,r27 |
||
| 9310 | 9325 585c A801 movw r20,r16 |
||
| 9311 | 9326 585e 9701 movw r18,r14 |
||
| 9312 | 9327 5860 220F lsl r18 |
||
| 9313 | 9328 5862 331F rol r19 |
||
| 9314 | 9329 5864 441F rol r20 |
||
| 9315 | 9330 5866 551F rol r21 |
||
| 9316 | 9331 5868 220F lsl r18 |
||
| 9317 | 9332 586a 331F rol r19 |
||
| 9318 | 9333 586c 441F rol r20 |
||
| 9319 | 9334 586e 551F rol r21 |
||
| 9320 | 9335 5870 2A0D add r18,r10 |
||
| 9321 | 9336 5872 3B1D adc r19,r11 |
||
| 9322 | 9337 5874 4C1D adc r20,r12 |
||
| 9323 | 9338 5876 5D1D adc r21,r13 |
||
| 9324 | 9339 5878 2093 0000 sts HoverGasFilter.2448,r18 |
||
| 9325 | 9340 587c 3093 0000 sts (HoverGasFilter.2448)+1,r19 |
||
| 9326 | 9341 5880 4093 0000 sts (HoverGasFilter.2448)+2,r20 |
||
| 9327 | 9342 5884 5093 0000 sts (HoverGasFilter.2448)+3,r21 |
||
| 9328 | 9343 5888 00C0 rjmp .L665 |
||
| 9329 | 9344 .L809: |
||
| 9330 | 9345 588a 88E0 ldi r24,lo8(8) |
||
| 9331 | 9346 588c 90E0 ldi r25,hi8(8) |
||
| 9332 | 9347 .L641: |
||
| 9333 | 9348 588e 889F mul r24,r24 |
||
| 9334 | 9349 5890 9001 movw r18,r0 |
||
| 9335 | 9350 5892 899F mul r24,r25 |
||
| 9336 | 9351 5894 300D add r19,r0 |
||
| 9337 | 9352 5896 989F mul r25,r24 |
||
| 9338 | 9353 5898 300D add r19,r0 |
||
| 9339 | 9354 589a 1124 clr r1 |
||
| 9340 | 9355 589c 3595 asr r19 |
||
| 9341 | 9356 589e 2795 ror r18 |
||
| 9342 | 9357 58a0 3595 asr r19 |
||
| 9343 | 9358 58a2 2795 ror r18 |
||
| 9344 | 9359 58a4 8091 0000 lds r24,ReadingVario |
||
| 9345 | 9360 58a8 9091 0000 lds r25,(ReadingVario)+1 |
||
| 9346 | 9361 58ac 280F add r18,r24 |
||
| 9347 | 9362 58ae 391F adc r19,r25 |
||
| 9348 | 9363 58b0 00C0 rjmp .L643 |
||
| 9349 | 9364 .L610: |
||
| 9350 | 9365 58b2 8091 0000 lds r24,BaroFlags.2450 |
||
| 9351 | 9366 58b6 8160 ori r24,lo8(1) |
||
| 9352 | 9367 58b8 8093 0000 sts BaroFlags.2450,r24 |
||
| 9353 | 9368 58bc 0C94 0000 jmp .L606 |
||
| 9354 | 9369 .L542: |
||
| 9355 | 9370 58c0 81E0 ldi r24,lo8(1) |
||
| 9356 | 9371 58c2 8093 0000 sts last_n_p.2427,r24 |
||
| 9357 | 9372 58c6 A090 0000 lds r10,cnt.2426 |
||
| 9358 | 9373 58ca B090 0000 lds r11,(cnt.2426)+1 |
||
| 9359 | 9374 58ce 00C0 rjmp .L544 |
||
| 9360 | 9375 .L561: |
||
| 9361 | 9376 58d0 81E0 ldi r24,lo8(1) |
||
| 9362 | 9377 58d2 8093 0000 sts last_r_n.2430,r24 |
||
| 9363 | 9378 58d6 0C94 0000 jmp .L563 |
||
| 9364 | 9379 .L804: |
||
| 9365 | 9380 58da 9095 com r25 |
||
| 9366 | 9381 58dc 8195 neg r24 |
||
| 9367 | 9382 58de 9F4F sbci r25,lo8(-1) |
||
| 9368 | 9383 58e0 00C0 rjmp .L663 |
||
| 9369 | 9384 .L557: |
||
| 9370 | 9385 58e2 81E0 ldi r24,lo8(1) |
||
| 9371 | 9386 58e4 8093 0000 sts last_r_p.2429,r24 |
||
| 9372 | 9387 58e8 A090 0000 lds r10,cnt.2426 |
||
| 9373 | 9388 58ec B090 0000 lds r11,(cnt.2426)+1 |
||
| 9374 | 9389 58f0 00C0 rjmp .L559 |
||
| 9375 | 9390 .L546: |
||
| 9376 | 9391 58f2 81E0 ldi r24,lo8(1) |
||
| 9377 | 9392 58f4 8093 0000 sts last_n_n.2428,r24 |
||
| 9378 | 9393 58f8 0C94 0000 jmp .L548 |
||
| 9379 | 9394 .L801: |
||
| 9380 | 9395 58fc 4D5F subi r20,lo8(-(3)) |
||
| 9381 | 9396 58fe 5F4F sbci r21,hi8(-(3)) |
||
| 9382 | 9397 5900 00C0 rjmp .L653 |
||
| 9383 | 9398 .L466: |
||
| 9384 | 9399 5902 299A sbi 37-32,1 |
||
| 9385 | 9400 5904 00C0 rjmp .L467 |
||
| 9386 | 9401 .L620: |
||
| 9387 | 9402 5906 8091 0000 lds r24,ReadingHeight |
||
| 9388 | 9403 590a 9091 0000 lds r25,(ReadingHeight)+1 |
||
| 9389 | 9404 590e A091 0000 lds r26,(ReadingHeight)+2 |
||
| 9390 | 9405 5912 B091 0000 lds r27,(ReadingHeight)+3 |
||
| 9391 | 9406 5916 8059 subi r24,lo8(-(-400)) |
||
| 9392 | 9407 5918 9140 sbci r25,hi8(-(-400)) |
||
| 9393 | 9408 591a A040 sbci r26,hlo8(-(-400)) |
||
| 9394 | 9409 591c B040 sbci r27,hhi8(-(-400)) |
||
| 9395 | 9410 591e 8093 0000 sts SetPointHeight,r24 |
||
| 9396 | 9411 5922 9093 0000 sts (SetPointHeight)+1,r25 |
||
| 9397 | 9412 5926 A093 0000 sts (SetPointHeight)+2,r26 |
||
| 9398 | 9413 592a B093 0000 sts (SetPointHeight)+3,r27 |
||
| 9399 | 9414 592e 8091 0000 lds r24,ParamSet+17 |
||
| 9400 | 9415 5932 8823 tst r24 |
||
| 9401 | 9416 5934 01F4 brne .+2 |
||
| 9402 | 9417 5936 00C0 rjmp .L634 |
||
| 9403 | 9418 5938 8093 0000 sts StickGasHover.2444,r24 |
||
| 9404 | 9419 593c 1092 0000 sts StickGasHover.2444+1,__zero_reg__ |
||
| 9405 | 9420 5940 00C0 rjmp .L633 |
||
| 9406 | 9421 .L666: |
||
| 9407 | 9422 5942 8054 subi r24,lo8(8000) |
||
| 9408 | 9423 5944 9F41 sbci r25,hi8(8000) |
||
| 9409 | 9424 5946 00F0 brlo .+2 |
||
| 9410 | 9425 5948 00C0 rjmp .L667 |
||
| 9411 | 9426 594a 2091 0000 lds r18,HoverGasFilter.2448 |
||
| 9412 | 9427 594e 3091 0000 lds r19,(HoverGasFilter.2448)+1 |
||
| 9413 | 9428 5952 4091 0000 lds r20,(HoverGasFilter.2448)+2 |
||
| 9414 | 9429 5956 5091 0000 lds r21,(HoverGasFilter.2448)+3 |
||
| 9415 | 9430 595a DA01 movw r26,r20 |
||
| 9416 | 9431 595c C901 movw r24,r18 |
||
| 9417 | 9432 595e EBE0 ldi r30,11 |
||
| 9418 | 9433 5960 B695 1: lsr r27 |
||
| 9419 | 9434 5962 A795 ror r26 |
||
| 9420 | 9435 5964 9795 ror r25 |
||
| 9421 | 9436 5966 8795 ror r24 |
||
| 9422 | 9437 5968 EA95 dec r30 |
||
| 9423 | 9438 596a 01F4 brne 1b |
||
| 9424 | 9439 596c 5901 movw r10,r18 |
||
| 9425 | 9440 596e 6A01 movw r12,r20 |
||
| 9426 | 9441 5970 A81A sub r10,r24 |
||
| 9427 | 9442 5972 B90A sbc r11,r25 |
||
| 9428 | 9443 5974 CA0A sbc r12,r26 |
