| /branches/BL-Ctrl/BLMC.c |
|---|
| 0,0 → 1,196 |
| /*############################################################################ |
| + Regler für Brushless-Motoren |
| + ATMEGA8 mit 8MHz |
| + (c) 01.2007 Holger Buss |
| + Nur für den privaten Gebrauch |
| + Keine Garantie auf Fehlerfreiheit |
| + Kommerzielle Nutzung nur mit meiner Zustimmung |
| + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
| + www.mikrocontroller.com |
| ############################################################################*/ |
| #include "main.h" |
| volatile unsigned char Phase = 0,ShadowTCCR1A = 0; |
| volatile unsigned char CompFreigabeTimer = 100; |
| volatile unsigned char CompInterruptFreigabe = 0; |
| //############################################################################ |
| // |
| SIGNAL(SIG_OVERFLOW2) |
| //############################################################################ |
| { |
| } |
| //############################################################################ |
| // + Interruptroutine |
| // + Wird durch den Analogkomperator ausgelöst |
| // + Dadurch wird das Kommutieren erzeugt |
| SIGNAL(SIG_COMPARATOR) |
| //############################################################################ |
| { |
| unsigned char sense = 0; |
| do |
| { |
| if(SENSE_H) sense = 1; else sense = 0; |
| switch(Phase) |
| { |
| case 0: |
| STEUER_A_H; |
| if(sense) |
| { |
| STEUER_C_L; |
| TCNT2 = 1; |
| if(ZeitZumAdWandeln) AdConvert(); |
| SENSE_FALLING_INT; |
| SENSE_B; |
| Phase++; |
| CntKommutierungen++; |
| } |
| else |
| { |
| STEUER_B_L; |
| } |
| break; |
| case 1: |
| STEUER_C_L; |
| if(!sense) |
| { |
| STEUER_B_H; |
| TCNT2 = 1; |
| if(ZeitZumAdWandeln) AdConvert(); |
| SENSE_A; |
| SENSE_RISING_INT; |
| Phase++; |
| CntKommutierungen++; |
| } |
| else |
| { |
| STEUER_A_H; |
| } |
| break; |
| case 2: |
| STEUER_B_H; |
| if(sense) |
| { |
| STEUER_A_L; |
| TCNT2 = 1; |
| if(ZeitZumAdWandeln) AdConvert(); |
| SENSE_C; |
| SENSE_FALLING_INT; |
| Phase++; |
| CntKommutierungen++; |
| } |
| else |
| { |
| STEUER_C_L; |
| } |
| break; |
| case 3: |
| STEUER_A_L; |
| if(!sense) |
| { |
| STEUER_C_H; |
| TCNT2 = 1; |
| if(ZeitZumAdWandeln) AdConvert(); |
| SENSE_B; |
| SENSE_RISING_INT; |
| Phase++; |
| CntKommutierungen++; |
| } |
| else |
| { |
| STEUER_B_H; |
| } |
| break; |
| case 4: |
| STEUER_C_H; |
| if(sense) |
| { |
| STEUER_B_L; |
| TCNT2 = 1; |
| if(ZeitZumAdWandeln) AdConvert(); |
| SENSE_A; |
| SENSE_FALLING_INT; |
| Phase++; |
| CntKommutierungen++; |
| } |
| else |
| { |
| STEUER_A_L; |
| } |
| break; |
| case 5: |
| STEUER_B_L; |
| if(!sense) |
| { |
| STEUER_A_H; |
| TCNT2 = 1; |
| if(ZeitZumAdWandeln) AdConvert(); |
| SENSE_C; |
| SENSE_RISING_INT; |
| Phase = 0; |
| CntKommutierungen++; |
| } |
| else |
| { |
| STEUER_C_H; |
| } |
| break; |
| } |
| } |
| while((SENSE_L && sense) || (SENSE_H && !sense)); |
| ZeitZumAdWandeln = 0; |
| } |
| //############################################################################ |
| // |
| void Manuell(void) |
| //############################################################################ |
| { |
| switch(Phase) |
| { |
| case 0: |
| STEUER_A_H; |
| STEUER_B_L; |
| SENSE_C; |
| SENSE_RISING_INT; |
| break; |
| case 1: |
| STEUER_A_H; |
| STEUER_C_L; |
| SENSE_B; |
| SENSE_FALLING_INT; |
| break; |
| case 2: |
| STEUER_B_H; |
| STEUER_C_L; |
| SENSE_A; |
| SENSE_RISING_INT; |
| break; |
| case 3: |
| STEUER_B_H; |
| STEUER_A_L; |
| SENSE_C; |
| SENSE_FALLING_INT; |
| break; |
| case 4: |
| STEUER_C_H; |
| STEUER_A_L; |
| SENSE_B; |
| SENSE_RISING_INT; |
| break; |
| case 5: |
| STEUER_C_H; |
| STEUER_B_L; |
| SENSE_A; |
| SENSE_FALLING_INT; |
| break; |
| } |
| } |
| /branches/BL-Ctrl/BLMC.h |
|---|
| 0,0 → 1,55 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef BLMC_H_ |
| #define BLMC_H_ |
| extern volatile unsigned char Phase; |
| extern volatile unsigned char ShadowTCCR1A; |
| extern volatile unsigned char CompInterruptFreigabe; |
| void Blc(void); |
| void Manuell(void); |
| #ifdef _32KHZ |
| #define PWM_C_ON {TCCR1A = 0xA1; TCCR2 = 0x49; DDRB = 0x0A;} |
| #define PWM_B_ON {TCCR1A = 0xA1; TCCR2 = 0x49; DDRB = 0x0C;} |
| #define PWM_A_ON {TCCR1A = 0xA1; TCCR2 = 0x69; DDRB = 0x08;} |
| #define PWM_OFF {TCCR1A = 0x01; TCCR2 = 0x49; PORTC &= ~0x0E;} |
| #endif |
| #ifdef _16KHZ |
| #define PWM_C_ON {TCCR1A = 0xA2; TCCR2 = 0x41; DDRB = 0x0A;} |
| #define PWM_B_ON {TCCR1A = 0xA2; TCCR2 = 0x41; DDRB = 0x0C;} |
| #define PWM_A_ON {TCCR1A = 0xA2; TCCR2 = 0x61; DDRB = 0x08;} |
| #define PWM_OFF {TCCR1A = 0x02; TCCR2 = 0x41; PORTC &= ~0x0E;} |
| #endif |
| #define STEUER_A_H {PWM_A_ON} |
| #define STEUER_B_H {PWM_B_ON} |
| #define STEUER_C_H {PWM_C_ON} |
| #define STEUER_A_L {PORTD &= ~0x30; PORTD |= 0x08;} |
| #define STEUER_B_L {PORTD &= ~0x28; PORTD |= 0x10;} |
| #define STEUER_C_L {PORTD &= ~0x18; PORTD |= 0x20;} |
| #define STEUER_OFF {PORTD &= ~0x38; PWM_OFF;} |
| #define SENSE_A ADMUX = 0; |
| #define SENSE_B ADMUX = 1; |
| #define SENSE_C ADMUX = 2; |
| #define ClrSENSE ACSR |= 0x10 |
| #define SENSE ((ACSR & 0x10)) |
| #define SENSE_L (!(ACSR & 0x20)) |
| #define SENSE_H ((ACSR & 0x20)) |
| #define ENABLE_SENSE_INT {CompInterruptFreigabe = 1;ACSR |= 0x0A; } |
| #define DISABLE_SENSE_INT {CompInterruptFreigabe = 0; ACSR &= ~0x08; } |
| #define SENSE_FALLING_INT ACSR &= ~0x01 |
| #define SENSE_RISING_INT ACSR |= 0x03 |
| #define SENSE_TOGGLE_INT ACSR &= ~0x03 |
| #endif //BLMC_H_ |
| /branches/BL-Ctrl/BL_Ctrl.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="avr_ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="analog.h"></File><File path="analog.c"></File><File path="PPM_Decode.c"></File><File path="PPM_Decode.h"></File><File path="twislave.c"></File><File path="twislave.h"></File><File path="BLMC.c"></File><File path="BLMC.h"></File></Project> |
| /branches/BL-Ctrl/BL_Ctrl.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="avr_ctrl" x="true"></e></ViewState></pd> |
| /branches/BL-Ctrl/BrushLess-Ctrl_8kHz_PWM_V0_31_1.hex |
|---|
| 0,0 → 1,292 |
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| /branches/BL-Ctrl/PPM_Decode.c |
|---|
| 0,0 → 1,76 |
| /*############################################################################ |
| + Regler für Brushless-Motoren |
