Subversion Repositories FlightCtrl

Rev

Rev 1755 | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1755 - 1 
   1               		.file	"spi.c"
1789 - 2 
   2               	__SREG__ = 0x3f
3 
   3               	__SP_H__ = 0x3e
4 
   4               	__SP_L__ = 0x3d
5 
   5               	__CCP__  = 0x34
1755 - 6 
   6               	__tmp_reg__ = 0
7 
   7               	__zero_reg__ = 1
1789 - 8 
   8               		.text
9 
   9               	.global	SPI_MasterInit
10 
  11               	SPI_MasterInit:
11 
  12               	/* prologue: function */
12 
  13               	/* frame size = 0 */
13 
  14 0000 84B1      		in r24,36-32
14 
  15 0002 806A      		ori r24,lo8(-96)
15 
  16 0004 84B9      		out 36-32,r24
16 
  17 0006 3D9A      		sbi 39-32,5
17 
  18 0008 82E5      		ldi r24,lo8(82)
18 
  19 000a 8CBD      		out 76-32,r24
19 
  20 000c 1DBC      		out 77-32,__zero_reg__
20 
  21 000e 459A      		sbi 40-32,5
21 
  22 0010 81E0      		ldi r24,lo8(1)
22 
  23 0012 8093 0000 		sts SPITransferCompleted,r24
23 
  24 0016 8AEA      		ldi r24,lo8(-86)
24 
  25 0018 8093 0000 		sts ToNaviCtrl,r24
25 
  26 001c 83E8      		ldi r24,lo8(-125)
26 
  27 001e 8093 0000 		sts ToNaviCtrl+1,r24
27 
  28 0022 8AE0      		ldi r24,lo8(10)
28 
  29 0024 8093 0000 		sts ToNaviCtrl+2,r24
29 
  30 0028 1092 0000 		sts (ToNaviCtrl+3)+1,__zero_reg__
30 
  31 002c 1092 0000 		sts ToNaviCtrl+3,__zero_reg__
31 
  32 0030 1092 0000 		sts (ToNaviCtrl+5)+1,__zero_reg__
32 
  33 0034 1092 0000 		sts ToNaviCtrl+5,__zero_reg__
33 
  34 0038 1092 0000 		sts FromNaviCtrl_Value+3,__zero_reg__
34 
  35 003c 1092 0000 		sts SPI_RxDataValid,__zero_reg__
35 
  36               	/* epilogue start */
36 
  37 0040 0895      		ret
37 
  39               	.global	UpdateSPI_Buffer
38 
  41               	UpdateSPI_Buffer:
39 
  42 0042 EF92      		push r14
40 
  43 0044 FF92      		push r15
41 
  44 0046 0F93      		push r16
42 
  45 0048 1F93      		push r17
43 
  46               	/* prologue: function */
44 
  47               	/* frame size = 0 */
45 
  48 004a E090 0000 		lds r14,EE_Parameter+28
46 
  49 004e FF24      		clr r15
47 
  50 0050 EE0C      		lsl r14
48 
  51 0052 FF1C      		rol r15
49 
  52 0054 EE0C      		lsl r14
50 
  53 0056 FF1C      		rol r15
51 
  54 0058 0027      		clr r16
52 
  55 005a F7FC      		sbrc r15,7
53 
  56 005c 0095      		com r16
54 
  57 005e 102F      		mov r17,r16
55 
  58 0060 6091 0000 		lds r22,IntegralNick
56 
  59 0064 7091 0000 		lds r23,(IntegralNick)+1
57 
  60 0068 8091 0000 		lds r24,(IntegralNick)+2
58 
  61 006c 9091 0000 		lds r25,(IntegralNick)+3
59 
  62 0070 A801      		movw r20,r16
60 
  63 0072 9701      		movw r18,r14
61 
  64 0074 0E94 0000 		call __divmodsi4
62 
  65 0078 3093 0000 		sts (ToNaviCtrl+3)+1,r19
63 
  66 007c 2093 0000 		sts ToNaviCtrl+3,r18
64 
  67 0080 6091 0000 		lds r22,IntegralRoll
65 
  68 0084 7091 0000 		lds r23,(IntegralRoll)+1
66 
  69 0088 8091 0000 		lds r24,(IntegralRoll)+2
67 
  70 008c 9091 0000 		lds r25,(IntegralRoll)+3
68 
  71 0090 A801      		movw r20,r16
69 
  72 0092 9701      		movw r18,r14
70 
  73 0094 0E94 0000 		call __divmodsi4
71 
  74 0098 3093 0000 		sts (ToNaviCtrl+5)+1,r19
72 
  75 009c 2093 0000 		sts ToNaviCtrl+5,r18
73 
  76 00a0 6091 0000 		lds r22,ErsatzKompass
74 
  77 00a4 7091 0000 		lds r23,(ErsatzKompass)+1
75 
  78 00a8 8091 0000 		lds r24,(ErsatzKompass)+2
76 
  79 00ac 9091 0000 		lds r25,(ErsatzKompass)+3
77 
  80 00b0 2AE0      		ldi r18,lo8(10)
78 
  81 00b2 30E0      		ldi r19,hi8(10)
79 
  82 00b4 40E0      		ldi r20,hlo8(10)
80 
  83 00b6 50E0      		ldi r21,hhi8(10)
81 
  84 00b8 0E94 0000 		call __mulsi3
82 
  85 00bc 2091 0000 		lds r18,GIER_GRAD_FAKTOR
83 
  86 00c0 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
84 
  87 00c4 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
85 
  88 00c8 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
86 
  89 00cc 0E94 0000 		call __divmodsi4
87 
  90 00d0 3093 0000 		sts (ToNaviCtrl+11)+1,r19
88 
  91 00d4 2093 0000 		sts ToNaviCtrl+11,r18
89 
  92 00d8 2091 0000 		lds r18,AdWertGier
90 
  93 00dc 3091 0000 		lds r19,(AdWertGier)+1
91 
  94 00e0 8091 0000 		lds r24,AdNeutralGier
92 
  95 00e4 9091 0000 		lds r25,(AdNeutralGier)+1
93 
  96 00e8 821B      		sub r24,r18
94 
  97 00ea 930B      		sbc r25,r19
95 
  98 00ec 9093 0000 		sts (ToNaviCtrl+17)+1,r25
96 
  99 00f0 8093 0000 		sts ToNaviCtrl+17,r24
97 
 100 00f4 2091 0000 		lds r18,NaviCntAcc
98 
 101 00f8 3091 0000 		lds r19,(NaviCntAcc)+1
99 
 102 00fc 8091 0000 		lds r24,NaviAccNick
100 
 103 0100 9091 0000 		lds r25,(NaviAccNick)+1
101 
 104 0104 B901      		movw r22,r18
102 
 105 0106 0E94 0000 		call __divmodhi4
103 
 106 010a CB01      		movw r24,r22
104 
 107 010c 880F      		lsl r24
105 
 108 010e 991F      		rol r25
106 
 109 0110 860F      		add r24,r22
107 
 110 0112 971F      		adc r25,r23
108 
 111 0114 880F      		lsl r24
109 
 112 0116 991F      		rol r25
110 
 113 0118 64E0      		ldi r22,lo8(4)
111 
 114 011a 70E0      		ldi r23,hi8(4)
112 
 115 011c 0E94 0000 		call __divmodhi4
113 
 116 0120 7093 0000 		sts (ToNaviCtrl+7)+1,r23
114 
 117 0124 6093 0000 		sts ToNaviCtrl+7,r22
115 
 118 0128 8091 0000 		lds r24,NaviAccRoll
116 
 119 012c 9091 0000 		lds r25,(NaviAccRoll)+1
117 
 120 0130 B901      		movw r22,r18
118 
 121 0132 0E94 0000 		call __divmodhi4
119 