||
| 9429 | 9444 5976 DB0A sbc r13,r27 |
||
| 9430 | 9445 5978 A801 movw r20,r16 |
||
| 9431 | 9446 597a 9701 movw r18,r14 |
||
| 9432 | 9447 597c 220F lsl r18 |
||
| 9433 | 9448 597e 331F rol r19 |
||
| 9434 | 9449 5980 441F rol r20 |
||
| 9435 | 9450 5982 551F rol r21 |
||
| 9436 | 9451 5984 2A0D add r18,r10 |
||
| 9437 | 9452 5986 3B1D adc r19,r11 |
||
| 9438 | 9453 5988 4C1D adc r20,r12 |
||
| 9439 | 9454 598a 5D1D adc r21,r13 |
||
| 9440 | 9455 598c 2093 0000 sts HoverGasFilter.2448,r18 |
||
| 9441 | 9456 5990 3093 0000 sts (HoverGasFilter.2448)+1,r19 |
||
| 9442 | 9457 5994 4093 0000 sts (HoverGasFilter.2448)+2,r20 |
||
| 9443 | 9458 5998 5093 0000 sts (HoverGasFilter.2448)+3,r21 |
||
| 9444 | 9459 599c 00C0 rjmp .L665 |
||
| 9445 | 9460 .L621: |
||
| 9446 | 9461 599e CB01 movw r24,r22 |
||
| 9447 | 9462 59a0 0F97 sbiw r24,15 |
||
| 9448 | 9463 59a2 4817 cp r20,r24 |
||
| 9449 | 9464 59a4 5907 cpc r21,r25 |
||
| 9450 | 9465 59a6 04F4 brge .L625 |
||
| 9451 | 9466 59a8 8091 0000 lds r24,BaroFlags.2450 |
||
| 9452 | 9467 59ac 81FD sbrc r24,1 |
||
| 9453 | 9468 59ae 00C0 rjmp .L625 |
||
| 9454 | 9469 59b0 2091 0000 lds r18,HeightTrimmingFlag.2452 |
||
| 9455 | 9470 59b4 20FF sbrs r18,0 |
||
| 9456 | 9471 59b6 00C0 rjmp .L626 |
||
| 9457 | 9472 59b8 2E7F andi r18,lo8(-2) |
||
| 9458 | 9473 59ba 2093 0000 sts HeightTrimmingFlag.2452,r18 |
||
| 9459 | 9474 59be 8091 0000 lds r24,ReadingHeight |
||
| 9460 | 9475 59c2 9091 0000 lds r25,(ReadingHeight)+1 |
||
| 9461 | 9476 59c6 A091 0000 lds r26,(ReadingHeight)+2 |
||
| 9462 | 9477 59ca B091 0000 lds r27,(ReadingHeight)+3 |
||
| 9463 | 9478 59ce 8093 0000 sts SetPointHeight,r24 |
||
| 9464 | 9479 59d2 9093 0000 sts (SetPointHeight)+1,r25 |
||
| 9465 | 9480 59d6 A093 0000 sts (SetPointHeight)+2,r26 |
||
| 9466 | 9481 59da B093 0000 sts (SetPointHeight)+3,r27 |
||
| 9467 | 9482 .L626: |
||
| 9468 | 9483 59de 2260 ori r18,lo8(2) |
||
| 9469 | 9484 59e0 2093 0000 sts HeightTrimmingFlag.2452,r18 |
||
| 9470 | 9485 59e4 CA01 movw r24,r20 |
||
| 9471 | 9486 59e6 0F96 adiw r24,15 |
||
| 9472 | 9487 59e8 861B sub r24,r22 |
||
| 9473 | 9488 59ea 970B sbc r25,r23 |
||
| 9474 | 9489 59ec 97FD sbrc r25,7 |
||
| 9475 | 9490 59ee 00C0 rjmp .L813 |
||
| 9476 | 9491 .L627: |
||
| 9477 | 9492 59f0 2091 0000 lds r18,HeightTrimming.2442 |
||
| 9478 | 9493 59f4 3091 0000 lds r19,(HeightTrimming.2442)+1 |
||
| 9479 | 9494 59f8 281B sub r18,r24 |
||
| 9480 | 9495 59fa 390B sbc r19,r25 |
||
| 9481 | 9496 59fc 3093 0000 sts (HeightTrimming.2442)+1,r19 |
||
| 9482 | 9497 5a00 2093 0000 sts HeightTrimming.2442,r18 |
||
| 9483 | 9498 5a04 00C0 rjmp .L624 |
||
| 9484 | 9499 .L625: |
||
| 9485 | 9500 5a06 2091 0000 lds r18,HeightTrimmingFlag.2452 |
||
| 9486 | 9501 5a0a 822F mov r24,r18 |
||
| 9487 | 9502 5a0c 90E0 ldi r25,lo8(0) |
||
| 9488 | 9503 5a0e 8370 andi r24,lo8(3) |
||
| 9489 | 9504 5a10 9070 andi r25,hi8(3) |
||
| 9490 | 9505 5a12 892B or r24,r25 |
||
| 9491 | 9506 5a14 01F0 breq .+2 |
||
| 9492 | 9507 5a16 00C0 rjmp .L723 |
||
| 9493 | 9508 5a18 2091 0000 lds r18,HeightTrimming.2442 |
||
| 9494 | 9509 5a1c 3091 0000 lds r19,(HeightTrimming.2442)+1 |
||
| 9495 | 9510 5a20 00C0 rjmp .L624 |
||
| 9496 | 9511 .L667: |
||
| 9497 | 9512 5a22 2091 0000 lds r18,HoverGasFilter.2448 |
||
| 9498 | 9513 5a26 3091 0000 lds r19,(HoverGasFilter.2448)+1 |
||
| 9499 | 9514 5a2a 4091 0000 lds r20,(HoverGasFilter.2448)+2 |
||
| 9500 | 9515 5a2e 5091 0000 lds r21,(HoverGasFilter.2448)+3 |
||
| 9501 | 9516 5a32 DA01 movw r26,r20 |
||
| 9502 | 9517 5a34 C901 movw r24,r18 |
||
| 9503 | 9518 5a36 6CE0 ldi r22,12 |
||
| 9504 | 9519 5a38 B695 1: lsr r27 |
||
| 9505 | 9520 5a3a A795 ror r26 |
||
| 9506 | 9521 5a3c 9795 ror r25 |
||
| 9507 | 9522 5a3e 8795 ror r24 |
||
| 9508 | 9523 5a40 6A95 dec r22 |
||
| 9509 | 9524 5a42 01F4 brne 1b |
||
| 9510 | 9525 5a44 281B sub r18,r24 |
||
| 9511 | 9526 5a46 390B sbc r19,r25 |
||
| 9512 | 9527 5a48 4A0B sbc r20,r26 |
||
| 9513 | 9528 5a4a 5B0B sbc r21,r27 |
||
| 9514 | 9529 5a4c 2E0D add r18,r14 |
||
| 9515 | 9530 5a4e 3F1D adc r19,r15 |
||
| 9516 | 9531 5a50 401F adc r20,r16 |
||
| 9517 | 9532 5a52 511F adc r21,r17 |
||
| 9518 | 9533 5a54 2093 0000 sts HoverGasFilter.2448,r18 |
||
| 9519 | 9534 5a58 3093 0000 sts (HoverGasFilter.2448)+1,r19 |
||
| 9520 | 9535 5a5c 4093 0000 sts (HoverGasFilter.2448)+2,r20 |
||
| 9521 | 9536 5a60 5093 0000 sts (HoverGasFilter.2448)+3,r21 |
||
| 9522 | 9537 5a64 00C0 rjmp .L665 |
||
| 9523 | 9538 .L808: |
||
| 9524 | 9539 5a66 0796 adiw r24,7 |
||
| 9525 | 9540 5a68 00C0 rjmp .L639 |
||
| 9526 | 9541 .L461: |
||
| 9527 | 9542 5a6a 0E94 0000 call GetActiveParamSet |
||
| 9528 | 9543 5a6e 0E94 0000 call ParamSet_ReadFromEEProm |
||
| 9529 | 9544 5a72 0E94 0000 call Servo_Off |
||
| 9530 | 9545 5a76 80E0 ldi r24,lo8(0) |
||
| 9531 | 9546 5a78 00C0 rjmp .L726 |
||
| 9532 | 9547 .L810: |
||
| 9533 | 9548 5a7a 215F subi r18,lo8(-(15)) |
||
| 9534 | 9549 5a7c 3F4F sbci r19,hi8(-(15)) |
||
| 9535 | 9550 5a7e 00C0 rjmp .L646 |
||
| 9536 | 9551 .L634: |
||
| 9537 | 9552 5a80 88E7 ldi r24,lo8(120) |
||
| 9538 | 9553 5a82 90E0 ldi r25,hi8(120) |
||
| 9539 | 9554 5a84 9093 0000 sts (StickGasHover.2444)+1,r25 |
||
| 9540 | 9555 5a88 8093 0000 sts StickGasHover.2444,r24 |
||