| + ATMEGA8 mit 8MHz |
| + (c) 01.2007 Holger Buss |
| + Nur für den privaten Gebrauch |
| + Keine Garantie auf Fehlerfreiheit |
| + Kommerzielle Nutzung nur mit meiner Zustimmung |
| + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
| + www.mikrocontroller.com |
| ############################################################################*/ |
| #include "main.h" |
| volatile unsigned int PPM_Signal = 0; |
| volatile unsigned char Timer1Overflow = 0; |
| volatile unsigned char PPM_Timeout = 0; // Ungültig, wenn Null |
| //############################################################################ |
| // |
| void InitPPM(void) |
| //############################################################################ |
| { |
| TCCR1B |= (1<<ICES1)|(1<<ICNC1); |
| ICP_POS_FLANKE; |
| ICP_INT_ENABLE; |
| TIMER1_INT_ENABLE; |
| } |
| //############################################################################ |
| // |
| SIGNAL(SIG_OVERFLOW1) |
| //############################################################################ |
| { |
| Timer1Overflow++; |
| } |
| //############################################################################ |
| // |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int tim_alt; |
| static unsigned int ppm; |
| if(TCCR1B & (1<<ICES1)) // Positive Flanke |
| { |
| Timer1Overflow = 0; |
| tim_alt = ICR1; |
| ICP_NEG_FLANKE; |
| PPM_Timeout = 100; |
| } |
| else // Negative Flanke |
| { |
| ICP_POS_FLANKE; |
| #ifdef _32KHZ |
| ppm = (ICR1 - tim_alt + (int) Timer1Overflow * 256) / 16; |
| #endif |
| #ifdef _16KHZ |
| ppm = (ICR1 - tim_alt + (int) Timer1Overflow * 512) / 16; |
| #endif |
| if(ppm < 280) ppm = 280; |
| ppm -= 280; |
| if(PPM_Signal < ppm) PPM_Signal++; |
| else if(PPM_Signal > ppm) PPM_Signal--; |
| if(FILTER_PPM) ppm = (PPM_Signal * FILTER_PPM + ppm) / (FILTER_PPM + 1); // Filtern |
| PPM_Signal = ppm; |
| ZeitZumAdWandeln = 1; |
| } |
| } |
| //############################################################################ |
| // |
| SIGNAL(SIG_INTERRUPT0) |
| //############################################################################ |
| { |
| CLR_INT0_FLAG; // IntFlag Loeschen |
| } |
| /branches/BL-Ctrl/PPM_Decode.h |
|---|
| 0,0 → 1,27 |
| /*############################################################################ |
| ############################################################################*/ |
| extern volatile unsigned int PPM_Signal; |
| extern volatile unsigned char PPM_Timeout; |
| void InitPPM(void); |
| #define INT0_ENABLE GIMSK |= 0x40 |
| #define INT0_DISABLE GIMSK &= ~0x40 |
| #define TIM0_START TIMSK |= 0x01 |
| #define TIM0_STOPP TIMSK &= ~0x01 |
| #define ICP_INT_ENABLE TIMSK |= 0x20 |
| #define ICP_INT_DISABLE TIMSK &= ~0x20 |
| #define TIMER1_INT_ENABLE TIMSK |= 0x04 |
| #define TIMER1_INT_DISABLE TIMSK &= ~0x04 |
| #define TIMER2_INT_ENABLE TIMSK |= 0x40 |
| #define TIMER2_INT_DISABLE TIMSK &= ~0x40 |
| #define INT0_POS_FLANKE MCUCR |= 0x01 |
| #define INT0_ANY_FLANKE MCUCR |= 0x01 |
| #define INT0_NEG_FLANKE MCUCR &= ~0x01 |
| #define CLR_INT0_FLAG GIFR &= ~0x40 |
| #define INIT_INT0_FLANKE MCUCR &= ~0x03; MCUCR |= 0x02; |
| #define TIMER0_PRESCALER TCCR0 |
| #define ICP_POS_FLANKE TCCR1B |= (1<<ICES1) |
| #define ICP_NEG_FLANKE TCCR1B &= ~(1<<ICES1) |
| /branches/BL-Ctrl/README.TXT |
|---|
| 0,0 → 1,10 |
| Nicht vergessen: |
| ATmega8 auf 4 MHz stellen: |
| Fusebits: |
| CKSEL3: on |
| CKSEL2: on |
| CKSEL1: off |
| CKSEL0: off |
| /branches/BL-Ctrl/analog.c |
|---|
| 0,0 → 1,39 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| //############################################################################ |
| //Init ADC |
| void ADC_Init(void) |
| //############################################################################ |
| { |
| ADCSRA = 0xA5; // Free Run, 125 kHZ |
| ADMUX = 7; // Kanal 7 |
| ADCSRA |= 0x40; // Start |
| } |
| //############################################################################ |
| //Strom Analogwerte lesen |
| void AdConvert(void) |
| //############################################################################ |
| { |
| unsigned int i=0; |
| unsigned char sense; |
| sense = ADMUX; // Sense-Kanal merken |
| ADMUX = 0x06; // Kanal 6 |
| SFIOR = 0x00; // Analog Comperator aus |
| ADCSRA = 0xD2; // Converter ein, single, 1 MHz |
| ADCSRA |= 0x10; // Ready löschen |
| ADMUX = 0x06; // Kanal 6 |
| ADCSRA |= 0x40; // Start |
| while (((ADCSRA & 0x10) == 0)); |
| ADMUX = sense; // zurück auf den Sense-Kanal |
| i = ADCW * 4; |
| if(i > 200) i = 200; |
| Strom = (i + Strom * 7) / 8; |
| if (Strom_max < Strom) Strom_max = Strom; |
| ADCSRA = 0x00; |
| SFIOR = 0x08; // Analog Comperator ein |
| } |
| /branches/BL-Ctrl/analog.h |
|---|
| 0,0 → 1,5 |
| extern void ADC_Init(void); |
| extern void GetAnalogWerte(void); |
| extern void AdConvert(void); |
| /branches/BL-Ctrl/avr.pjt |
|---|
| 0,0 → 1,199 |
| ;Codewright Project File (do not remove or modify this line) |
| [ProjInit] |
| ConfigSetExtMode=2 |
| ProjSetConfigFlags=0x04110940 |
| [State] |
| SysSetCwd='C:\WinAVR\Projects\Flug\Flight-Ctrl_V0_22' |
| SrchSetFlags=0x0005600a |
| SrchSetAgainFlags=0x04056004,0 |
| SrchSetAgainFlags=0x02056008,1 |
| SrchSetAttrElements= |
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| _StateHistory=FILELIST,'C:\WinAVR\Projects\Flug\BL_MC_0_27\old_macros.h','C:\WinAVR\Projects\Flug\BL_MC_0_27\PPM_Decode.h','C:\WinAVR\Projects\Flug\BL_MC_0_27\printf_P.h','C:\WinAVR\Projects\Flug\BL_MC_0_27\timer0.h','C:\WinAVR\Projects\Flug\BL_MC_0_27\twislave.h','C:\WinAVR\Projects\Flug\BL_MC_0_27\makefile','C:\WinAVR\Projects\Flug\BL_MC_0_27\main.c','C:\WinAVR\Projects\Flug\BL_MC_0_27\BLMC.c','C:\WinAVR\Projects\Flug\BL_MC_0_27\BLMC.h' |
| _StateHistory=SEARCH,'ClrSENSE()','GRUEN','MANUELL_PWM','ENABLE_SENSE_INT','ACSR','GRUE','MotorGestoppt','MotorAnwerfen','SIO_DEBUG','X3D_SIO' |
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| _StateHistory=EDITFILE,'C:\WinAVR\Projects\Flug\BL_MC_0_27\PPM_Decode.h','C:\WinAVR\Projects\Flug\BL_MC_0_27\printf_P.h','C:\WinAVR\Projects\Flug\BL_MC_0_27\timer0.h','C:\WinAVR\Projects\Flug\BL_MC_0_27\twislave.h','C:\WinAVR\Projects\Flug\BL_MC_0_27\main.c','C:\WinAVR\Projects\Flug\BL_MC_0_27\makefile','C:\WinAVR\Projects\Flug\Flight-Ctrl_V0_05\AVR.pjt','C:\WinAVR\Projects\Flug\Flight-Ctrl_V0_06\Main.psp','C:\compiler\M16C\UniversalGateway\UN_DP_V1_25\m16C.psp','C:\WinAVR\Projects\Flug\Flight-Ctrl_V0_22\Main.psp' |