 122 0136 CB01      		movw r24,r22
120 
 123 0138 880F      		lsl r24
121 
 124 013a 991F      		rol r25
122 
 125 013c 860F      		add r24,r22
123 
 126 013e 971F      		adc r25,r23
124 
 127 0140 880F      		lsl r24
125 
 128 0142 991F      		rol r25
126 
 129 0144 64E0      		ldi r22,lo8(4)
127 
 130 0146 70E0      		ldi r23,hi8(4)
128 
 131 0148 0E94 0000 		call __divmodhi4
129 
 132 014c 7093 0000 		sts (ToNaviCtrl+9)+1,r23
130 
 133 0150 6093 0000 		sts ToNaviCtrl+9,r22
131 
 134 0154 1092 0000 		sts (NaviCntAcc)+1,__zero_reg__
132 
 135 0158 1092 0000 		sts NaviCntAcc,__zero_reg__
133 
 136 015c 1092 0000 		sts (NaviAccNick)+1,__zero_reg__
134 
 137 0160 1092 0000 		sts NaviAccNick,__zero_reg__
135 
 138 0164 1092 0000 		sts (NaviAccRoll)+1,__zero_reg__
136 
 139 0168 1092 0000 		sts NaviAccRoll,__zero_reg__
137 
 140 016c 8091 0000 		lds r24,ToNaviCtrl+2
138 
 141 0170 8D30      		cpi r24,lo8(13)
139 
 142 0172 01F4      		brne .+2
140 
 143 0174 00C0      		rjmp .L8
141 
 144 0176 8E30      		cpi r24,lo8(14)
142 
 145 0178 00F4      		brsh .L12
143 
 146 017a 8B30      		cpi r24,lo8(11)
144 
 147 017c 01F4      		brne .+2
145 
 148 017e 00C0      		rjmp .L6
146 
 149 0180 8C30      		cpi r24,lo8(12)
147 
 150 0182 00F0      		brlo .+2
148 
 151 0184 00C0      		rjmp .L7
149 
 152 0186 8A30      		cpi r24,lo8(10)
150 
 153 0188 01F0      		breq .+2
151 
 154 018a 00C0      		rjmp .L4
152 
 155 018c 00C0      		rjmp .L33
153 
 156               	.L12:
154 
 157 018e 8F30      		cpi r24,lo8(15)
155 
 158 0190 01F4      		brne .+2
156 
 159 0192 00C0      		rjmp .L10
157 
 160 0194 8F30      		cpi r24,lo8(15)
158 
 161 0196 00F4      		brsh .+2
159 
 162 0198 00C0      		rjmp .L9
160 
 163 019a 8031      		cpi r24,lo8(16)
161 
 164 019c 01F0      		breq .+2
162 
 165 019e 00C0      		rjmp .L4
163 
 166 01a0 00C0      		rjmp .L34
164 
 167               	.L33:
165 
 168 01a2 8091 0000 		lds r24,Parameter_UserParam1
166 
 169 01a6 8093 0000 		sts ToNaviCtrl+19,r24
167 
 170 01aa 8091 0000 		lds r24,Parameter_UserParam2
168 
 171 01ae 8093 0000 		sts ToNaviCtrl+20,r24
169 
 172 01b2 8091 0000 		lds r24,Parameter_UserParam3
170 
 173 01b6 8093 0000 		sts ToNaviCtrl+21,r24
171 
 174 01ba 8091 0000 		lds r24,Parameter_UserParam4
172 
 175 01be 8093 0000 		sts ToNaviCtrl+22,r24
173 
 176 01c2 8091 0000 		lds r24,Parameter_UserParam5
174 
 177 01c6 8093 0000 		sts ToNaviCtrl+23,r24
175 
 178 01ca 8091 0000 		lds r24,Parameter_UserParam6
176 
 179 01ce 8093 0000 		sts ToNaviCtrl+24,r24
177 
 180 01d2 8091 0000 		lds r24,Parameter_UserParam7
178 
 181 01d6 8093 0000 		sts ToNaviCtrl+25,r24
179 
 182 01da 8091 0000 		lds r24,Parameter_UserParam8
180 
 183 01de 8093 0000 		sts ToNaviCtrl+26,r24
181 
 184 01e2 8091 0000 		lds r24,FCFlags
182 
 185 01e6 8093 0000 		sts ToNaviCtrl+27,r24
183 
 186 01ea 8091 0000 		lds r24,FCFlags
184 
 187 01ee 837F      		andi r24,lo8(-13)
185 
 188 01f0 8093 0000 		sts FCFlags,r24
186 
 189 01f4 0E94 0000 		call GetActiveParamSet
187 
 190 01f8 8093 0000 		sts ToNaviCtrl+28,r24
188 
 191 01fc 8091 0000 		lds r24,ControlHeading
189 
 192 0200 8093 0000 		sts ToNaviCtrl+29,r24
190 
 193 0204 00C0      		rjmp .L4
191 
 194               	.L34:
192 
 195 0206 8091 0000 		lds r24,Capacity
193 
 196 020a 9091 0000 		lds r25,(Capacity)+1
194 
 197 020e 9093 0000 		sts (ToNaviCtrl+19)+1,r25
195 
 198 0212 8093 0000 		sts ToNaviCtrl+19,r24
196 
 199 0216 8091 0000 		lds r24,Capacity+4
197 
 200 021a 9091 0000 		lds r25,(Capacity+4)+1
198 
 201 021e 9093 0000 		sts (ToNaviCtrl+21)+1,r25
199 
 202 0222 8093 0000 		sts ToNaviCtrl+21,r24
200 
 203 0226 8091 0000 		lds r24,UBat
201 
 204 022a 9091 0000 		lds r25,(UBat)+1
202 
 205 022e 8093 0000 		sts ToNaviCtrl+23,r24
203 
 206 0232 8091 0000 		lds r24,BattLowVoltageWarning
204 
 207 0236 8093 0000 		sts ToNaviCtrl+24,r24
205 
 208 023a 00C0      		rjmp .L4
206 
 209               	.L8:
207 
 210 023c 8091 0000 		lds r24,EE_Parameter+78
208 
 211 0240 8093 0000 		sts ToNaviCtrl+19,r24
209 
 212 0244 8091 0000 		lds r24,EE_Parameter+79
210 
 213 0248 8093 0000 		sts ToNaviCtrl+20,r24
211 
 214 024c 8091 0000 		lds r24,EE_Parameter+80
212 
 215 0250 8093 0000 		sts ToNaviCtrl+21,r24
213 
 216 0254 8091 0000 		lds r24,EE_Parameter+81
214 
 217 0258 8093 0000 		sts ToNaviCtrl+22,r24
215 
 218 025c 8091 0000 		lds r24,EE_Parameter+82
216 
 219 0260 8093 0000 		sts ToNaviCtrl+23,r24
217 
 220 0264 8091 0000 		lds r24,EE_Parameter+86
218 
 221 0268 8093 0000 		sts ToNaviCtrl+24,r24
219 
 222 026c 8091 0000 		lds r24,EE_Parameter+87
220 
 223 0270 8093 0000 		sts ToNaviCtrl+25,r24
221 
 224 0274 8091 0000 		lds r24,EE_Parameter+88
222 
 225 0278 8093 0000 		sts ToNaviCtrl+26,r24
223 
 226 027c 8091 0000 		lds r24,EE_Parameter+91
224 
 227 0280 8093 0000 		sts ToNaviCtrl+27,r24
225 
 228 0284 8091 0000 		lds r24,EE_Parameter+89
226 
 229 0288 8093 0000 		sts ToNaviCtrl+28,r24
227 
 230 028c 8091 0000 		lds r24,EE_Parameter+90
228 
 231 0290 8093 0000 		sts ToNaviCtrl+29,r24
229 
 232 0294 8091 0000 		lds r24,EE_Parameter+92
230 
 233 0298 00C0      		rjmp .L32
231 
 234               	.L6:
232 
 235               	/* #APP */
233 
 236               	 ;  209 "spi.c" 1
234 
 237 029a F894      		cli
235 
 238               	 ;  0 "" 2
236 
 239               	/* #NOAPP */
237 
 240 029c E091 0000 		lds r30,EE_Parameter+3
238 
 241 02a0 F0E0      		ldi r31,lo8(0)