| 9541 | 9556 5a8c 00C0 rjmp .L633 |
||
| 9542 | 9557 .L796: |
||
| 9543 | 9558 5a8e F095 com r31 |
||
| 9544 | 9559 5a90 E195 neg r30 |
||
| 9545 | 9560 5a92 FF4F sbci r31,lo8(-1) |
||
| 9546 | 9561 5a94 0C94 0000 jmp .L454 |
||
| 9547 | 9562 .L812: |
||
| 9548 | 9563 5a98 2F5F subi r18,lo8(-(1)) |
||
| 9549 | 9564 5a9a 3F4F sbci r19,hi8(-(1)) |
||
| 9550 | 9565 5a9c 00C0 rjmp .L535 |
||
| 9551 | 9566 .L811: |
||
| 9552 | 9567 5a9e 2F5F subi r18,lo8(-(1)) |
||
| 9553 | 9568 5aa0 3F4F sbci r19,hi8(-(1)) |
||
| 9554 | 9569 5aa2 00C0 rjmp .L534 |
||
| 9555 | 9570 .L792: |
||
| 9556 | 9571 5aa4 F095 com r31 |
||
| 9557 | 9572 5aa6 E195 neg r30 |
||
| 9558 | 9573 5aa8 FF4F sbci r31,lo8(-1) |
||
| 9559 | 9574 5aaa 0C94 0000 jmp .L533 |
||
| 9560 | 9575 .L723: |
||
| 9561 | 9576 5aae 2C7F andi r18,lo8(-4) |
||
| 9562 | 9577 5ab0 2093 0000 sts HeightTrimmingFlag.2452,r18 |
||
| 9563 | 9578 5ab4 1092 0000 sts (HeightTrimming.2442)+1,__zero_reg__ |
||
| 9564 | 9579 5ab8 1092 0000 sts HeightTrimming.2442,__zero_reg__ |
||
| 9565 | 9580 5abc 8091 0000 lds r24,ReadingHeight |
||
| 9566 | 9581 5ac0 9091 0000 lds r25,(ReadingHeight)+1 |
||
| 9567 | 9582 5ac4 A091 0000 lds r26,(ReadingHeight)+2 |
||
| 9568 | 9583 5ac8 B091 0000 lds r27,(ReadingHeight)+3 |
||
| 9569 | 9584 5acc 8093 0000 sts SetPointHeight,r24 |
||
| 9570 | 9585 5ad0 9093 0000 sts (SetPointHeight)+1,r25 |
||
| 9571 | 9586 5ad4 A093 0000 sts (SetPointHeight)+2,r26 |
||
| 9572 | 9587 5ad8 B093 0000 sts (SetPointHeight)+3,r27 |
||
| 9573 | 9588 5adc 8091 0000 lds r24,ParamSet+88 |
||
| 9574 | 9589 5ae0 81FF sbrs r24,1 |
||
| 9575 | 9590 5ae2 00C0 rjmp .L730 |
||
| 9576 | 9591 5ae4 84EF ldi r24,lo8(500) |
||
| 9577 | 9592 5ae6 91E0 ldi r25,hi8(500) |
||
| 9578 | 9593 5ae8 9093 0000 sts (BeepTime)+1,r25 |
||
| 9579 | 9594 5aec 8093 0000 sts BeepTime,r24 |
||
| 9580 | 9595 .L730: |
||
| 9581 | 9596 5af0 20E0 ldi r18,lo8(0) |
||
| 9582 | 9597 5af2 30E0 ldi r19,hi8(0) |
||
| 9583 | 9598 5af4 00C0 rjmp .L624 |
||
| 9584 | 9599 .L813: |
||
| 9585 | 9600 5af6 9095 com r25 |
||
| 9586 | 9601 5af8 8195 neg r24 |
||
| 9587 | 9602 5afa 9F4F sbci r25,lo8(-1) |
||
| 9588 | 9603 5afc 00C0 rjmp .L627 |
||
| 9589 | 9604 .L799: |
||
| 9590 | 9605 5afe 9095 com r25 |
||
| 9591 | 9606 5b00 8195 neg r24 |
||
| 9592 | 9607 5b02 9F4F sbci r25,lo8(-1) |
||
| 9593 | 9608 5b04 00C0 rjmp .L623 |
||
| 9594 | 9609 .L797: |
||
| 9595 | 9610 5b06 9095 com r25 |
||
| 9596 | 9611 5b08 8195 neg r24 |
||
| 9597 | 9612 5b0a 9F4F sbci r25,lo8(-1) |
||
| 9598 | 9613 5b0c 0C94 0000 jmp .L463 |
||
| 9599 | 9614 .L632: |
||
| 9600 | 9615 5b10 6739 cpi r22,151 |
||
| 9601 | 9616 5b12 7105 cpc r23,__zero_reg__ |
||
| 9602 | 9617 5b14 04F4 brge .+2 |
||
| 9603 | 9618 5b16 00C0 rjmp .L628 |
||
| 9604 | 9619 5b18 86E9 ldi r24,lo8(150) |
||
| 9605 | 9620 5b1a 90E0 ldi r25,hi8(150) |
||
| 9606 | 9621 5b1c 9093 0000 sts (StickGasHover.2444)+1,r25 |
||
| 9607 | 9622 5b20 8093 0000 sts StickGasHover.2444,r24 |
||
| 9608 | 9623 5b24 00C0 rjmp .L628 |
||
| 9609 | 9624 .L800: |
||
| 9610 | 9625 5b26 2D5F subi r18,lo8(-(3)) |
||
| 9611 | 9626 5b28 3F4F sbci r19,hi8(-(3)) |
||
| 9612 | 9627 5b2a 00C0 rjmp .L631 |
||
| 9613 | 9629 .global BiasHiResGyroNick |
||
| 9614 | 9630 .global BiasHiResGyroNick |
||
| 9615 | 9631 .section .bss |
||
| 9616 | 9634 BiasHiResGyroNick: |
||
| 9617 | 9635 0000 0000 .skip 2,0 |
||
| 9618 | 9636 .global BiasHiResGyroRoll |
||
| 9619 | 9637 .global BiasHiResGyroRoll |
||
| 9620 | 9640 BiasHiResGyroRoll: |
||
| 9621 | 9641 0002 0000 .skip 2,0 |
||
| 9622 | 9642 .global AdBiasGyroYaw |
||
| 9623 | 9643 .global AdBiasGyroYaw |
||
| 9624 | 9646 AdBiasGyroYaw: |
||
| 9625 | 9647 0004 0000 .skip 2,0 |
||
| 9626 | 9648 .global AdBiasAccNick |
||
| 9627 | 9649 .global AdBiasAccNick |
||
| 9628 | 9652 AdBiasAccNick: |
||
| 9629 | 9653 0006 0000 .skip 2,0 |
||
| 9630 | 9654 .global AdBiasAccRoll |
||
| 9631 | 9655 .global AdBiasAccRoll |
||
| 9632 | 9658 AdBiasAccRoll: |
||
| 9633 | 9659 0008 0000 .skip 2,0 |
||
| 9634 | 9660 .global AdBiasAccTop |
||
| 9635 | 9661 .global AdBiasAccTop |
||
| 9636 | 9664 AdBiasAccTop: |
||
| 9637 | 9665 000a 0000 0000 .skip 4,0 |
||
| 9638 | 9666 .global IntegralGyroNick |
||
| 9639 | 9667 .global IntegralGyroNick |
||
| 9640 | 9670 IntegralGyroNick: |
||
| 9641 | 9671 000e 0000 0000 .skip 4,0 |
||
| 9642 | 9672 .global IntegralGyroNick2 |
||
| 9643 | 9673 .global IntegralGyroNick2 |
||
| 9644 | 9676 IntegralGyroNick2: |
||
| 9645 | 9677 0012 0000 0000 .skip 4,0 |
||
| 9646 | 9678 .global IntegralGyroRoll |
||
| 9647 | 9679 .global IntegralGyroRoll |
||
| 9648 | 9682 IntegralGyroRoll: |
||
| 9649 | 9683 0016 0000 0000 .skip 4,0 |
||
| 9650 | 9684 .global IntegralGyroRoll2 |
||
| 9651 | 9685 .global IntegralGyroRoll2 |
||
| 9652 | 9688 IntegralGyroRoll2: |
||
| 9653 | 9689 001a 0000 0000 .skip 4,0 |
||
| 9654 | 9690 .global IntegralGyroYaw |
||
| 9655 | 9691 .global IntegralGyroYaw |
||
| 9656 | 9694 IntegralGyroYaw: |
||
| 9657 | 9695 001e 0000 0000 .skip 4,0 |
||
| 9658 | 9696 .global ReadingIntegralGyroNick |
||
| 9659 | 9697 .global ReadingIntegralGyroNick |
||
| 9660 | 9700 ReadingIntegralGyroNick: |
||
| 9661 | 9701 0022 0000 0000 .skip 4,0 |
||
| 9662 | 9702 .global ReadingIntegralGyroNick2 |
||
| 9663 | 9703 .global ReadingIntegralGyroNick2 |