| _StateHistory=DOCUMENTVISIT,'14 18 C:\WinAVR\Projects\Flug\BL_MC_0_27\main.h','276 8 C:\WinAVR\Projects\Flug\BL_MC_0_27\main.c','15 16 C:\WinAVR\Projects\Flug\BL_MC_0_27\main.h','161 1 C:\WinAVR\Projects\Flug\BL_MC_0_27\uart.c','33 5 C:\WinAVR\Projects\Flug\BL_MC_0_27\uart.h','30 30 C:\WinAVR\Projects\Flug\BL_MC_0_27\main.h','33 5 C:\WinAVR\Projects\Flug\BL_MC_0_27\uart.h','30 30 C:\WinAVR\Projects\Flug\BL_MC_0_27\main.h','276 8 C:\WinAVR\Projects\Flug\BL_MC_0_27\main.c','33 5 C:\WinAVR\Projects\Flug\BL_MC_0_27\uart.h' |
| _StateDocumentVisit=10 |
| [Editor] |
| _RestoreSysFlags=0x43097fca, 0xfffffffc, 0 |
| FilterProjDeleteList |
| FilterProjAdd='Source Files','*.c;*.cc;*.cpp;*.cxx;*.ic;*.c96;*.fle;*.cmp;*.asm;*.src;*.s;*.a96;*.i;*.pcp',-1 |
| FilterProjAdd='Header Files','*.h;*.inc;*.sfr',-1 |
| FilterProjAdd='Project Files','*.pjt',-1 |
| FilterProjAdd='Resources','*.rc;*.bmp;*.ico;*.cur;*.dlg',-1 |
| FilterProjAdd='Other Files','*.*',-1 |
| VCSProject='' |
| VCSProjectPath='' |
| VCSProjectLocalPath='' |
| ScrapSetCount=1 |
| ClipboardSetCount=1 |
| ClipboardEnableSepStr=1 |
| ClipboardSetSepStr='\r\n',0 |
| ClipboardEnableTermStr=1 |
| ClipboardSetTermStr='\r\n',0 |
| [Tools] |
| ToolDeleteList |
| ToolAddCmd='$_custom_tool_$_1','API Database Editor',1342177312,'cwtedit.exe' |
| ToolAddCmd='$_custom_tool_$_2','Paint',1342177713,'make.exe program' |
| ToolAddCmd='$_custom_tool_$_3','Build all',1342177680,'make.exe all' |
| ToolAddCmd='$_custom_tool_$_4','Bulid Clean',1342177680,'make.exe clean' |
| [Compiler] |
| CompilerAssign='TASKING src','.src' |
| CompilerNewExt=.htm |
| CompilerNewExt=.v |
| CompilerNewExt=.awk |
| CompilerNewExt=.bas |
| CompilerAssign='TASKING c','.c' |
| CompilerNewExt=.adb |
| CompilerNewExt=.cfml |
| CompilerNewExt=.jsp |
| CompilerNewExt=.pl |
| CompilerNewExt=.vhd |
| CompilerNewExt=.pas |
| CompilerNewExt=.tk |
| CompilerNewExt=.asp |
| CompilerNewExt=.rul |
| CompilerNewExt=.cob |
| CompilerNewExt=.js |
| CompilerNewExt=.php |
| CompilerNewExt=.rc |
| CompilerNewExt=.tcl |
| CompilerAssign='TASKING cc','.cc' |
| CompilerAssign='TASKING fle','.fle' |
| CompilerNewExt=.ini |
| CompilerAssign='TASKING ic','.ic' |
| CompilerNewExt=.cs |
| CompilerNewExt=.bat |
| CompilerNewExt=.html |
| CompilerAssign='TASKING cpp','.cpp' |
| CompilerAssign='TASKING cxx','.cxx' |
| CompilerAssign='TASKING asm','.asm' |
| CompilerNewExt=.txt |
| CompilerNewExt=.nrx |
| CompilerNewExt=.java |
| CompilerNewExt=.sqlj |
| CompilerNewExt=.xml |
| TagSetCmd='"${HOME}${WTAGS}" -oc -d -t"${TAGFILE}.tag" -p"${TAGFILE}.ptg"',0x8000060 |
| BrowseSetFile='C:\Cw32_M16\tagfile.ptg' |
| TagSetFile='C:\Cw32_M16\tagfile.tag' |
| [VersionControl:PVCS] |
| VCSSetCmd=VCS_CHECKIN_ID,'put -n -T@"%Q" -M@"%Q" "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKINLOCK_ID,'put -n -T@"%Q" -M@"%Q" -l "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKOUT_ID,'get -y "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKOUTLOCK_ID,'get -y -l "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKLOCK_ID,'vcs -y -l "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKUNLOCK_ID,'vcs -y -u "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKLABEL_ID,'vcs -y -v"${VCSLABEL}" "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKLOG_ID,'vlog "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKPROP_ID,'vlog -b "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKDIFF_ID,'vdiff -r "%b%e"',0x8000040 |
| VCSSetCmd=VCS_CHECKMENU_ID,'pvcsvmwn',0x8000000 |
| VCSSetCmd=VCS_ADD_ID,'vcs -i -t@"%Q" "%b%e"',0x8000040 |
| VCSSetCmd=VCS_REMOVE_ID,'del /f "%b%{??v|___}e"',0x8000040 |
| [Project] |
| ConfigSetUserMakefile='' |
| ConfigSetUserMakefileParser='' |
| ConfigSetUserMakefileTimeStamp=0 |
| ConfigSetUserMakefileAutoSync=0 |
| ConfigSetLinkDBFilename='C:\Cw32\cwright.ldb' |
| ConfigSetMarkDBFilename='C:\Cw32\cwright.mrk' |
| ConfigSetSymbolDBFilename='C:\WinAVR\Projects\Flug\BL_MC_0_01\avr.sbl' |
| EditSetPath='' |
| [Files] |
| .\uart.c |
| .\analog.c |
| .\interrupt4.c |
| .\main.c |
| .\PPM_Decode.c |
| .\printf_P.c |
| .\timer0.c |
| .\twislave.c |
| .\uart.h |
| .\analog.h |
| .\main.h |
| .\old_macros.h |
| .\PPM_Decode.h |
| .\printf_P.h |
| .\timer0.h |
| .\twislave.h |
| .\makefile |
| [Ede] |
| Toolchain=c:\c166\etc\c166.dol |
| ToolchainName=TASKING C for C166/ST10 v6.0 r4 |
| ProjectDir=C:\WinAVR\Projects\Flug\BL_MC_0_27 |
| UserMode=Expert |
| EdeVersion=2.7r5 (094) |
| CodeWrightVersion=7.0 |
| DefBuildSettings=True |
| SaveFiles=True |
| ScanDependencies=False |
| StopAfterError=True |
| KeepTmpFiles=False |
| ExtMakefile=False |
| ExtMakefileName= |
| UseMakeOptions=False |
| MakeOptions= |
| ShowOptions=False |
| ExtDebugger=False |
| ExtDebuggerName= |
| UseDOSShell=False |
| SaveOptionMethod=0 |
| SaveOptionFileName= |
| LoadOptionFileName= |
| LoadOptionStartup=False |
| GroupList= |
| [Directories] |
| Executables=c:\c166\bin |
| Includes=c:\c166\include |
| Libraries=c:\c166\lib |
| [DefaultOptions] |
| CpuRwdc=CpuRwdcDelay |
| OptionList=CpuRwdc |
| [Options] |
| FileList= |
| /branches/BL-Ctrl/main.c |
|---|
| 0,0 → 1,349 |
| /*############################################################################ |
| + Regler für Brushless-Motoren |
| + ATMEGA8 mit 8MHz |
| + (c) 01.2007 Holger Buss |
| + Nur für den privaten Gebrauch |
| + Keine Garantie auf Fehlerfreiheit |
| + Kommerzielle Nutzung nur mit meiner Zustimmung |
| + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
| + www.mikrocontroller.com |
| /############################################################################*/ |
| #include "main.h" |
| unsigned int PWM = 0; |
| unsigned int Strom = 0; //ca. in 0,1A |
| unsigned char Strom_max = 0; |
| unsigned char Mittelstrom = 0; |
| unsigned int Drehzahl = 0; // in 100UPM 60 = 6000 |
| unsigned int KommutierDelay = 10; |
| unsigned int I2C_Timeout = 0; |
| unsigned char SIO_Timeout = 0; |
| unsigned int SollDrehzahl = 0; |
| unsigned int IstDrehzahl = 0; |
| unsigned int DrehZahlTabelle[256];//vorberechnete Werte zur Drehzahlerfassung |