239 
 242 02a2 EE0F      		lsl r30
240 
 243 02a4 FF1F      		rol r31
241 
 244 02a6 E050      		subi r30,lo8(-(PPM_in))
242 
 245 02a8 F040      		sbci r31,hi8(-(PPM_in))
243 
 246 02aa 0190      		ld __tmp_reg__,Z+
244 
 247 02ac F081      		ld r31,Z
245 
 248 02ae E02D      		mov r30,__tmp_reg__
246 
 249 02b0 2FEF      		ldi r18,hi8(-127)
247 
 250 02b2 E138      		cpi r30,lo8(-127)
248 
 251 02b4 F207      		cpc r31,r18
249 
 252 02b6 04F4      		brge .L13
250 
 253 02b8 E1E8      		ldi r30,lo8(-127)
251 
 254 02ba FFEF      		ldi r31,hi8(-127)
252 
 255               	.L13:
253 
 256 02bc E038      		cpi r30,128
254 
 257 02be F105      		cpc r31,__zero_reg__
255 
 258 02c0 04F0      		brlt .L14
256 
 259 02c2 EFE7      		ldi r30,lo8(127)
257 
 260 02c4 F0E0      		ldi r31,hi8(127)
258 
 261               	.L14:
259 
 262 02c6 E093 0000 		sts ToNaviCtrl+19,r30
260 
 263 02ca E091 0000 		lds r30,EE_Parameter+4
261 
 264 02ce F0E0      		ldi r31,lo8(0)
262 
 265 02d0 EE0F      		lsl r30
263 
 266 02d2 FF1F      		rol r31
264 
 267 02d4 E050      		subi r30,lo8(-(PPM_in))
265 
 268 02d6 F040      		sbci r31,hi8(-(PPM_in))
266 
 269 02d8 0190      		ld __tmp_reg__,Z+
267 
 270 02da F081      		ld r31,Z
268 
 271 02dc E02D      		mov r30,__tmp_reg__
269 
 272 02de 6FEF      		ldi r22,hi8(-127)
270 
 273 02e0 E138      		cpi r30,lo8(-127)
271 
 274 02e2 F607      		cpc r31,r22
272 
 275 02e4 04F4      		brge .L15
273 
 276 02e6 E1E8      		ldi r30,lo8(-127)
274 
 277 02e8 FFEF      		ldi r31,hi8(-127)
275 
 278               	.L15:
276 
 279 02ea E038      		cpi r30,128
277 
 280 02ec F105      		cpc r31,__zero_reg__
278 
 281 02ee 04F0      		brlt .L16
279 
 282 02f0 EFE7      		ldi r30,lo8(127)
280 
 283 02f2 F0E0      		ldi r31,hi8(127)
281 
 284               	.L16:
282 
 285 02f4 E093 0000 		sts ToNaviCtrl+20,r30
283 
 286 02f8 E091 0000 		lds r30,EE_Parameter+2
284 
 287 02fc F0E0      		ldi r31,lo8(0)
285 
 288 02fe EE0F      		lsl r30
286 
 289 0300 FF1F      		rol r31
287 
 290 0302 E050      		subi r30,lo8(-(PPM_in))
288 
 291 0304 F040      		sbci r31,hi8(-(PPM_in))
289 
 292 0306 0190      		ld __tmp_reg__,Z+
290 
 293 0308 F081      		ld r31,Z
291 
 294 030a E02D      		mov r30,__tmp_reg__
292 
 295 030c 8FEF      		ldi r24,hi8(-127)
293 
 296 030e E138      		cpi r30,lo8(-127)
294 
 297 0310 F807      		cpc r31,r24
295 
 298 0312 04F4      		brge .L17
296 
 299 0314 E1E8      		ldi r30,lo8(-127)
297 
 300 0316 FFEF      		ldi r31,hi8(-127)
298 
 301               	.L17:
299 
 302 0318 E038      		cpi r30,128
300 
 303 031a F105      		cpc r31,__zero_reg__
301 
 304 031c 04F0      		brlt .L18
302 
 305 031e EFE7      		ldi r30,lo8(127)
303 
 306 0320 F0E0      		ldi r31,hi8(127)
304 
 307               	.L18:
305 
 308 0322 E093 0000 		sts ToNaviCtrl+21,r30
306 
 309 0326 E091 0000 		lds r30,EE_Parameter+1
307 
 310 032a F0E0      		ldi r31,lo8(0)
308 
 311 032c EE0F      		lsl r30
309 
 312 032e FF1F      		rol r31
310 
 313 0330 E050      		subi r30,lo8(-(PPM_in))
311 
 314 0332 F040      		sbci r31,hi8(-(PPM_in))
312 
 315 0334 0190      		ld __tmp_reg__,Z+
313 
 316 0336 F081      		ld r31,Z
314 
 317 0338 E02D      		mov r30,__tmp_reg__
315 
 318 033a 2FEF      		ldi r18,hi8(-127)
316 
 319 033c E138      		cpi r30,lo8(-127)
317 
 320 033e F207      		cpc r31,r18
318 
 321 0340 04F4      		brge .L19
319 
 322 0342 E1E8      		ldi r30,lo8(-127)
320 
 323 0344 FFEF      		ldi r31,hi8(-127)
321 
 324               	.L19:
322 
 325               	/* #APP */
323 
 326               	 ;  217 "spi.c" 1
324 
 327 0346 7894      		sei
325 
 328               	 ;  0 "" 2
326 
 329               	/* #NOAPP */
327 
 330 0348 E038      		cpi r30,128
328 
 331 034a F105      		cpc r31,__zero_reg__
329 
 332 034c 04F0      		brlt .L20
330 
 333 034e EFE7      		ldi r30,lo8(127)
331 
 334 0350 F0E0      		ldi r31,hi8(127)
332 
 335               	.L20:
333 
 336 0352 E093 0000 		sts ToNaviCtrl+22,r30
334 
 337 0356 8091 0000 		lds r24,Poti
335 
 338 035a 8093 0000 		sts ToNaviCtrl+23,r24
336 
 339 035e 8091 0000 		lds r24,Poti+1
337 
 340 0362 8093 0000 		sts ToNaviCtrl+24,r24
338 
 341 0366 8091 0000 		lds r24,Poti+2
339 
 342 036a 8093 0000 		sts ToNaviCtrl+25,r24
340 
 343 036e 8091 0000 		lds r24,Poti+3
341 
 344 0372 8093 0000 		sts ToNaviCtrl+26,r24
342 
 345 0376 8091 0000 		lds r24,Poti+4
343 
 346 037a 8093 0000 		sts ToNaviCtrl+27,r24
344 
 347 037e 8091 0000 		lds r24,Poti+5
345 
 348 0382 8093 0000 		sts ToNaviCtrl+28,r24
346 
 349 0386 8091 0000 		lds r24,Poti+6
347 
 350 038a 8093 0000 		sts ToNaviCtrl+29,r24
348 
 351 038e 8091 0000 		lds r24,Poti+7
349 
 352               	.L32:
350 
 353 0392 8093 0000 		sts ToNaviCtrl+30,r24
351 
 354 0396 00C0      		rjmp .L4
352 
 355               	.L7:
353 
 356 0398 8091 0000 		lds r24,WinkelOut+6
354 
 357 039c 8630      		cpi r24,lo8(6)
355 
 358 039e 00F0      		brlo .L21
356 
 359 03a0 1092 0000 		sts WinkelOut+6,__zero_reg__
357 
 360 03a4 85E0      		ldi r24,lo8(5)
358 
 361               	.L21:
359 
 362 03a6 8093 0000 		sts ToNaviCtrl+19,r24
360 
 363 03aa 8091 0000 		lds r24,EE_Parameter+93
361 
 364 03ae 8093 0000 		sts ToNaviCtrl+20,r24
362 
 365 03b2 6091 0000 		lds r22,HoehenWert
363 
 366 03b6 7091 0000 		lds r23,(HoehenWert)+1
364 
 367 03ba 8091 0000 		lds r24,(HoehenWert)+2
365 
 368 03be 9091 0000 		lds r25,(HoehenWert)+3