||
| 9664 | 9706 ReadingIntegralGyroNick2: |
||
| 9665 | 9707 0026 0000 0000 .skip 4,0 |
||
| 9666 | 9708 .global ReadingIntegralGyroRoll |
||
| 9667 | 9709 .global ReadingIntegralGyroRoll |
||
| 9668 | 9712 ReadingIntegralGyroRoll: |
||
| 9669 | 9713 002a 0000 0000 .skip 4,0 |
||
| 9670 | 9714 .global ReadingIntegralGyroRoll2 |
||
| 9671 | 9715 .global ReadingIntegralGyroRoll2 |
||
| 9672 | 9718 ReadingIntegralGyroRoll2: |
||
| 9673 | 9719 002e 0000 0000 .skip 4,0 |
||
| 9674 | 9720 .global ReadingIntegralGyroYaw |
||
| 9675 | 9721 .global ReadingIntegralGyroYaw |
||
| 9676 | 9724 ReadingIntegralGyroYaw: |
||
| 9677 | 9725 0032 0000 0000 .skip 4,0 |
||
| 9678 | 9726 .global MeanAccNick |
||
| 9679 | 9727 .global MeanAccNick |
||
| 9680 | 9730 MeanAccNick: |
||
| 9681 | 9731 0036 0000 0000 .skip 4,0 |
||
| 9682 | 9732 .global MeanAccRoll |
||
| 9683 | 9733 .global MeanAccRoll |
||
| 9684 | 9736 MeanAccRoll: |
||
| 9685 | 9737 003a 0000 0000 .skip 4,0 |
||
| 9686 | 9738 .global ReadingIntegralTop |
||
| 9687 | 9739 .global ReadingIntegralTop |
||
| 9688 | 9742 ReadingIntegralTop: |
||
| 9689 | 9743 003e 0000 0000 .skip 4,0 |
||
| 9690 | 9744 .global CompassHeading |
||
| 9691 | 9745 .data |
||
| 9692 | 9748 CompassHeading: |
||
| 9693 | 9749 0000 FFFF .word -1 |
||
| 9694 | 9750 .global CompassCourse |
||
| 9695 | 9753 CompassCourse: |
||
| 9696 | 9754 0002 FFFF .word -1 |
||
| 9697 | 9755 .global CompassOffCourse |
||
| 9698 | 9756 .global CompassOffCourse |
||
| 9699 | 9757 .section .bss |
||
| 9700 | 9760 CompassOffCourse: |
||
| 9701 | 9761 0042 0000 .skip 2,0 |
||
| 9702 | 9762 .global CompassCalState |
||
| 9703 | 9763 .global CompassCalState |
||
| 9704 | 9766 CompassCalState: |
||
| 9705 | 9767 0044 00 .skip 1,0 |
||
| 9706 | 9768 .global FunnelCourse |
||
| 9707 | 9769 .global FunnelCourse |
||
| 9708 | 9772 FunnelCourse: |
||
| 9709 | 9773 0045 00 .skip 1,0 |
||
| 9710 | 9774 .global BadCompassHeading |
||
| 9711 | 9775 .data |
||
| 9712 | 9778 BadCompassHeading: |
||
| 9713 | 9779 0004 F401 .word 500 |
||
| 9714 | 9780 .global NaviAccNick |
||
| 9715 | 9781 .global NaviAccNick |
||
| 9716 | 9782 .section .bss |
||
| 9717 | 9785 NaviAccNick: |
||
| 9718 | 9786 0046 0000 .skip 2,0 |
||
| 9719 | 9787 .global NaviAccRoll |
||
| 9720 | 9788 .global NaviAccRoll |
||
| 9721 | 9791 NaviAccRoll: |
||
| 9722 | 9792 0048 0000 .skip 2,0 |
||
| 9723 | 9793 .global NaviCntAcc |
||
| 9724 | 9794 .global NaviCntAcc |
||
| 9725 | 9797 NaviCntAcc: |
||
| 9726 | 9798 004a 0000 .skip 2,0 |
||
| 9727 | 9799 .global ModelIsFlying |
||
| 9728 | 9800 .global ModelIsFlying |
||
| 9729 | 9803 ModelIsFlying: |
||
| 9730 | 9804 004c 0000 .skip 2,0 |
||
| 9731 | 9805 .global MKFlags |
||
| 9732 | 9806 .global MKFlags |
||
| 9733 | 9809 MKFlags: |
||
| 9734 | 9810 004e 00 .skip 1,0 |
||
| 9735 | 9811 .global TurnOver180Nick |
||
| 9736 | 9812 .data |
||
| 9737 | 9815 TurnOver180Nick: |
||
| 9738 | 9816 0006 90 .byte -112 |
||
| 9739 | 9817 0007 D0 .byte -48 |
||
| 9740 | 9818 0008 03 .byte 3 |
||
| 9741 | 9819 0009 00 .byte 0 |
||
| 9742 | 9820 .global TurnOver180Roll |
||
| 9743 | 9823 TurnOver180Roll: |
||
| 9744 | 9824 000a 90 .byte -112 |
||
| 9745 | 9825 000b D0 .byte -48 |
||
| 9746 | 9826 000c 03 .byte 3 |
||
| 9747 | 9827 000d 00 .byte 0 |
||
| 9748 | 9828 .global Ki |
||
| 9749 | 9831 Ki: |
||
| 9750 | 9832 000e 3801 .word 312 |
||
| 9751 | 9833 .global Poti1 |
||
| 9752 | 9834 .global Poti1 |
||
| 9753 | 9835 .section .bss |
||
| 9754 | 9838 Poti1: |
||
| 9755 | 9839 004f 0000 .skip 2,0 |
||
| 9756 | 9840 .global Poti2 |
||
| 9757 | 9841 .global Poti2 |
||
| 9758 | 9844 Poti2: |
||
| 9759 | 9845 0051 0000 .skip 2,0 |
||
| 9760 | 9846 .global Poti3 |
||
| 9761 | 9847 .global Poti3 |
||
| 9762 | 9850 Poti3: |
||
| 9763 | 9851 0053 0000 .skip 2,0 |
||
| 9764 | 9852 .global Poti4 |
||
| 9765 | 9853 .global Poti4 |
||
| 9766 | 9856 Poti4: |
||
| 9767 | 9857 0055 0000 .skip 2,0 |
||
| 9768 | 9858 .global Poti5 |
||
| 9769 | 9859 .global Poti5 |
||
| 9770 | 9862 Poti5: |
||
| 9771 | 9863 0057 0000 .skip 2,0 |
||
| 9772 | 9864 .global Poti6 |
||
| 9773 | 9865 .global Poti6 |
||
| 9774 | 9868 Poti6: |
||
| 9775 | 9869 0059 0000 .skip 2,0 |
||
| 9776 | 9870 .global Poti7 |
||
| 9777 | 9871 .global Poti7 |
||
| 9778 | 9874 Poti7: |
||
| 9779 | 9875 005b 0000 .skip 2,0 |
||
| 9780 | 9876 .global Poti8 |
||
| 9781 | 9877 .global Poti8 |
||
| 9782 | 9880 Poti8: |
||
| 9783 | 9881 005d 0000 .skip 2,0 |
||
| 9784 | 9882 .global RequiredMotors |
||
| 9785 | 9883 .global RequiredMotors |
||
| 9786 | 9886 RequiredMotors: |
||
| 9787 | 9887 005f 00 .skip 1,0 |
||
| 9788 | 9888 .global StickNick |
||
| 9789 | 9889 .global StickNick |
||
| 9790 | 9892 StickNick: |
||
| 9791 | 9893 0060 0000 .skip 2,0 |
||
| 9792 | 9894 .global StickRoll |
||
| 9793 | 9895 .global StickRoll |
||
| 9794 | 9898 StickRoll: |
||
| 9795 | 9899 0062 0000 .skip 2,0 |
||
| 9796 | 9900 .global StickYaw |
||
| 9797 | 9901 .global StickYaw |
||
| 9798 | 9904 StickYaw: |
||
| 9799 | 9905 0064 0000 .skip 2,0 |
||
| 9800 | 9906 .global StickGas |
||
| 9801 | 9907 .global StickGas |
||
| 9802 | 9910 StickGas: |
||
| 9803 | 9911 0066 0000 .skip 2,0 |
||
| 9804 | 9912 .global GPSStickNick |
||
| 9805 | 9913 .global GPSStickNick |