| unsigned char ZeitFuerBerechnungen = 1; |
| unsigned char MotorAnwerfen = 0; |
| unsigned char MotorGestoppt = 1; |
| unsigned char MaxPWM = MAX_PWM; |
| unsigned int CntKommutierungen = 0; |
| unsigned int SIO_Drehzahl = 0; |
| unsigned char ZeitZumAdWandeln = 1; |
| //############################################################################ |
| // |
| void SetPWM(void) |
| //############################################################################ |
| { |
| unsigned char tmp_pwm; |
| tmp_pwm = PWM; |
| if(tmp_pwm > MaxPWM) // Strombegrenzung |
| { |
| tmp_pwm = MaxPWM; |
| PORTC |= ROT; |
| } |
| if(Strom > MAX_STROM) // Strombegrenzung |
| { |
| OCR1A = 0; OCR1B = 0; OCR2 = 0; |
| PORTC |= ROT; |
| Strom--; |
| } |
| else |
| { |
| #ifdef _32KHZ |
| OCR1A = tmp_pwm; OCR1B = tmp_pwm; OCR2 = tmp_pwm; |
| #endif |
| #ifdef _16KHZ |
| OCR1A = 2 * (int)tmp_pwm; OCR1B = 2 * (int)tmp_pwm; OCR2 = tmp_pwm; |
| #endif |
| } |
| } |
| //############################################################################ |
| // |
| void PWM_Init(void) |
| //############################################################################ |
| { |
| PWM_OFF; |
| TCCR1B = (1 << CS10) | (0 << CS11) | (0 << CS12) | (1 << WGM12) | |
| (0 << WGM13) | (0<< ICES1) | (0 << ICNC1); |
| } |
| //############################################################################ |
| // |
| void Wait(unsigned char dauer) |
| //############################################################################ |
| { |
| dauer = (unsigned char)TCNT0 + dauer; |
| while((TCNT0 - dauer) & 0x80); |
| } |
| //############################################################################ |
| // |
| void Anwerfen(unsigned char pwm) |
| //############################################################################ |
| { |
| unsigned long timer = 300,i; |
| DISABLE_SENSE_INT; |
| PWM = 5; |
| SetPWM(); |
| Manuell(); |
| Delay_ms(200); |
| PWM = pwm; |
| while(1) |
| { |
| for(i=0;i<timer; i++) |
| { |
| if(!UebertragungAbgeschlossen) SendUart(); |
| else DatenUebertragung(); |
| Wait(100); // warten |
| } |
| timer-= timer/15+1; |
| if(timer < 25) { if(TEST_MANUELL) timer = 25; else return; } |
| Manuell(); |
| Phase++; |
| Phase %= 6; |
| AdConvert(); |
| PWM = pwm; |
| SetPWM(); |
| if(SENSE) |
| { |
| PORTD ^= GRUEN; |
| } |
| } |
| } |
| //############################################################################ |
| // |
| unsigned char SollwertErmittlung(void) |
| //############################################################################ |
| { |
| static unsigned int sollwert = 0; |
| unsigned int ppm; |
| if(!I2C_Timeout) // bei Erreichen von 0 ist der Wert ungültig |
| { |
| if(SIO_Timeout) // es gibt gültige SIO-Daten |
| { |
| sollwert = (MAX_PWM * (unsigned int) SIO_Sollwert) / 200; // skalieren auf 0-200 = 0-255 |
| } |
| else |
| if(PPM_Timeout) // es gibt gültige PPM-Daten |
| { |
| ppm = PPM_Signal; |
| if(ppm > 300) ppm = 0; // ungültiges Signal |
| if(ppm > 200) ppm = 200; |
| if(ppm <= MIN_PPM) sollwert = 0; |
| else |
| { |
| sollwert = (int) MIN_PWM + ((MAX_PWM - MIN_PWM) * (ppm - MIN_PPM)) / (190 - MIN_PPM); |
| } |
| PORTC &= ~ROT; |
| } |
| else // Kein gültiger Sollwert |
| { |
| if(!TEST_SCHUB) { if(sollwert) sollwert--; } |
| PORTC |= ROT; |
| } |
| } |
| else // I2C-Daten sind gültig |
| { |
| sollwert = I2C_RXBuffer; |
| PORTC &= ~ROT; |
| } |
| if(sollwert > MAX_PWM) sollwert = MAX_PWM; |
| return(sollwert); |
| } |
| void DebugAusgaben(void) |
| { |
| DebugOut.Analog[0] = Strom; |
| DebugOut.Analog[1] = Mittelstrom; |
| DebugOut.Analog[2] = SIO_Drehzahl; |
| DebugOut.Analog[3] = PPM_Signal; |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| char altPhase = 0; |
| int test = 0; |
| unsigned int MinUpmPulse,Blink,TestschubTimer; |
| unsigned int Blink2,MittelstromTimer,DrehzahlMessTimer,MotorGestopptTimer; |
| DDRC = 0x08; |
| PORTC = 0x08; |
| DDRD = 0xBA; |
| PORTD = 0x80; |
| DDRB = 0x0E; |
| PORTB = 0x31; |
| UART_Init(); |
| Timer0_Init(); |
| sei ();//Globale Interrupts Einschalten |
| // Am Blinken erkennt man die richtige Motoradresse |
| for(test=0;test<5;test++) |
| { |
| if(test == MOTORADRESSE) PORTD |= GRUEN; |
| Delay_ms(150); |
| PORTD &= ~GRUEN; |
| Delay_ms(250); |
| } |
| Delay_ms(500); |
| UART_Init(); |
| PWM_Init(); |
| InitIC2_Slave(0x50); |
| InitPPM(); |
| Blink = SetDelay(101); |
| Blink2 = SetDelay(102); |
| MinUpmPulse = SetDelay(103); |
| MittelstromTimer = SetDelay(254); |
| DrehzahlMessTimer = SetDelay(1005); |
| TestschubTimer = SetDelay(1006); |
| while(!CheckDelay(MinUpmPulse)); |
| PORTD |= GRUEN; |
| PWM = 0; |
| SetPWM(); |
| SFIOR = 0x08; // Analog Comperator ein |
| ADMUX = 1; |
| MinUpmPulse = SetDelay(10); |
| DebugOut.Analog[1] = 1; |
| PPM_Signal = 0; |
| // zum Test der Hardware; Motor dreht mit konstanter Drehzahl ohne Regelung |
| if(TEST_MANUELL) Anwerfen(TEST_MANUELL); // kommt von dort nicht wieder |
| while (1) |
| { |
| if(!TEST_SCHUB) PWM = SollwertErmittlung(); |
| //I2C_TXBuffer = PWM; // Antwort über I2C-Bus |
| if(MANUELL_PWM) PWM = MANUELL_PWM; |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Phase != altPhase) // es gab eine Kommutierung im Interrupt |
| { |
| MotorGestoppt = 0; |
| ZeitFuerBerechnungen = 0; // direkt nach einer Kommutierung ist Zeit |
| MinUpmPulse = SetDelay(50); // Timeout, falls ein Motor stehen bleibt |
| altPhase = Phase; |
| } |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!PWM) // Sollwert == 0 |
| { |
| MotorAnwerfen = 0; // kein Startversuch |
| ZeitFuerBerechnungen = 0; |
| // nach 1,5 Sekunden den Motor als gestoppt betrachten |
| if(CheckDelay(DrehzahlMessTimer)) |
| { |
| DISABLE_SENSE_INT; |
| MotorGestoppt = 1; |
| STEUER_OFF; |
| } |
| } |
| else |
| { |
| if(MotorGestoppt) MotorAnwerfen = 1; // Startversuch |
| MotorGestopptTimer = SetDelay(1500); |
| } |
| if(MotorGestoppt && !TEST_SCHUB) PWM = 0; |
| SetPWM(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!ZeitFuerBerechnungen++) |
| { |
| if(MotorGestoppt) PORTD |= GRUEN; //else PORTD &= ~GRUEN; |
| if(SIO_DEBUG) |
| { |
| DebugAusgaben(); // welche Werte sollen angezeigt werden? |
| if(!UebertragungAbgeschlossen) SendUart(); |
| else DatenUebertragung(); |
| } |
| // Berechnen des Mittleren Stroms zur (langsamen) Strombegrenzung |