366 
 369 03c2 25E0      		ldi r18,lo8(5)
367 
 370 03c4 30E0      		ldi r19,hi8(5)
368 
 371 03c6 40E0      		ldi r20,hlo8(5)
369 
 372 03c8 50E0      		ldi r21,hhi8(5)
370 
 373 03ca 0E94 0000 		call __divmodsi4
371 
 374 03ce 3093 0000 		sts (ToNaviCtrl+21)+1,r19
372 
 375 03d2 2093 0000 		sts ToNaviCtrl+21,r18
373 
 376 03d6 6091 0000 		lds r22,SollHoehe
374 
 377 03da 7091 0000 		lds r23,(SollHoehe)+1
375 
 378 03de 8091 0000 		lds r24,(SollHoehe)+2
376 
 379 03e2 9091 0000 		lds r25,(SollHoehe)+3
377 
 380 03e6 25E0      		ldi r18,lo8(5)
378 
 381 03e8 30E0      		ldi r19,hi8(5)
379 
 382 03ea 40E0      		ldi r20,hlo8(5)
380 
 383 03ec 50E0      		ldi r21,hhi8(5)
381 
 384 03ee 0E94 0000 		call __divmodsi4
382 
 385 03f2 3093 0000 		sts (ToNaviCtrl+23)+1,r19
383 
 386 03f6 2093 0000 		sts ToNaviCtrl+23,r18
384 
 387 03fa 8091 0000 		lds r24,EE_Parameter+83
385 
 388 03fe 8093 0000 		sts ToNaviCtrl+25,r24
386 
 389 0402 8091 0000 		lds r24,EE_Parameter+84
387 
 390 0406 8093 0000 		sts ToNaviCtrl+26,r24
388 
 391 040a 8091 0000 		lds r24,EE_Parameter+85
389 
 392 040e 8093 0000 		sts ToNaviCtrl+27,r24
390 
 393 0412 8091 0000 		lds r24,SenderOkay
391 
 394 0416 8093 0000 		sts ToNaviCtrl+28,r24
392 
 395 041a 8091 0000 		lds r24,PPM_in
393 
 396 041e 9091 0000 		lds r25,(PPM_in)+1
394 
 397 0422 8093 0000 		sts ToNaviCtrl+29,r24
395 
 398 0426 8091 0000 		lds r24,DebugOut+16
396 
 399 042a 9091 0000 		lds r25,(DebugOut+16)+1
397 
 400 042e 64E0      		ldi r22,lo8(4)
398 
 401 0430 70E0      		ldi r23,hi8(4)
399 
 402 0432 0E94 0000 		call __divmodhi4
400 
 403 0436 6093 0000 		sts ToNaviCtrl+30,r22
401 
 404 043a 00C0      		rjmp .L4
402 
 405               	.L9:
403 
 406 043c 1092 0000 		sts ToNaviCtrl+19,__zero_reg__
404 
 407 0440 80E5      		ldi r24,lo8(80)
405 
 408 0442 8093 0000 		sts ToNaviCtrl+20,r24
406 
 409 0446 86E0      		ldi r24,lo8(6)
407 
 410 0448 8093 0000 		sts ToNaviCtrl+21,r24
408 
 411 044c 8EE0      		ldi r24,lo8(14)
409 
 412 044e 8093 0000 		sts ToNaviCtrl+22,r24
410 
 413 0452 8091 0000 		lds r24,PlatinenVersion
411 
 414 0456 8093 0000 		sts ToNaviCtrl+23,r24
412 
 415 045a 8091 0000 		lds r24,VersionInfo+5
413 
 416 045e 8093 0000 		sts ToNaviCtrl+24,r24
414 
 417 0462 8091 0000 		lds r24,VersionInfo+6
415 
 418 0466 8093 0000 		sts ToNaviCtrl+25,r24
416 
 419 046a 8091 0000 		lds r24,VersionInfo+7
417 
 420 046e 8093 0000 		sts ToNaviCtrl+26,r24
418 
 421 0472 00C0      		rjmp .L4
419 
 422               	.L10:
420 
 423 0474 8091 0000 		lds r24,EE_Parameter+53
421 
 424 0478 8093 0000 		sts ToNaviCtrl+19,r24
422 
 425 047c 8091 0000 		lds r24,EE_Parameter+98
423 
 426 0480 8093 0000 		sts ToNaviCtrl+20,r24
424 
 427 0484 8091 0000 		lds r24,Parameter_ServoNickControl
425 
 428 0488 8093 0000 		sts ToNaviCtrl+21,r24
426 
 429 048c 8091 0000 		lds r24,EE_Parameter+46
427 
 430 0490 8093 0000 		sts ToNaviCtrl+22,r24
428 
 431 0494 8091 0000 		lds r24,EE_Parameter+47
429 
 432 0498 8093 0000 		sts ToNaviCtrl+23,r24
430 
 433 049c 8091 0000 		lds r24,EE_Parameter+48
431 
 434 04a0 8093 0000 		sts ToNaviCtrl+24,r24
432 
 435 04a4 8091 0000 		lds r24,Parameter_ServoRollControl
433 
 436 04a8 8093 0000 		sts ToNaviCtrl+25,r24
434 
 437 04ac 8091 0000 		lds r24,EE_Parameter+50
435 
 438 04b0 8093 0000 		sts ToNaviCtrl+26,r24
436 
 439 04b4 8091 0000 		lds r24,EE_Parameter+51
437 
 440 04b8 8093 0000 		sts ToNaviCtrl+27,r24
438 
 441 04bc 8091 0000 		lds r24,EE_Parameter+52
439 
 442 04c0 8093 0000 		sts ToNaviCtrl+28,r24
440 
 443               	.L4:
441 
 444 04c4 8091 0000 		lds r24,SPI_RxDataValid
442 
 445 04c8 8823      		tst r24
443 
 446 04ca 01F4      		brne .+2
444 
 447 04cc 00C0      		rjmp .L23
445 
 448 04ce 8AEF      		ldi r24,lo8(-6)
446 
 449 04d0 8093 0000 		sts NaviDataOkay,r24
447 
 450 04d4 4091 0000 		lds r20,FromNaviCtrl+1
448 
 451 04d8 5091 0000 		lds r21,(FromNaviCtrl+1)+1
449 
 452 04dc CA01      		movw r24,r20
450 
 453 04de 8150      		subi r24,lo8(-(511))
451 
 454 04e0 9E4F      		sbci r25,hi8(-(511))
452 
 455 04e2 8F5F      		subi r24,lo8(1023)
453 
 456 04e4 9340      		sbci r25,hi8(1023)
454 
 457 04e6 00F4      		brsh .L24
455 
 458 04e8 2091 0000 		lds r18,FromNaviCtrl+3
456 
 459 04ec 3091 0000 		lds r19,(FromNaviCtrl+3)+1
457 
 460 04f0 C901      		movw r24,r18
458 
 461 04f2 8150      		subi r24,lo8(-(511))
459 
 462 04f4 9E4F      		sbci r25,hi8(-(511))
460 
 463 04f6 8F5F      		subi r24,lo8(1023)
461 
 464 04f8 9340      		sbci r25,hi8(1023)
462 
 465 04fa 00F4      		brsh .L24
463 
 466 04fc 8091 0000 		lds r24,EE_Parameter+13
464 
 467 0500 85FF      		sbrs r24,5
465 
 468 0502 00C0      		rjmp .L24
466 
 469 0504 5093 0000 		sts (GPS_Nick)+1,r21
467 
 470 0508 4093 0000 		sts GPS_Nick,r20
468 
 471 050c 3093 0000 		sts (GPS_Roll)+1,r19
469 
 472 0510 2093 0000 		sts GPS_Roll,r18
470 
 473               	.L24:
471 
 474 0514 8091 0000 		lds r24,FromNaviCtrl+7
472 
 475 0518 9091 0000 		lds r25,(FromNaviCtrl+7)+1
473 
 476 051c 21E0      		ldi r18,hi8(361)
474 
 477 051e 8936      		cpi r24,lo8(361)
475 
 478 0520 9207      		cpc r25,r18
476 
 479 0522 04F4      		brge .L25
477 
 480 0524 9093 0000 		sts (KompassValue)+1,r25
478 
 481 0528 8093 0000 		sts KompassValue,r24
479 
 482               	.L25:
480 
 483 052c 8091 0000 		lds r24,KompassValue
481 
 484 0530 9091 0000 		lds r25,(KompassValue)+1
482 
 485 0534 845E      		subi r24,lo8(-(540))