||
| 9806 | 9916 GPSStickNick: |
||
| 9807 | 9917 0068 0000 .skip 2,0 |
||
| 9808 | 9918 .global GPSStickRoll |
||
| 9809 | 9919 .global GPSStickRoll |
||
| 9810 | 9922 GPSStickRoll: |
||
| 9811 | 9923 006a 0000 .skip 2,0 |
||
| 9812 | 9924 .global MaxStickNick |
||
| 9813 | 9925 .global MaxStickNick |
||
| 9814 | 9928 MaxStickNick: |
||
| 9815 | 9929 006c 0000 .skip 2,0 |
||
| 9816 | 9930 .global MaxStickRoll |
||
| 9817 | 9931 .global MaxStickRoll |
||
| 9818 | 9934 MaxStickRoll: |
||
| 9819 | 9935 006e 0000 .skip 2,0 |
||
| 9820 | 9936 .global ExternStickNick |
||
| 9821 | 9937 .global ExternStickNick |
||
| 9822 | 9940 ExternStickNick: |
||
| 9823 | 9941 0070 0000 .skip 2,0 |
||
| 9824 | 9942 .global ExternStickRoll |
||
| 9825 | 9943 .global ExternStickRoll |
||
| 9826 | 9946 ExternStickRoll: |
||
| 9827 | 9947 0072 0000 .skip 2,0 |
||
| 9828 | 9948 .global ExternStickYaw |
||
| 9829 | 9949 .global ExternStickYaw |
||
| 9830 | 9952 ExternStickYaw: |
||
| 9831 | 9953 0074 0000 .skip 2,0 |
||
| 9832 | 9954 .global ExternHeightValue |
||
| 9833 | 9955 .data |
||
| 9834 | 9958 ExternHeightValue: |
||
| 9835 | 9959 0010 ECFF .word -20 |
||
| 9836 | 9960 .global SetPointHeight |
||
| 9837 | 9961 .global SetPointHeight |
||
| 9838 | 9962 .section .bss |
||
| 9839 | 9965 SetPointHeight: |
||
| 9840 | 9966 0076 0000 0000 .skip 4,0 |
||
| 9841 | 9967 .global AttitudeCorrectionRoll |
||
| 9842 | 9968 .global AttitudeCorrectionRoll |
||
| 9843 | 9971 AttitudeCorrectionRoll: |
||
| 9844 | 9972 007a 0000 .skip 2,0 |
||
| 9845 | 9973 .global AttitudeCorrectionNick |
||
| 9846 | 9974 .global AttitudeCorrectionNick |
||
| 9847 | 9977 AttitudeCorrectionNick: |
||
| 9848 | 9978 007c 0000 .skip 2,0 |
||
| 9849 | 9979 .global LoopingNick |
||
| 9850 | 9980 .global LoopingNick |
||
| 9851 | 9983 LoopingNick: |
||
| 9852 | 9984 007e 00 .skip 1,0 |
||
| 9853 | 9985 .global LoopingRoll |
||
| 9854 | 9986 .global LoopingRoll |
||
| 9855 | 9989 LoopingRoll: |
||
| 9856 | 9990 007f 00 .skip 1,0 |
||
| 9857 | 9991 .global LoopingLeft |
||
| 9858 | 9992 .global LoopingLeft |
||
| 9859 | 9995 LoopingLeft: |
||
| 9860 | 9996 0080 00 .skip 1,0 |
||
| 9861 | 9997 .global LoopingRight |
||
| 9862 | 9998 .global LoopingRight |
||
| 9863 | 10001 LoopingRight: |
||
| 9864 | 10002 0081 00 .skip 1,0 |
||
| 9865 | 10003 .global LoopingDown |
||
| 9866 | 10004 .global LoopingDown |
||
| 9867 | 10007 LoopingDown: |
||
| 9868 | 10008 0082 00 .skip 1,0 |
||
| 9869 | 10009 .global LoopingTop |
||
| 9870 | 10010 .global LoopingTop |
||
| 9871 | 10013 LoopingTop: |
||
| 9872 | 10014 0083 00 .skip 1,0 |
||
| 9873 | 10015 .global FCParam |
||
| 9874 | 10016 .data |
||
| 9875 | 10019 FCParam: |
||
| 9876 | 10020 0012 30 .byte 48 |
||
| 9877 | 10021 0013 FB .byte -5 |
||
| 9878 | 10022 0014 10 .byte 16 |
||
| 9879 | 10023 0015 3A .byte 58 |
||
| 9880 | 10024 0016 40 .byte 64 |
||
| 9881 | 10025 0017 40 .byte 64 |
||
| 9882 | 10026 0018 08 .byte 8 |
||
| 9883 | 10027 0019 96 .byte -106 |
||
| 9884 | 10028 001a 96 .byte -106 |
||
| 9885 | 10029 001b 96 .byte -106 |
||
| 9886 | 10030 001c 96 .byte -106 |
||
| 9887 | 10031 001d 02 .byte 2 |
||
| 9888 | 10032 001e 0A .byte 10 |
||
| 9889 | 10033 001f 00 .byte 0 |
||
| 9890 | 10034 0020 00 .byte 0 |
||
| 9891 | 10035 0021 00 .byte 0 |
||
| 9892 | 10036 0022 00 .byte 0 |
||
| 9893 | 10037 0023 00 .byte 0 |
||
| 9894 | 10038 0024 00 .byte 0 |
||
| 9895 | 10039 0025 00 .byte 0 |
||
| 9896 | 10040 0026 00 .byte 0 |
||
| 9897 | 10041 0027 64 .byte 100 |
||
| 9898 | 10042 0028 64 .byte 100 |
||
| 9899 | 10043 0029 46 .byte 70 |
||
| 9900 | 10044 002a 5A .byte 90 |
||
| 9901 | 10045 002b 41 .byte 65 |
||
| 9902 | 10046 002c 40 .byte 64 |
||
| 9903 | 10047 002d 64 .byte 100 |
||
| 9904 | 10048 002e 00 .byte 0 |
||
| 9905 | 10049 002f 00 .byte 0 |
||
| 9906 | 10050 0030 00 .byte 0 |
||
| 9907 | 10051 0031 0000 00 .skip 3,0 |
||
| 9908 | 10052 .lcomm HeightTrimmingFlag.2452,1 |
||
| 9909 | 10053 .lcomm BaroExpandActive.2451,2 |
||
| 9910 | 10054 .lcomm BaroFlags.2450,1 |
||
| 9911 | 10057 delay.2449: |
||
| 9912 | 10058 0034 64 .byte 100 |
||
| 9913 | 10059 .lcomm HoverGasFilter.2448,4 |
||
| 9914 | 10062 HoverGasMax.2447: |
||
| 9915 | 10063 0035 FF03 .word 1023 |
||
| 9916 | 10064 .lcomm HoverGasMin.2446,2 |
||
| 9917 | 10065 .lcomm HoverGas.2445,2 |
||
| 9918 | 10068 StickGasHover.2444: |
||
| 9919 | 10069 0037 7800 .word 120 |
||
| 9920 | 10070 .lcomm HCActive.2443,1 |
||
| 9921 | 10071 .lcomm HeightTrimming.2442,2 |
||
| 9922 | 10072 .lcomm FilterHCGas.2441,2 |
||
| 9923 | 10073 .lcomm MeanIntegralGyroRoll_old.2432,4 |
||
| 9924 | 10074 .lcomm MeanIntegralGyroNick_old.2431,4 |
||
| 9925 | 10075 .lcomm last_r_n.2430,1 |
||
| 9926 | 10076 .lcomm last_r_p.2429,1 |
||
| 9927 | 10077 .lcomm last_n_n.2428,1 |
||
| 9928 | 10078 .lcomm last_n_p.2427,1 |
||
| 9929 | 10079 .lcomm cnt.2426,2 |
||
| 9930 | 10080 .lcomm stick_roll.2425,2 |
||
| 9931 | 10081 .lcomm stick_nick.2424,2 |
||
| 9932 | 10082 .lcomm MotorValue.2421,24 |
||
| 9933 | 10083 .lcomm UpdateCompassCourse.2420,2 |
||
| 9934 | 10084 .lcomm TimerDebugOut.2419,1 |
||
| 9935 | 10085 .lcomm delay_stopmotors.2418,1 |
||
| 9936 | 10086 .lcomm delay_startmotors.2417,1 |
||
| 9937 | 10087 .lcomm delay_neutral.2416,1 |
||