| if(CheckDelay(MittelstromTimer)) |
| { |
| MittelstromTimer = SetDelay(50); // alle 50ms |
| if(Mittelstrom < Strom) Mittelstrom++;// Mittelwert des Stroms bilden |
| else if(Mittelstrom > Strom) Mittelstrom--; |
| if(Mittelstrom > LIMIT_STROM)// Strom am Limit? |
| { |
| MaxPWM--;// dann die Maximale PWM herunterfahren |
| PORTC |= ROT; |
| } |
| else |
| { |
| if(MaxPWM < MAX_PWM) MaxPWM++; |
| } |
| } |
| if(CheckDelay(DrehzahlMessTimer)) // Ist-Drehzahl bestimmen |
| { |
| DrehzahlMessTimer = SetDelay(10); |
| SIO_Drehzahl = (6 * CntKommutierungen) / (POLANZAHL / 2); |
| CntKommutierungen = 0; |
| if(PPM_Timeout == 0) // keine PPM-Signale |
| ZeitZumAdWandeln = 1; |
| } |
| if(CheckDelay(TestschubTimer)) |
| { |
| TestschubTimer = SetDelay(1500); |
| if(TEST_SCHUB) |
| { |
| switch(test) |
| { |
| case 0: PWM = 50; test++; break; |
| case 1: PWM = 60; test++; break; |
| case 2: PWM = 128; test++; break; |
| case 3: PWM = 200; test++; break; |
| case 4: PWM = 255; test = 0; break; |
| default: test = 0; |
| } |
| } |
| } |
| // Motor Stehen geblieben |
| if((CheckDelay(MinUpmPulse) && SIO_Drehzahl == 0) || MotorAnwerfen) |
| { |
| MotorGestoppt = 1; |
| DISABLE_SENSE_INT; |
| MinUpmPulse = SetDelay(100); |
| if(MotorAnwerfen) |
| { |
| PORTC &= ~ROT; |
| MotorAnwerfen = 0; |
| Anwerfen(10); |
| PORTD |= GRUEN; |
| MotorGestoppt = 0; |
| Phase--; |
| PWM = 1; |
| SetPWM(); |
| SENSE_TOGGLE_INT; |
| ENABLE_SENSE_INT; |
| MinUpmPulse = SetDelay(100); |
| while(!CheckDelay(MinUpmPulse)); // kurz Synchronisieren |
| PWM = 10; |
| SetPWM(); |
| MinUpmPulse = SetDelay(200); |
| while(!CheckDelay(MinUpmPulse)); // kurz Durchstarten |
| MinUpmPulse = SetDelay(1000); |
| altPhase = 7; |
| } |
| } |
| } // ZeitFuerBerechnungen |
| } // while(1) - Hauptschleife |
| } |
| /branches/BL-Ctrl/main.h |
|---|
| 0,0 → 1,126 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| #define MOTORADRESSE 4 // Adresse (1-4) |
| #define MANUELL_PWM 0 // zur manuellen Vorgabe der PWM Werte: 0-255 |
| #define TEST_MANUELL 0 // zum Testen der Hardware ohne Kommutierungsdetektion Werte: 0-255 (PWM) |
| #define TEST_SCHUB 0 // Erzeugt ein Schubmuster Werte: 0 = normal 1 = Test |
| #define POLANZAHL 12 // Anzahl der Pole (Magnete) Wird nur zur Drehzahlausgabe über Debug gebraucht |
| #define MAX_PWM 255 |
| #define MIN_PWM 3 |
| #define MIN_PPM 10 // ab hier (PPM-Signal) schaltet der Regler erst ein |
| #define FILTER_PPM 7 // wie stark soll das PPM-Signal gefiltert werden (Werte: 0-30)? |
| #define SIO_DEBUG 0 // Testwertausgaben auf der seriellen Schnittstelle |
| #define X3D_SIO 1 // serielles Protokoll des X3D (38400Bd) Achtung: dann muss SIO_DEBUG = 0 sein |
| #define _16KHZ // Schaltfrequenz -- die gewünschte einkommentieren |
| //#define _32KHZ // Schaltfrequenz -- die gewünschte einkommentieren |
| #ifdef _16KHZ |
| #define MAX_STROM 130 // ab ca. 13A PWM ausschalten |
| #define LIMIT_STROM 65 // ab ca. 6,5A PWM begrenzen |
| #endif |
| #ifdef _32KHZ |
| #define MAX_STROM 130 // ab ca. 13A PWM ausschalten |
| #define LIMIT_STROM 50 // ab ca. 5,0A PWM begrenzen |
| #endif |
| #define SYSCLK 4000000L //Quarz Frequenz in Hz |
| //Robbe Roxxy 2824-34 mit Todd 10x4,5 bei 16kHz |
| //PWM Strom Schub |
| //10 0,18A 21g |
| //20 0,30A 38g |
| //30 0,40A 49g |
| //40 0,54A 60g |
| //50 0,70A 83g |
| //60 0,95A 102g |
| //70 1,25A 128g |
| //80 1,50A 151g |
| //90 1,83A 175g |
| //100 2,25A 206g |
| //110 2,66A 228g |
| //120 3,10A 257g |
| //130 3,55A 278g |
| //140 4,00A 305g |
| //150 4,50A 330g |
| //160 5,30A 355g |
| //170 5,85A 387g |
| //180 6,40A 400g |
| //190 7,10A 425g |
| //200 7,60A 460g |
| //0,5A 63g 14% |
| //1,0A 110g 24% |
| //1,5A 170g 32% |
| //2,0A 195g 37% |
| //2,5A 230g 41% |
| //3,0A 260g 46% |
| //3,5A 290g 50% |
| //4,0A 310g 53% |
| //4,5A 340g 58% |
| //5,0A 360g 63% |
| //5,5A 380g 67% |
| //6,0A 400g 68% |
| //6,5A 420g 70% |
| //7,0A 450g 75% |
| //7,5A 460g 78% |
| //8,0A 475g 82% |
| //9,0A 550g 86% |
| //11 A 600g 100% |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "twislave.h" |
| #include "old_macros.h" |
| #include "analog.h" |
| #include "uart.h" |
| #include "timer0.h" |
| #include "BLMC.h" |
| #include "PPM_Decode.h" |
| extern unsigned int I2C_Timeout; |
| extern unsigned char SIO_Timeout; |
| extern unsigned int PWM; |
| extern unsigned int Strom; //ca. in 0,1A |
| extern unsigned char Strom_max; |
| extern unsigned char Mittelstrom; |
| extern unsigned int CntKommutierungen; |
| extern unsigned char MotorAnwerfen; |
| extern unsigned char MotorGestoppt; |
| extern unsigned char ZeitZumAdWandeln; |
| extern unsigned char MaxPWM; |
| #define ROT 0x08 |
| #define GRUEN 0x80 |
| #if defined(__AVR_ATmega8__) |
| # define OC1 PB1 |
| # define DDROC DDRB |
| # define OCR OCR1A |
| # define PWM10 WGM10 |
| # define PWM11 WGM11 |
| #endif |
| #endif //_MAIN_H |
| /branches/BL-Ctrl/makefile |
|---|
| 0,0 → 1,386 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega8 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 31 |
| #------------------------------------------------------------------- |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = BrushLess-Ctrl_8kHz_PWM_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c timer0.c analog.c PPM_Decode.c twislave.c BLMC.c |
| #printf_P.c |
| ########################################################################################################## |
| # If there is more than one source file, append them above, or modify and |
| # uncomment the following: |
| #SRC += foo.c bar.c |
| # You can also wrap lines by appending a backslash to the end of the line: |
| #SRC += baz.c \ |
| #xyzzy.c |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -g -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) |
| ifeq ($(AVR_CTRL_PLATINE), 1) |
| CFLAGS += -DAVR_CTRL_PLATINE=$(AVR_CTRL_PLATINE) |
| endif |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = stk200 |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| #AVRDUDE_FLAGS += -V -E noreset |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| # $(REMOVE) $(TARGET).eep |
| # $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/BL-Ctrl/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/BL-Ctrl/timer0.c |
|---|