483 
 486 0536 9D4F      		sbci r25,hi8(-(540))
484 
 487 0538 2091 0000 		lds r18,KompassStartwert
485 
 488 053c 3091 0000 		lds r19,(KompassStartwert)+1
486 
 489 0540 821B      		sub r24,r18
487 
 490 0542 930B      		sbc r25,r19
488 
 491 0544 68E6      		ldi r22,lo8(360)
489 
 492 0546 71E0      		ldi r23,hi8(360)
490 
 493 0548 0E94 0000 		call __divmodhi4
491 
 494 054c 845B      		subi r24,lo8(-(-180))
492 
 495 054e 9040      		sbci r25,hi8(-(-180))
493 
 496 0550 9093 0000 		sts (KompassRichtung)+1,r25
494 
 497 0554 8093 0000 		sts KompassRichtung,r24
495 
 498 0558 2091 0000 		lds r18,FromNaviCtrl+11
496 
 499 055c 3091 0000 		lds r19,(FromNaviCtrl+11)+1
497 
 500 0560 8091 0000 		lds r24,beeptime
498 
 501 0564 9091 0000 		lds r25,(beeptime)+1
499 
 502 0568 8217      		cp r24,r18
500 
 503 056a 9307      		cpc r25,r19
501 
 504 056c 00F4      		brsh .L26
502 
 505 056e 8091 0000 		lds r24,WinkelOut+6
503 
 506 0572 8823      		tst r24
504 
 507 0574 01F4      		brne .L26
505 
 508 0576 3093 0000 		sts (beeptime)+1,r19
506 
 509 057a 2093 0000 		sts beeptime,r18
507 
 510               	.L26:
508 
 511 057e 8091 0000 		lds r24,FromNaviCtrl
509 
 512 0582 8836      		cpi r24,lo8(104)
510 
 513 0584 01F0      		breq .L29
511 
 514 0586 8936      		cpi r24,lo8(105)
512 
 515 0588 01F4      		brne .+2
513 
 516 058a 00C0      		rjmp .L30
514 
 517 058c 8736      		cpi r24,lo8(103)
515 
 518 058e 01F0      		breq .+2
516 
 519 0590 00C0      		rjmp .L31
517 
 520 0592 8091 0000 		lds r24,FromNaviCtrl+13
518 
 521 0596 8093 0000 		sts FromNaviCtrl_Value,r24
519 
 522 059a 8091 0000 		lds r24,FromNaviCtrl+14
520 
 523 059e 8093 0000 		sts FromNaviCtrl_Value+2,r24
521 
 524 05a2 8091 0000 		lds r24,FromNaviCtrl+15
522 
 525 05a6 8093 0000 		sts FromNaviCtrl_Value+1,r24
523 
 526 05aa 8091 0000 		lds r24,FromNaviCtrl+16
524 
 527 05ae 8093 0000 		sts FromNaviCtrl_Value+3,r24
525 
 528 05b2 8091 0000 		lds r24,FromNaviCtrl+17
526 
 529 05b6 8093 0000 		sts FromNaviCtrl_Value+4,r24
527 
 530 05ba 8091 0000 		lds r24,FromNaviCtrl+18
528 
 531 05be 8093 0000 		sts FromNC_Rotate_C,r24
529 
 532 05c2 8091 0000 		lds r24,FromNaviCtrl+19
530 
 533 05c6 8093 0000 		sts FromNC_Rotate_S,r24
531 
 534 05ca 00C0      		rjmp .L31
532 
 535               	.L29:
533 
 536 05cc 8091 0000 		lds r24,FromNaviCtrl+13
534 
 537 05d0 8093 0000 		sts NC_Version,r24
535 
 538 05d4 8091 0000 		lds r24,FromNaviCtrl+14
536 
 539 05d8 8093 0000 		sts NC_Version+1,r24
537 
 540 05dc 8091 0000 		lds r24,FromNaviCtrl+15
538 
 541 05e0 8093 0000 		sts NC_Version+2,r24
539 
 542 05e4 8091 0000 		lds r24,FromNaviCtrl+16
540 
 543 05e8 8093 0000 		sts NC_Version+3,r24
541 
 544 05ec 8091 0000 		lds r24,FromNaviCtrl+17
542 
 545 05f0 8093 0000 		sts NC_Version+4,r24
543 
 546 05f4 8091 0000 		lds r24,FromNaviCtrl+18
544 
 547 05f8 9091 0000 		lds r25,DebugOut
545 
 548 05fc 892B      		or r24,r25
546 
 549 05fe 8093 0000 		sts DebugOut,r24
547 
 550 0602 9091 0000 		lds r25,FromNaviCtrl+19
548 
 551 0606 9093 0000 		sts NC_ErrorCode,r25
549 
 552 060a 9C70      		andi r25,lo8(12)
550 
 553 060c 8091 0000 		lds r24,DebugOut+1
551 
 554 0610 8370      		andi r24,lo8(3)
552 
 555 0612 982B      		or r25,r24
553 
 556 0614 9093 0000 		sts DebugOut+1,r25
554 
 557 0618 00C0      		rjmp .L31
555 
 558               	.L30:
556 
 559 061a 8091 0000 		lds r24,FromNaviCtrl+13
557 
 560 061e 8093 0000 		sts GPSInfo,r24
558 
 561 0622 8091 0000 		lds r24,FromNaviCtrl+14
559 
 562 0626 8093 0000 		sts GPSInfo+1,r24
560 
 563 062a 8091 0000 		lds r24,FromNaviCtrl+15
561 
 564 062e 8093 0000 		sts GPSInfo+2,r24
562 
 565 0632 8091 0000 		lds r24,FromNaviCtrl+16
563 
 566 0636 8093 0000 		sts GPSInfo+3,r24
564 
 567 063a 8091 0000 		lds r24,FromNaviCtrl+17
565 
 568 063e 9091 0000 		lds r25,(FromNaviCtrl+17)+1
566 
 569 0642 9093 0000 		sts (GPSInfo+4)+1,r25
567 
 570 0646 8093 0000 		sts GPSInfo+4,r24
568 
 571 064a 8091 0000 		lds r24,FromNaviCtrl+19
569 
 572 064e 9091 0000 		lds r25,(FromNaviCtrl+19)+1
570 
 573 0652 9093 0000 		sts (GPSInfo+6)+1,r25
571 
 574 0656 8093 0000 		sts GPSInfo+6,r24
572 
 575 065a 00C0      		rjmp .L31
573 
 576               	.L23:
574 
 577 065c 1092 0000 		sts (GPS_Nick)+1,__zero_reg__
575 
 578 0660 1092 0000 		sts GPS_Nick,__zero_reg__
576 
 579 0664 1092 0000 		sts (GPS_Roll)+1,__zero_reg__
577 
 580 0668 1092 0000 		sts GPS_Roll,__zero_reg__
578 
 581               	.L31:
579 
 582               	/* epilogue start */
580 
 583 066c 1F91      		pop r17
581 
 584 066e 0F91      		pop r16
582 
 585 0670 FF90      		pop r15
583 
 586 0672 EF90      		pop r14
584 
 587 0674 0895      		ret
585 
 589               	.global	SPI_StartTransmitPacket
586 
 591               	SPI_StartTransmitPacket:
587 
 592               	/* prologue: function */
588 
 593               	/* frame size = 0 */
589 
 594 0676 8091 0000 		lds r24,SPITransferCompleted
590 
 595 067a 8823      		tst r24
591 
 596 067c 01F4      		brne .+2
592 
 597 067e 00C0      		rjmp .L38
593 
 598 0680 4598      		cbi 40-32,5
594 
 599 0682 80E0      		ldi r24,lo8(ToNaviCtrl)
595 
 600 0684 90E0      		ldi r25,hi8(ToNaviCtrl)
596 
 601 0686 9093 0000 		sts (SPI_TX_Buffer)+1,r25
597 
 602 068a 8093 0000 		sts SPI_TX_Buffer,r24
598 
 603 068e 9091 0000 		lds r25,SPI_CommandCounter
599 
 604 0692 E92F      		mov r30,r25
600 