| 9938 | 10088 .lcomm RcLostTimer.2415,2 |
||
| 9939 | 10089 .lcomm CorrectionRoll.2414,4 |
||
| 9940 | 10090 .lcomm CorrectionNick.2413,4 |
||
| 9941 | 10091 .lcomm IntegralGyroRollError.2412,4 |
||
| 9942 | 10092 .lcomm IntegralGyroNickError.2411,4 |
||
| 9943 | 10093 .lcomm SetPointYaw.2410,4 |
||
| 9944 | 10094 .lcomm IPartRoll.2409,4 |
||
| 9945 | 10095 .lcomm IPartNick.2408,4 |
||
| 9946 | 10098 stick.2382: |
||
| 9947 | 10099 0039 01 .byte 1 |
||
| 9948 | 10100 .lcomm Last_GyroNick.2093,2 |
||
| 9949 | 10101 .lcomm Last_GyroRoll.2092,2 |
||
| 9950 | 10102 .section .progmem.data,"a",@progbits |
||
| 9951 | 10105 __c.1965: |
||
| 9952 | 10106 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
||
| 9953 | 10106 4320 6E6F |
||
| 9954 | 10106 7420 6361 |
||
| 9955 | 10106 6C69 6272 |
||
| 9956 | 10106 6174 6564 |
||
| 9957 | 10107 .comm GyroNick,2,1 |
||
| 9958 | 10108 .comm GyroRoll,2,1 |
||
| 9959 | 10109 .comm GyroYaw,2,1 |
||
| 9960 | 10110 .comm YawGyroHeading,4,1 |
||
| 9961 | 10111 .comm AccNick,2,1 |
||
| 9962 | 10112 .comm AccRoll,2,1 |
||
| 9963 | 10113 .comm AccTop,2,1 |
||
| 9964 | 10114 .comm TrimNick,2,1 |
||
| 9965 | 10115 .comm TrimRoll,2,1 |
||
| 9966 | 10116 .comm MeanIntegralGyroNick,4,1 |
||
| 9967 | 10117 .comm MeanIntegralGyroRoll,4,1 |
||
| 9968 | 10118 .comm YawGyroDrift,2,1 |
||
| 9969 | 10119 .comm GyroPFactor,1,1 |
||
| 9970 | 10120 .comm GyroIFactor,1,1 |
||
| 9971 | 10121 .comm GyroYawPFactor,1,1 |
||
| 9972 | 10122 .comm GyroYawIFactor,1,1 |
||
| 9973 | 10123 .global __do_copy_data |
||
| 9974 | 10124 .global __do_clear_bss |
||
| 9975 | DEFINED SYMBOLS |
||
| 9976 | *ABS*:00000000 fc.c |
||
| 9977 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:2 *ABS*:0000003f __SREG__ |
||
| 9978 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:3 *ABS*:0000003e __SP_H__ |
||
| 9979 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:4 *ABS*:0000003d __SP_L__ |
||
| 9980 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:5 *ABS*:00000034 __CCP__ |
||
| 9981 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:6 *ABS*:00000000 __tmp_reg__ |
||
| 9982 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:7 *ABS*:00000001 __zero_reg__ |
||
| 9983 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:11 .text:00000000 MotorSmoothing |
||
| 9984 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:43 .text:0000002c Mean |
||
| 9985 | *COM*:00000002 GyroNick |
||
| 9986 | *COM*:00000002 GyroRoll |
||
| 9987 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9646 .bss:00000004 AdBiasGyroYaw |
||
| 9988 | *COM*:00000002 GyroYaw |
||
| 9989 | *COM*:00000002 AccNick |
||
| 9990 | *COM*:00000002 AccRoll |
||
| 9991 | *COM*:00000002 AccTop |
||
| 9992 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9730 .bss:00000036 MeanAccNick |
||
| 9993 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9736 .bss:0000003a MeanAccRoll |
||
| 9994 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9785 .bss:00000046 NaviAccNick |
||
| 9995 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9791 .bss:00000048 NaviAccRoll |
||
| 9996 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9797 .bss:0000004a NaviCntAcc |
||
| 9997 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9700 .bss:00000022 ReadingIntegralGyroNick |
||
| 9998 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9712 .bss:0000002a ReadingIntegralGyroRoll |
||
| 9999 | *COM*:00000004 YawGyroHeading |
||
| 10000 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9724 .bss:00000032 ReadingIntegralGyroYaw |
||
| 10001 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9983 .bss:0000007e LoopingNick |
||
| 10002 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9989 .bss:0000007f LoopingRoll |
||
| 10003 | *COM*:00000002 TrimNick |
||
| 10004 | *COM*:00000002 TrimRoll |
||
| 10005 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9718 .bss:0000002e ReadingIntegralGyroRoll2 |
||
| 10006 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9971 .bss:0000007a AttitudeCorrectionRoll |
||
| 10007 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9823 .data:0000000a TurnOver180Roll |
||
| 10008 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9706 .bss:00000026 ReadingIntegralGyroNick2 |
||
| 10009 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9977 .bss:0000007c AttitudeCorrectionNick |
||
| 10010 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9815 .data:00000006 TurnOver180Nick |
||
| 10011 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9694 .bss:0000001e IntegralGyroYaw |
||
| 10012 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9670 .bss:0000000e IntegralGyroNick |
||
| 10013 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9682 .bss:00000016 IntegralGyroRoll |
||
| 10014 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9676 .bss:00000012 IntegralGyroNick2 |
||
| 10015 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9688 .bss:0000001a IntegralGyroRoll2 |
||
| 10016 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10019 .data:00000012 FCParam |
||
| 10017 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10095 .bss:000000e3 Last_GyroNick.2093 |
||
| 10018 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10100 .bss:000000e5 Last_GyroRoll.2092 |