| 0,0 → 1,60 |
| /***************************************************************************** |
| *****************************************************************************/ |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile unsigned char Timer0Overflow; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL(SIG_OVERFLOW0) |
| { |
| static unsigned char cnt; |
| TCNT0 = 0x80; |
| Timer0Overflow++; |
| if(!cnt--) |
| { |
| cnt = 3; |
| CountMilliseconds += 1; |
| if(I2C_Timeout) I2C_Timeout--; |
| if(PPM_Timeout) PPM_Timeout--; |
| if(SIO_Timeout) SIO_Timeout--; |
| } |
| } |
| void Timer0_Init(void) |
| { |
| TCCR0 = TIMER_TEILER; |
| //TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| TIM0_START; |
| TIMER2_INT_ENABLE; |
| } |
| unsigned int SetDelay(unsigned int t) |
| { |
| return(CountMilliseconds + t - 1); |
| } |
| char CheckDelay (unsigned int t) |
| { |
| return(((t - CountMilliseconds) & 0x8000) >> 8); |
| } |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| /branches/BL-Ctrl/timer0.h |
|---|
| 0,0 → 1,15 |
| #if defined (__AVR_ATmega8__) |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 125 |
| #endif |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char Timer0Overflow; |
| void Timer1_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| /branches/BL-Ctrl/twislave.c |
|---|
| 0,0 → 1,75 |
| /*############################################################################ |
| Slaveadr = 0x52 = Vorne, 0x54 = Hinten, 0x56 = Rechts, 0x58 = Links |
| ############################################################################*/ |
| #include <avr/io.h> |
| #include <util/twi.h> |
| #include "main.h" |
| unsigned char I2C_RXBuffer; |
| unsigned char Byte_Counter=0; |
| //############################################################################ |
| //I2C (TWI) Interface Init |
| void InitIC2_Slave(uint8_t adr) |
| //############################################################################ |
| { |
| TWAR = adr + (2*MOTORADRESSE); // Eigene Adresse setzen |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| } |
| //############################################################################ |
| //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet |
| //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann. |
| ISR (TWI_vect) |
| //############################################################################ |
| { |
| switch (TWSR & 0xF8) |
| { |
| case SR_SLA_ACK: |
| TWCR |= (1<<TWINT); |
| Byte_Counter=0; |
| return; |
| // Daten Empfangen |
| case SR_PREV_ACK: |
| I2C_RXBuffer = TWDR; |
| I2C_Timeout = 500; |
| TWCR |= (1<<TWINT); |
| return; |
| // Daten Senden |
| case SW_SLA_ACK: |
| if (Byte_Counter==0) |
| { |
| TWDR = Mittelstrom; |
| Byte_Counter++; |
| } |
| else |
| { |
| TWDR = MaxPWM; |
| } |
| TWCR |= (1<<TWINT); |
| return; |
| // Daten Senden |
| case SW_DATA_ACK: |
| if (Byte_Counter==0) |
| { |
| TWDR = Mittelstrom; |
| Byte_Counter++; |
| } |
| else |
| { |
| TWDR = MaxPWM; |
| } |
| TWCR |= (1<<TWINT); |
| return; |
| // Bus-Fehler zurücksetzen |
| case TWI_BUS_ERR_2: |
| TWCR |=(1<<TWSTO) | (1<<TWINT); |
| // Bus-Fehler zurücksetzen |
| case TWI_BUS_ERR_1: |
| TWCR |=(1<<TWSTO) | (1<<TWINT); |
| } |
| TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset |
| } |
| /branches/BL-Ctrl/twislave.h |
|---|
| 0,0 → 1,32 |
| #ifndef _TWI_SLAVE_H_ |
| #define _TWI_SLAVE_H_ |
| extern unsigned char I2C_RXBuffer; |
| extern unsigned char Byte_Counter; |
| extern void InitIC2_Slave (uint8_t adr); |
| #define TWI_BUS_ERR_1 0x00 |
| #define TWI_BUS_ERR_2 0xF8 |
| // Status Slave RX Mode |
| #define SR_SLA_ACK 0x60 |
| #define SR_LOST_ACK 0x68 |
| #define SR_GEN_CALL_ACK 0x70 |
| #define GEN_LOST_ACK 0x78 |
| #define SR_PREV_ACK 0x80 |
| #define SR_PREV_NACK 0x88 |
| #define GEN_PREV_ACK 0x90 |
| #define GEN_PREV_NACK 0x98 |
| #define STOP_CONDITION 0xA0 |
| #define REPEATED_START 0xA0 |
| // Status Slave TX mode |
| #define SW_SLA_ACK 0xA8 |
| #define SW_LOST_ACK 0xB0 |
| #define SW_DATA_ACK 0xB8 |
| #define SW_DATA_NACK 0xC0 |
| #define SW_LAST_ACK 0xC8 |
| #endif |
| /branches/BL-Ctrl/uart.c |
|---|
| 0,0 → 1,191 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Regler für Brushless-Motoren |
| // + ATMEGA8 mit 8MHz |
| // + (c) 01.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + Keine Garantie auf Fehlerfreiheit |
| // + Kommerzielle Nutzung nur mit meiner Zustimmung |
| // + Der Code ist für die Hardware BL_Ctrl V1.0 entwickelt worden |
| // + www.mikrocontroller.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| #define MAX_SENDE_BUFF 100 |
| #define MAX_EMPFANGS_BUFF 100 |
| unsigned volatile char SIO_Sollwert = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| int Debug_Timer; |
| SIGNAL(INT_VEC_TX) |
| { |
| } |
| void SendUart(void) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!(UCSRA & 0x40)) return; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| USR |= (1<TXC); |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned char serPacketCounter = 100; |
| SioTmp = UDR; |
| #if X3D_SIO == 1 |
| if(SioTmp == 0xF5) // Startzeichen |
| { |
| serPacketCounter = 0; |
| } |
| else |
| { |
| if(++serPacketCounter == MOTORADRESSE) // (1-4) |
| { |
| SIO_Sollwert = SioTmp; |
| SIO_Timeout = 200; // werte für 200ms gültig |
| } |
| else |
| { |
| if(serPacketCounter > 100) serPacketCounter = 100; |
| } |
| } |
| #endif |
| }; |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| #if X3D_SIO == 1 |
| UCSRB |= (1<<RXCIE); // serieller Empfangsinterrupt |
| #endif |
| // TX-Interrupt Freigabe |
| // UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| //UBRR= (SYSCLK / (BAUD_RATE * 8L) -1 ); |
| #if X3D_SIO == 1 |
| UBRR = 12; //38400 Baud @ 4 MHz |
| #else |
| UBRR = 8; //57600 Baud @ 4 MHz |
| #endif |
| //öffnet einen Kanal für printf (STDOUT) |
| fdevopen (uart_putchar, NULL); |
| Debug_Timer = SetDelay(200); |
| UDR = '*'; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if((CheckDelay(Debug_Timer) && UebertragungAbgeschlossen)) // im Singlestep-Betrieb in jedem Schtitt senden |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| Debug_Timer = SetDelay(50); // Sendeintervall |
| } |
| } |
| /branches/BL-Ctrl/uart.h |
|---|
| 0,0 → 1,81 |
| #ifndef _UART_H |