 605 0694 F0E0      		ldi r31,lo8(0)
601 
 606 0696 E050      		subi r30,lo8(-(SPI_CommandSequence))
602 
 607 0698 F040      		sbci r31,hi8(-(SPI_CommandSequence))
603 
 608 069a 8081      		ld r24,Z
604 
 609 069c 8093 0000 		sts ToNaviCtrl+2,r24
605 
 610 06a0 9F5F      		subi r25,lo8(-(1))
606 
 611 06a2 9093 0000 		sts SPI_CommandCounter,r25
607 
 612 06a6 9930      		cpi r25,lo8(9)
608 
 613 06a8 00F0      		brlo .L37
609 
 614 06aa 1092 0000 		sts SPI_CommandCounter,__zero_reg__
610 
 615               	.L37:
611 
 616 06ae 1092 0000 		sts SPITransferCompleted,__zero_reg__
612 
 617 06b2 0E94 0000 		call UpdateSPI_Buffer
613 
 618 06b6 81E0      		ldi r24,lo8(1)
614 
 619 06b8 8093 0000 		sts SPI_BufferIndex,r24
615 
 620               	/* #APP */
616 
 621               	 ;  75 "spi.c" 1
617 
 622 06bc 0000      		nop
618 
 623               	 ;  0 "" 2
619 
 624               	 ;  75 "spi.c" 1
620 
 625 06be 0000      		nop
621 
 626               	 ;  0 "" 2
622 
 627               	 ;  75 "spi.c" 1
623 
 628 06c0 0000      		nop
624 
 629               	 ;  0 "" 2
625 
 630               	 ;  75 "spi.c" 1
626 
 631 06c2 0000      		nop
627 
 632               	 ;  0 "" 2
628 
 633               	 ;  75 "spi.c" 1
629 
 634 06c4 0000      		nop
630 
 635               	 ;  0 "" 2
631 
 636               	 ;  75 "spi.c" 1
632 
 637 06c6 0000      		nop
633 
 638               	 ;  0 "" 2
634 
 639               	 ;  75 "spi.c" 1
635 
 640 06c8 0000      		nop
636 
 641               	 ;  0 "" 2
637 
 642               	 ;  75 "spi.c" 1
638 
 643 06ca 0000      		nop
639 
 644               	 ;  0 "" 2
640 
 645               	 ;  76 "spi.c" 1
641 
 646 06cc 0000      		nop
642 
 647               	 ;  0 "" 2
643 
 648               	 ;  76 "spi.c" 1
644 
 649 06ce 0000      		nop
645 
 650               	 ;  0 "" 2
646 
 651               	 ;  76 "spi.c" 1
647 
 652 06d0 0000      		nop
648 
 653               	 ;  0 "" 2
649 
 654               	 ;  76 "spi.c" 1
650 
 655 06d2 0000      		nop
651 
 656               	 ;  0 "" 2
652 
 657               	 ;  76 "spi.c" 1
653 
 658 06d4 0000      		nop
654 
 659               	 ;  0 "" 2
655 
 660               	 ;  76 "spi.c" 1
656 
 661 06d6 0000      		nop
657 
 662               	 ;  0 "" 2
658 
 663               	 ;  76 "spi.c" 1
659 
 664 06d8 0000      		nop
660 
 665               	 ;  0 "" 2
661 
 666               	 ;  76 "spi.c" 1
662 
 667 06da 0000      		nop
663 
 668               	 ;  0 "" 2
664 
 669               	 ;  77 "spi.c" 1
665 
 670 06dc 0000      		nop
666 
 671               	 ;  0 "" 2
667 
 672               	 ;  77 "spi.c" 1
668 
 673 06de 0000      		nop
669 
 674               	 ;  0 "" 2
670 
 675               	 ;  77 "spi.c" 1
671 
 676 06e0 0000      		nop
672 
 677               	 ;  0 "" 2
673 
 678               	 ;  77 "spi.c" 1
674 
 679 06e2 0000      		nop
675 
 680               	 ;  0 "" 2
676 
 681               	 ;  77 "spi.c" 1
677 
 682 06e4 0000      		nop
678 
 683               	 ;  0 "" 2
679 
 684               	 ;  77 "spi.c" 1
680 
 685 06e6 0000      		nop
681 
 686               	 ;  0 "" 2
682 
 687               	 ;  77 "spi.c" 1
683 
 688 06e8 0000      		nop
684 
 689               	 ;  0 "" 2
685 
 690               	 ;  77 "spi.c" 1
686 
 691 06ea 0000      		nop
687 
 692               	 ;  0 "" 2
688 
 693               	/* #NOAPP */
689 
 694 06ec 8091 0000 		lds r24,ToNaviCtrl
690 
 695 06f0 8093 0000 		sts ToNaviCtrl+31,r24
691 
 696 06f4 8EBD      		out 78-32,r24
692 
 697               	.L38:
693 
 698 06f6 0895      		ret
694 
 700               	.global	SPI_TransmitByte
695 
 702               	SPI_TransmitByte:
696 
 703               	/* prologue: function */
697 
 704               	/* frame size = 0 */
698 
 705 06f8 8091 0000 		lds r24,SPITransferCompleted
699 
 706 06fc 8823      		tst r24
700 
 707 06fe 01F0      		breq .+2
701 
 708 0700 00C0      		rjmp .L52
702 
 709 0702 0DB4      		in __tmp_reg__,77-32
703 
 710 0704 07FE      		sbrs __tmp_reg__,7
704 
 711 0706 00C0      		rjmp .L52
705 
 712 0708 84E0      		ldi r24,lo8(4)
706 
 713 070a 8093 0000 		sts SendSPI,r24
707 
 714 070e 459A      		sbi 40-32,5
708 
 715 0710 2EB5      		in r18,78-32
709 
 716 0712 8091 0000 		lds r24,SPI_RXState.2259
710 
 717 0716 8130      		cpi r24,lo8(1)
711 
 718 0718 01F0      		breq .L43
712 
 719 071a 8130      		cpi r24,lo8(1)
713 
 720 071c 00F0      		brlo .L42
714 
 721 071e 8230      		cpi r24,lo8(2)
715 
 722 0720 01F4      		brne .L41
716 
 723 0722 00C0      		rjmp .L55
717 
 724               	.L42:
718 
 725 0724 1092 0000 		sts SPI_RxBufferIndex,__zero_reg__
719 
 726 0728 2093 0000 		sts rxchksum.2261,r18
720 
 727 072c 2138      		cpi r18,lo8(-127)
721 
 728 072e 01F4      		brne .L41
722 
 729 0730 81E0      		ldi r24,lo8(1)
723 
 730 0732 00C0      		rjmp .L54
724 
 731               	.L43:
725 
 732 0734 2535      		cpi r18,lo8(85)
726 
 733 0736 01F4      		brne .L49
727 
 734 0738 8091 0000 		lds r24,rxchksum.2261
728 
 735 073c 8B5A      		subi r24,lo8(-(85))
729 
 736 073e 8093 0000 		sts rxchksum.2261,r24
730 
 737 0742 82E0      		ldi r24,lo8(2)
731 
 738               	.L54:
732 
 739 0744 8093 0000 		sts SPI_RXState.2259,r24
733 
 740 0748 00C0      		rjmp .L41
734 
 741               	.L55:
735 
 742 074a 8091 0000 		lds r24,SPI_RxBufferIndex
736 
 743 074e E82F      		mov r30,r24