||
| 10019 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9772 .bss:00000045 FunnelCourse |
||
| 10020 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:1559 .text:00000e60 ParameterMapping |
||
| 10021 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9856 .bss:00000055 Poti4 |
||
| 10022 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9831 .data:0000000e Ki |
||
| 10023 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9838 .bss:0000004f Poti1 |
||
| 10024 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9844 .bss:00000051 Poti2 |
||
| 10025 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9850 .bss:00000053 Poti3 |
||
| 10026 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:2620 .text:000017da SendMotorData |
||
| 10027 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9809 .bss:0000004e MKFlags |
||
| 10028 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:2681 .text:0000185c SetNeutral |
||
| 10029 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9652 .bss:00000006 AdBiasAccNick |
||
| 10030 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9658 .bss:00000008 AdBiasAccRoll |
||
| 10031 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9664 .bss:0000000a AdBiasAccTop |
||
| 10032 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9634 .bss:00000000 BiasHiResGyroNick |
||
| 10033 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9640 .bss:00000002 BiasHiResGyroRoll |
||
| 10034 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9742 .bss:0000003e ReadingIntegralTop |
||
| 10035 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9748 .data:00000000 CompassHeading |
||
| 10036 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9753 .data:00000002 CompassCourse |
||
| 10037 | *COM*:00000002 YawGyroDrift |
||
| 10038 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9958 .data:00000010 ExternHeightValue |
||
| 10039 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9916 .bss:00000068 GPSStickNick |
||
| 10040 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9922 .bss:0000006a GPSStickRoll |
||
| 10041 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10105 .progmem.data:00000000 __c.1965 |
||
| 10042 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:3317 .text:00001eca Beep |
||
| 10043 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:3353 .text:00001f08 SetCompassCalState |
||
| 10044 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10098 .data:00000039 stick.2382 |
||
| 10045 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9766 .bss:00000044 CompassCalState |
||
| 10046 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:3402 .text:00001f6a MotorControl |
||
| 10047 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10087 .bss:000000c5 RcLostTimer.2415 |
||
| 10048 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9803 .bss:0000004c ModelIsFlying |
||
| 10049 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10080 .bss:000000a5 stick_nick.2424 |
||
| 10050 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9892 .bss:00000060 StickNick |
||
| 10051 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10079 .bss:000000a3 stick_roll.2425 |
||
| 10052 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9898 .bss:00000062 StickRoll |
||
| 10053 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9904 .bss:00000064 StickYaw |
||
| 10054 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9910 .bss:00000066 StickGas |
||
| 10055 | *COM*:00000001 GyroPFactor |
||
| 10056 | *COM*:00000001 GyroIFactor |
||
| 10057 | *COM*:00000001 GyroYawPFactor |
||
| 10058 | *COM*:00000001 GyroYawIFactor |
||
| 10059 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9928 .bss:0000006c MaxStickNick |
||
| 10060 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9934 .bss:0000006e MaxStickRoll |
||
| 10061 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9995 .bss:00000080 LoopingLeft |
||
| 10062 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10001 .bss:00000081 LoopingRight |
||
| 10063 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10013 .bss:00000083 LoopingTop |
||
| 10064 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10007 .bss:00000082 LoopingDown |
||
| 10065 | *COM*:00000004 MeanIntegralGyroNick |
||
| 10066 | *COM*:00000004 MeanIntegralGyroRoll |
||
| 10067 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10073 .bss:00000099 MeanIntegralGyroNick_old.2431 |
||
| 10068 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10072 .bss:00000095 MeanIntegralGyroRoll_old.2432 |
||
| 10069 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9778 .data:00000004 BadCompassHeading |
||
| 10070 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10092 .bss:000000d7 SetPointYaw.2410 |
||
| 10071 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10094 .bss:000000df IPartNick.2408 |
||
| 10072 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10093 .bss:000000db IPartRoll.2409 |
||
| 10073 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9862 .bss:00000057 Poti5 |
||
| 10074 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9868 .bss:00000059 Poti6 |
||
| 10075 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9874 .bss:0000005b Poti7 |