| #define _UART_H |
| extern unsigned volatile char SIO_Sollwert; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned char MeineSlaveAdresse; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void SendUart(void); |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[8]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| //Die Baud_Rate der Seriellen Schnittstelle |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| #if X3D_SIO == 1 |
| #define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #else |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| #endif |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega8__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/Chris_hallo/Flight-Ctrl_MEGA644_V0_60.hex |
|---|
| 0,0 → 1,1457 |
| :100000000C94D9010C94F6010C94F6010C94F601B1 |
| :100010000C94F6010C94F6010C94F6010C94F60184 |
| :100020000C94F6010C94100C0C94F6010C94F6014F |
| :100030000C94E1140C94F6010C94F6010C94F60166 |
| :100040000C94F6010C94F6010C94670B0C94F601D9 |
| :100050000C9443040C94F6010C9492030C94F60156 |
| :100060000C94FC0C0C94F6010C942E140C94F601D8 |
| :100070000A0A0D004E65757472616C004865616412 |
| :10008000696E67486F6C64000A0D5374657565721C |
| :10009000756E673A20004F4B0A0D000A0D416267EA |
| :1000A0006C65696368204C756674647275636B7304 |
| :1000B000656E736F722E2E000A0D42656E75747A2E |
| :1000C0006520506172616D657465727361747A2028 |
| :1000D0002564000A0D496E69742E20454550524F23 |
| :1000E0004D3A2047656E65726965726520446566A4 |
| :1000F00061756C742D506172616D657465722E2E20 |
| :100100002E000A0D3D3D3D3D3D3D3D3D3D3D3D3DCE |
| :100110003D3D3D3D3D3D3D3D3D3D3D3D3D3D3D3D0F |
| :100120003D3D000A0D466C69676874436F6E7472DA |
| :100130006F6C205625642E256420002E0052616EBF |
| :1001400067653A2533692D253369005374656C6CF6 |
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| /branches/Chris_hallo/GPS.c |
|---|
| 0,0 → 1,89 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 08.2007 by Christopher Hartmann / Daniel Schmitz |
| // + |
| // + Bitte die read_me Datei beachten! Es handelt sich hierbei um eine erste Probeversion! |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "math.h" |
| // GPS feste Variablen++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //volatile int loop = 0; |
| //long gps_northing = 0, gps_easting = 0, gps_altitude = 0; |
| long target_x = 0, target_y = 0, target_z = 0; |
| volatile int alpha = 0; |
| long zwn = 0, zwe = 0, zwn1 = 0, zwe1 = 0, zwn2 = 0, zwe2 = 0; |
| volatile int gps_getpos = 5; |
| long gps_home_x = 0; |
| long gps_home_y = 0; |
| // GPS Einstellungen +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| volatile int komp_dreh = 0; // verdrehten Kompasseinbau kompensieren (+/-Grad) |
| volatile int gpsmax = 35; //maximal zulässiger "GPS-Steuerausschlag" |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| void gps_main(void) |
| { |
| /* |
| if (MotorenEin = 1 && gps_gethome == 0 && actualPos.state != 0){ //speichert GPS-Home-Position |
| gps_home_x = actualPos.x; |
| gps_home_y = actualPos.y; |
| beeptime = 80; |
| gps_gethome = 1; |
| }*/ |
| if (Poti1>0 && actualPos.state != 0){ //Beginn GPS-Position-Hold |
| if (gps_getpos != 0){ //Postion mit Schalter loggen |
| target_x = actualPos.x; |
| target_y = actualPos.y; |
| target_z = actualPos.z; |
| beeptime = 50; |
| gps_getpos = 0;} |
| //Regler ########################################################################################################################## |
| //P-Regler |
| zwn = ((sqrt(target_x^2+target_z^2)-sqrt(actualPos.x^2+actualPos.z^2))*gps_p)/10; //8 |
| zwe = ((target_y-actualPos.y)*gps_p)/10; |
| //D-Regler |
| zwn2= (gps_d*actualPos.vx)/-3; //-2 |
| zwe2= (gps_d*actualPos.vy)/-3; |
| GPS_Nick = (zwn+zwn2); // skal; |
| GPS_Roll = (zwe+zwe2); // skal; |
| //GPS-Mixer######################################################################################################################## |
| if (GPS_Nick>gpsmax){GPS_Nick=gpsmax;} else if (GPS_Nick<(-1*gpsmax)){GPS_Nick=(-1*gpsmax);} //min-max Wert überprüfen |
| if (GPS_Roll>gpsmax){GPS_Roll=gpsmax;} else if (GPS_Roll<(-1*gpsmax)){GPS_Roll=(-1*gpsmax);} |
| /* |
| //Rotationsmatrix################################################################################################################## |
| //Kompass ++++++++++++++++++++++++++++ |
| alpha=0; |
| alpha = komp_dreh+KompassValue; |
| if (KompassValue>300) {beeptime=50;} |
| if (alpha>359) {alpha=alpha-360;} |
| GPS_Nick=(sin(alpha)*GPS_Roll+cos(alpha)*GPS_Nick); |
| GPS_Roll=(cos(alpha)*GPS_Roll-sin(alpha)*GPS_Nick); |
| */ |
| }else { |
| gps_getpos=5; |
| GPS_Nick=0; |
| GPS_Roll=0; |
| } |
| } |
| /branches/Chris_hallo/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/Chris_hallo/V0.71_Beta_HEX/Flight-Ctrl_MEGA644_V0_71.hex |
|---|
| 0,0 → 1,1556 |
| :100000000C94EC010C9409020C9409020C94090262 |
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| /branches/Chris_hallo/V0.71_Beta_HEX/readme.txt |
|---|
| 0,0 → 1,80 |
| GPS-Modifikation auf Basis der Original V0.6 by Holger Buss & Ingo Busker |
| ----- BETA V0.71----- |
| Copyright by Christopher Hartmann und Daniel Schmitz. |
| -Disclaimer- |
| Wir übernehmen keinerlei Garantie für die Funktionstüchtigkeit dieser Software |
| jegliche Änderung geschehen auf Eigene Gefahr |
| für eventuelle Schäden übernehmen wir keinerlei Haftung |
| !!!!!!!!!!!!!! WICHTIG !!!!!!!!!!!!! |
| ------------------------------------------------------------------------------------ |
| DER HALBAUTONOME SCHWEBEFLUG MUSS VOM PILOTEN STEHTS ÜBERWACHT WERDEN! |
| DER PILOT MUSS IN JEDER SITUATION IN DER LAGE SEIN, BEI FEHLFUNKTIONEN EINZUGREIFEN! |
| ------------------------------------------------------------------------------------ |
| Parametrierung über Koptertool (getestet für MK mit 54cm Achsstand): |
| --------------------------------------------------------------------- |
| - ggf. aktivieren des Höhenreglers über Schalter |
| - aktivieren der Option GPS |
| - anpassen des ACC Wertes unter dem Reiter "Gyro" von 26 auf 50 |
| - Userpara1. -> 5 |
| - Userpara2. -> 23 |
| - Userpara3. -> zwischen 42 und 46 |
| ACHTUNG: |
| Kompass arbeitet noch nicht richtig. Daher Kompass im MK Tool NICHT aktivieren! |
| Der MK muss von Hand nach Norden ausgerichtet bleiben! |