737 
 744 0750 F0E0      		ldi r31,lo8(0)
738 
 745 0752 E050      		subi r30,lo8(-(SPI_Buffer))
739 
 746 0754 F040      		sbci r31,hi8(-(SPI_Buffer))
740 
 747 0756 2083      		st Z,r18
741 
 748 0758 8F5F      		subi r24,lo8(-(1))
742 
 749 075a 8093 0000 		sts SPI_RxBufferIndex,r24
743 
 750 075e 9091 0000 		lds r25,rxchksum.2261
744 
 751 0762 8A31      		cpi r24,lo8(26)
745 
 752 0764 00F0      		brlo .L46
746 
 753 0766 2917      		cp r18,r25
747 
 754 0768 01F4      		brne .L47
748 
 755 076a A0E0      		ldi r26,lo8(FromNaviCtrl)
749 
 756 076c B0E0      		ldi r27,hi8(FromNaviCtrl)
750 
 757 076e E0E0      		ldi r30,lo8(SPI_Buffer)
751 
 758 0770 F0E0      		ldi r31,hi8(SPI_Buffer)
752 
 759 0772 8AE1      		ldi r24,lo8(26)
753 
 760               	.L48:
754 
 761 0774 0190      		ld r0,Z+
755 
 762 0776 0D92      		st X+,r0
756 
 763 0778 8150      		subi r24,lo8(-(-1))
757 
 764 077a 01F4      		brne .L48
758 
 765 077c 81E0      		ldi r24,lo8(1)
759 
 766 077e 8093 0000 		sts SPI_RxDataValid,r24
760 
 767 0782 00C0      		rjmp .L49
761 
 768               	.L47:
762 
 769 0784 1092 0000 		sts SPI_RxDataValid,__zero_reg__
763 
 770               	.L49:
764 
 771 0788 1092 0000 		sts SPI_RXState.2259,__zero_reg__
765 
 772 078c 00C0      		rjmp .L41
766 
 773               	.L46:
767 
 774 078e 920F      		add r25,r18
768 
 775 0790 9093 0000 		sts rxchksum.2261,r25
769 
 776               	.L41:
770 
 777 0794 2091 0000 		lds r18,SPI_BufferIndex
771 
 778 0798 2032      		cpi r18,lo8(32)
772 
 779 079a 00F0      		brlo .+2
773 
 780 079c 00C0      		rjmp .L50
774 
 781 079e 4598      		cbi 40-32,5
775 
 782               	/* #APP */
776 
 783               	 ;  141 "spi.c" 1
777 
 784 07a0 0000      		nop
778 
 785               	 ;  0 "" 2
779 
 786               	 ;  141 "spi.c" 1
780 
 787 07a2 0000      		nop
781 
 788               	 ;  0 "" 2
782 
 789               	 ;  141 "spi.c" 1
783 
 790 07a4 0000      		nop
784 
 791               	 ;  0 "" 2
785 
 792               	 ;  141 "spi.c" 1
786 
 793 07a6 0000      		nop
787 
 794               	 ;  0 "" 2
788 
 795               	 ;  141 "spi.c" 1
789 
 796 07a8 0000      		nop
790 
 797               	 ;  0 "" 2
791 
 798               	 ;  141 "spi.c" 1
792 
 799 07aa 0000      		nop
793 
 800               	 ;  0 "" 2
794 
 801               	 ;  141 "spi.c" 1
795 
 802 07ac 0000      		nop
796 
 803               	 ;  0 "" 2
797 
 804               	 ;  141 "spi.c" 1
798 
 805 07ae 0000      		nop
799 
 806               	 ;  0 "" 2
800 
 807               	 ;  142 "spi.c" 1
801 
 808 07b0 0000      		nop
802 
 809               	 ;  0 "" 2
803 
 810               	 ;  142 "spi.c" 1
804 
 811 07b2 0000      		nop
805 
 812               	 ;  0 "" 2
806 
 813               	 ;  142 "spi.c" 1
807 
 814 07b4 0000      		nop
808 
 815               	 ;  0 "" 2
809 
 816               	 ;  142 "spi.c" 1
810 
 817 07b6 0000      		nop
811 
 818               	 ;  0 "" 2
812 
 819               	 ;  142 "spi.c" 1
813 
 820 07b8 0000      		nop
814 
 821               	 ;  0 "" 2
815 
 822               	 ;  142 "spi.c" 1
816 
 823 07ba 0000      		nop
817 
 824               	 ;  0 "" 2
818 
 825               	 ;  142 "spi.c" 1
819 
 826 07bc 0000      		nop
820 
 827               	 ;  0 "" 2
821 
 828               	 ;  142 "spi.c" 1
822 
 829 07be 0000      		nop
823 
 830               	 ;  0 "" 2
824 
 831               	 ;  143 "spi.c" 1
825 
 832 07c0 0000      		nop
826 
 833               	 ;  0 "" 2
827 
 834               	 ;  143 "spi.c" 1
828 
 835 07c2 0000      		nop
829 
 836               	 ;  0 "" 2
830 
 837               	 ;  143 "spi.c" 1
831 
 838 07c4 0000      		nop
832 
 839               	 ;  0 "" 2
833 
 840               	 ;  143 "spi.c" 1
834 
 841 07c6 0000      		nop
835 
 842               	 ;  0 "" 2
836 
 843               	 ;  143 "spi.c" 1
837 
 844 07c8 0000      		nop
838 
 845               	 ;  0 "" 2
839 
 846               	 ;  143 "spi.c" 1
840 
 847 07ca 0000      		nop
841 
 848               	 ;  0 "" 2
842 
 849               	 ;  143 "spi.c" 1
843 
 850 07cc 0000      		nop
844 
 851               	 ;  0 "" 2
845 
 852               	 ;  143 "spi.c" 1
846 
 853 07ce 0000      		nop
847 
 854               	 ;  0 "" 2
848 
 855               	/* #NOAPP */
849 
 856 07d0 E091 0000 		lds r30,SPI_TX_Buffer
850 
 857 07d4 F091 0000 		lds r31,(SPI_TX_Buffer)+1
851 
 858 07d8 E20F      		add r30,r18
852 
 859 07da F11D      		adc r31,__zero_reg__
853 
 860 07dc 8081      		ld r24,Z
854 
 861 07de 8EBD      		out 78-32,r24
855 
 862 07e0 9091 0000 		lds r25,ToNaviCtrl+31
856 
 863 07e4 890F      		add r24,r25
857 
 864 07e6 8093 0000 		sts ToNaviCtrl+31,r24
858 
 865 07ea 00C0      		rjmp .L51
859 
 866               	.L50:
860 
 867 07ec 81E0      		ldi r24,lo8(1)
861 
 868 07ee 8093 0000 		sts SPITransferCompleted,r24
862 
 869               	.L51:
863 
 870 07f2 2F5F      		subi r18,lo8(-(1))
864 
 871 07f4 2093 0000 		sts SPI_BufferIndex,r18
865 
 872               	.L52:
866 
 873 07f8 0895      		ret
867 
 875               	.global	FromNC_Rotate_C
868 
 876               		.data
869 
 879               	FromNC_Rotate_C:
870 
 880 0000 20        		.byte	32
871 
 881               	.global	FromNC_Rotate_S
872 
 882               	.global	FromNC_Rotate_S
873 
 883               		.section .bss