||
| 10076 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9880 .bss:0000005d Poti8 |
||
| 10077 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10086 .bss:000000c4 delay_neutral.2416 |
||
| 10078 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10083 .bss:000000c1 TimerDebugOut.2419 |
||
| 10079 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10081 .bss:000000a7 MotorValue.2421 |
||
| 10080 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10082 .bss:000000bf UpdateCompassCourse.2420 |
||
| 10081 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10064 .bss:0000008e HoverGas.2445 |
||
| 10082 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10052 .bss:00000085 BaroExpandActive.2451 |
||
| 10083 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10057 .data:00000034 delay.2449 |
||
| 10084 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9965 .bss:00000076 SetPointHeight |
||
| 10085 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10065 .bss:00000090 HCActive.2443 |
||
| 10086 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10091 .bss:000000d3 IntegralGyroNickError.2411 |
||
| 10087 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10089 .bss:000000cb CorrectionNick.2413 |
||
| 10088 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10090 .bss:000000cf IntegralGyroRollError.2412 |
||
| 10089 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10088 .bss:000000c7 CorrectionRoll.2414 |
||
| 10090 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10078 .bss:000000a1 cnt.2426 |
||
| 10091 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10085 .bss:000000c3 delay_startmotors.2417 |
||
| 10092 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10084 .bss:000000c2 delay_stopmotors.2418 |
||
| 10093 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10053 .bss:00000087 BaroFlags.2450 |
||
| 10094 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10068 .data:00000037 StickGasHover.2444 |
||
| 10095 | .bss:00000084 HeightTrimmingFlag.2452 |
||
| 10096 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10070 .bss:00000091 HeightTrimming.2442 |
||
| 10097 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10071 .bss:00000093 FilterHCGas.2441 |
||
| 10098 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10054 .bss:00000088 HoverGasFilter.2448 |
||
| 10099 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10059 .bss:0000008c HoverGasMin.2446 |
||
| 10100 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10062 .data:00000035 HoverGasMax.2447 |
||
| 10101 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10075 .bss:0000009e last_r_p.2429 |
||
| 10102 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10074 .bss:0000009d last_r_n.2430 |
||
| 10103 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10077 .bss:000000a0 last_n_p.2427 |
||
| 10104 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10076 .bss:0000009f last_n_n.2428 |
||
| 10105 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9760 .bss:00000042 CompassOffCourse |
||
| 10106 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9886 .bss:0000005f RequiredMotors |
||
| 10107 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9940 .bss:00000070 ExternStickNick |
||
| 10108 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9946 .bss:00000072 ExternStickRoll |
||
| 10109 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9952 .bss:00000074 ExternStickYaw |
||
| 10110 | |||
| 10111 | UNDEFINED SYMBOLS |
||
| 10112 | HiResGyroNick |
||
| 10113 | FilterHiResGyroNick |
||
| 10114 | AdValueGyroNick |
||
| 10115 | BoardRelease |
||
| 10116 | HiResGyroRoll |
||
| 10117 | FilterHiResGyroRoll |
||
| 10118 | AdValueGyroRoll |
||
| 10119 | AdValueGyroYaw |
||
| 10120 | AdValueAccNick |
||
| 10121 | __mulsi3 |
||
| 10122 | __divmodsi4 |
||
| 10123 | AdValueAccRoll |
||
| 10124 | AdValueAccTop |
||
| 10125 | ADReady |
||
| 10126 | ParamSet |
||
| 10127 | RC_Quality |
||
| 10128 | __divmodhi4 |
||
| 10129 | MotorTest_Active |
||
| 10130 | Motor |
||
| 10131 | MotorTest |
||
| 10132 | DebugOut |
||
| 10133 | I2C_Start |
||
| 10134 | ExpandBaro |
||
| 10135 | Delay_ms_Mess |
||
| 10136 | AdAirPressure |
||
| 10137 | AdValueAccZ |
||
| 10138 | __floatsisf |
||
| 10139 | SetParamWord |
||
| 10140 | __fixunssfsi |
||
| 10141 | AirPressure |
||
| 10142 | StartAirPressure |
||
| 10143 | ReadingVario |
||
| 10144 | BeepTime |
||
| 10145 | PPM_in |
||
| 10146 | SearchAirPressureOffset |
||
| 10147 | GetParamWord |
||
| 10148 | _printf_P |
||
| 10149 | __gtsf2 |
||
| 10150 | SearchDacGyroOffset |
||
| 10151 | Delay_ms |
||
| 10152 | PPM_diff |
||
| 10153 | NewPpmData |
||
| 10154 | ExternControl |
||
| 10155 | MeasurementCounter |
||
| 10156 | SetActiveParamSet |
||
| 10157 | GetActiveParamSet |
||
| 10158 | ParamSet_ReadFromEEProm |
||
| 10159 | Servo_Off |
||
| 10160 | ReadingHeight |
||
| 10161 | UBat |
||
| 10162 | ServoNickValue |
||
| 10163 | LowVoltageWarning |
||
| 10164 | __udivmodhi4 |
||
| 10165 | MissingMotor |
||
| 10166 | Mixer |
||
| 10167 | SumHeight |
||
| 10168 | ihypot |
||
| 10169 | c_cos_8192 |
||
| 10170 | NCGpsZ |
||
| 10171 | PressureSensorOffset |
||
| 10172 | Servo_On |
||
| 10173 | __do_copy_data |
||
| 10174 | __do_clear_bss |