874 
 886               	FromNC_Rotate_S:
875 
 887 0000 00        		.skip 1,0
876 
 888               	.global	NaviDataOkay
877 
 889               		.data
878 
 892               	NaviDataOkay:
879 
 893 0001 FA        		.byte	-6
880 
 894               	.global	SPI_CommandSequence
881 
 897               	SPI_CommandSequence:
882 
 898 0002 0B        		.byte	11
883 
 899 0003 0A        		.byte	10
884 
 900 0004 0D        		.byte	13
885 
 901 0005 0B        		.byte	11
886 
 902 0006 0C        		.byte	12
887 
 903 0007 0E        		.byte	14
888 
 904 0008 0B        		.byte	11
889 
 905 0009 0F        		.byte	15
890 
 906 000a 10        		.byte	16
891 
 907               	.global	SPI_CommandCounter
892 
 908               	.global	SPI_CommandCounter
893 
 909               		.section .bss
894 
 912               	SPI_CommandCounter:
895 
 913 0001 00        		.skip 1,0
896 
 914               	.global	NC_ErrorCode
897 
 915               	.global	NC_ErrorCode
898 
 918               	NC_ErrorCode:
899 
 919 0002 00        		.skip 1,0
900 
 920               		.lcomm rxchksum.2261,1
901 
 921               		.lcomm SPI_RXState.2259,1
902 
 922               		.comm GPSInfo,8,1
903 
 923               		.comm NC_Version,5,1
904 
 924               		.comm FromNaviCtrl_Value,5,1
905 
 925               		.comm ToNaviCtrl,32,1
906 
 926               		.comm FromNaviCtrl,26,1
907 
 927               		.comm SPI_BufferIndex,1,1
908 
 928               		.comm SPI_RxBufferIndex,1,1
909 
 929               		.comm SPI_Buffer,26,1
910 
 930               		.comm SPI_TX_Buffer,2,1
911 
 931               		.comm SPITransferCompleted,1,1
912 
 932               		.comm SPI_ChkSum,1,1
913 
 933               		.comm SPI_RxDataValid,1,1
914 
 934               	.global __do_copy_data
915 
 935               	.global __do_clear_bss
1755 - 916 
DEFINED SYMBOLS
917 
                            *ABS*:00000000 spi.c
1789 - 918 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:2      *ABS*:0000003f __SREG__
919 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:3      *ABS*:0000003e __SP_H__
920 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:4      *ABS*:0000003d __SP_L__
921 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:5      *ABS*:00000034 __CCP__
922 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:6      *ABS*:00000000 __tmp_reg__
923 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:7      *ABS*:00000001 __zero_reg__
924 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:11     .text:00000000 SPI_MasterInit
1755 - 925 
                            *COM*:00000001 SPITransferCompleted
926 
                            *COM*:00000020 ToNaviCtrl
927 
                            *COM*:00000005 FromNaviCtrl_Value
928 
                            *COM*:00000001 SPI_RxDataValid
1789 - 929 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:41     .text:00000042 UpdateSPI_Buffer
930 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:892    .data:00000001 NaviDataOkay
1755 - 931 
                            *COM*:0000001a FromNaviCtrl
1789 - 932 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:879    .data:00000000 FromNC_Rotate_C
933 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:886    .bss:00000000 FromNC_Rotate_S
1755 - 934 
                            *COM*:00000005 NC_Version
1789 - 935 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:918    .bss:00000002 NC_ErrorCode
1755 - 936 
                            *COM*:00000008 GPSInfo
1789 - 937 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:591    .text:00000676 SPI_StartTransmitPacket
938 
                            *COM*:00000002 SPI_TX_Buffer
939 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:912    .bss:00000001 SPI_CommandCounter
940 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:897    .data:00000002 SPI_CommandSequence
941 
                            *COM*:00000001 SPI_BufferIndex
942 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:702    .text:000006f8 SPI_TransmitByte
943 
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccV068Pj.s:920    .bss:00000004 SPI_RXState.2259
944 
                            *COM*:00000001 SPI_RxBufferIndex
945 
                             .bss:00000003 rxchksum.2261
946 
                            *COM*:0000001a SPI_Buffer
1755 - 947 
                            *COM*:00000001 SPI_ChkSum
948 
 
949 
UNDEFINED SYMBOLS
950 
EE_Parameter
951 
IntegralNick
952 
__divmodsi4
953 
IntegralRoll
954 
ErsatzKompass
1789 - 955 
__mulsi3
1755 - 956 
GIER_GRAD_FAKTOR
1789 - 957 
AdWertGier
1755 - 958 
AdNeutralGier
959 
NaviCntAcc
960 
NaviAccNick
961 
__divmodhi4
962 
NaviAccRoll
963 
Parameter_UserParam1
964 
Parameter_UserParam2
965 
Parameter_UserParam3
966 
Parameter_UserParam4
967 
Parameter_UserParam5
968 
Parameter_UserParam6
969 
Parameter_UserParam7
970 
Parameter_UserParam8
971 
FCFlags
972 
GetActiveParamSet
973 
ControlHeading
974 
Capacity
975 
UBat
976 
BattLowVoltageWarning
977 
PPM_in
978 
Poti
979 
WinkelOut
980 
HoehenWert
981 
SollHoehe
982 
SenderOkay
983 
DebugOut
984 
PlatinenVersion
985 
VersionInfo
986 
Parameter_ServoNickControl
987 
Parameter_ServoRollControl
988 
GPS_Nick
989 
GPS_Roll
990 
KompassValue
991 
KompassStartwert
992 
KompassRichtung
993 
beeptime
1789 - 994 
SendSPI
995 
__do_copy_data
996 
__do_clear_bss