| ___________________________________________________________________________________________________________________________________ |
| Features: |
| -Auslesen der GPS Daten im UBX Protokoll (modifizierte Version, - Original von Pitschu (Peter Schulten) ) |
| - integrierter PD Regler - Parametrierung des P-, D-Anteils und Skalierungsanteils |
| User Parameter 1: P-Regler, 2:D-Regler; 3: Skalierung |
| - Rotationsmatrix für Kompass (funktioniert noch nicht richtig) |
| - Postiton Hold (Aktivierung über Poti 1 ( 0=Aus , >0 =aktiviert) |
| - kurzes Piepsen bestätigt Aktivierung des PositionHold (PH) |
| - rote LED der Flight-Ctrl für Statusanzeige: (blinkend : GPS Aktiv) |
| - Aktivierung des Postiton-Hold ohne Empfang von GPS unterbunden |
| - Einbinden des GPS-Empfängers bitte Erklärung von PITSCHU aus XUFO-Forum entnehmen (http://forum.xufo.net/bb/viewtopic.php?t=5980) |
| ----- BAUDRATE jedoch einstellen auf 57600 ------ |
| ----- unter Messages muss statt: |
| -NAV-POSLLH |
| -NAV-POSUTM |
| -NAV-VELNED |
| für für Target1 folgendes aktiviert werden (siehe Pitschu Anleitung): |
| -NAV-POSECEF |
| -NAV-VELECEF |
| ____________________________________________________________________________________________________________________________________ |
| in Planung: (TWI: teilweise Integriert, siehe Quelltext -- UNGETESTET -- ) |
| - Kompass (TWI) |
| -"Home Postition" (TWI) |
| - Waypoint fliegen |
| - Auslagerung auf externen Prozessor |
| . |
| /branches/Chris_hallo/V0.74_Beta_HEX/Flight-Ctrl_MEGA644_GPSV0_74.hex |
|---|
| 0,0 → 1,1515 |
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| :00000001FF |
| /branches/Chris_hallo/_Settings.h |
|---|
| 0,0 → 1,50 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Testmodi |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MOTOR_OFF 0 |
| #define MOTOR_TEST 0 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Abstimmung |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ACC_AMPLIFY 16 |
| #define FAKTOR_P 1 |
| #define FAKTOR_I 0.0001 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debug-Interface |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| #define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Sender |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define K_NICK 0 |
| #define K_ROLL 1 |
| #define K_GAS 2 |
| #define K_GIER 3 |
| #define K_POTI1 4 |
| #define K_POTI2 5 |
| #define K_POTI3 6 |
| #define K_POTI4 7 |
| // +++++++++++++++++++++++++++++++ |
| // + Getestete Settings: |
| // +++++++++++++++++++++++++++++++ |
| // Setting: Kamera |
| // Stick_P:3 |
| // Stick_D:0 |
| // Gyro_P: 175 |
| // Gyro_I: 175 |
| // Ki_Anteil: 10 |
| // +++++++++++++++++++++++++++++++ |
| // + Getestete Settings: |
| // +++++++++++++++++++++++++++++++ |
| // Setting: Normal |
| // Stick_P:2 |
| // Stick_D:8 |
| // Gyro_P: 80 |
| // Gyro_I: 150 |
| // Ki_Anteil: 5 |
| /branches/Chris_hallo/analog.c |
|---|
| 0,0 → 1,155 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ay = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ay; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/Chris_hallo/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/Chris_hallo/eeprom.c |
|---|
| --- Chris_hallo/fc.c (nonexistent) |
| +++ Chris_hallo/fc.c (revision 171) |
| @@ -0,0 +1,828 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + DebugOut.Analog[12] = Motor_Vorne; |
| + DebugOut.Analog[13] = Motor_Hinten; |
| + DebugOut.Analog[14] = Motor_Links; |
| + DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| + unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| + unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| + |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 35) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + //KompassValue = 12; |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + int w,v; |
| + static int SignalSchlecht = 0; |
| + w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| + v = abs(IntegralRoll /512); |
| + if(v > w) w = v; // grösste Neigung ermitteln |
| + if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| + w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| + if(w > 0) |
| + { |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + if(SignalSchlecht) SignalSchlecht--; |
| + } |
| + else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// GPS |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| +{ |
| + gps_p = Parameter_UserParam1; |
| + gps_d = Parameter_UserParam2; |
| + |
| + gps_main(); |
| +} |
| +else |
| +{ |
| + GPS_Nick = 0; |
| + GPS_Roll = 0; |
| +} |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| +// DebugOut.Analog[0] = MesswertNick; |
| +// DebugOut.Analog[1] = MesswertRoll; |
| +// DebugOut.Analog[2] = MesswertGier; |
| + DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[2] = Mittelwert_AccNick; |
| + DebugOut.Analog[3] = Mittelwert_AccRoll; |
| + DebugOut.Analog[4] = MesswertGier; |
| + DebugOut.Analog[5] = HoehenWert; |
| + DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| + DebugOut.Analog[7] = GasMischanteil; |
| + DebugOut.Analog[8] = KompassValue; |
| +// DebugOut.Analog[9] = SollHoehe; |
| +// DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| +// DebugOut.Analog[11] = KompassStartwert; |
| +// DebugOut.Analog[10] = Parameter_Gyro_I; |
| +// DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| +// DebugOut.Analog[9] = KompassRichtung; |
| +// DebugOut.Analog[10] = GasMischanteil; |
| +// DebugOut.Analog[3] = HoeheD * 32; |
| +// DebugOut.Analog[4] = hoehenregler; |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| + SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/Chris_hallo/fc.h |
|---|
| 0,0 → 1,106 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/Chris_hallo/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File></Project> |
| /branches/Chris_hallo/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/Chris_hallo/format |
|---|
| 0,0 → 1,0 |
| 5 |
| /branches/Chris_hallo/gps.h |
|---|
| 0,0 → 1,4 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| /branches/Chris_hallo/main.c |
|---|
| 0,0 → 1,210 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/Chris_hallo/main.h |
|---|
| 0,0 → 1,101 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| long durchschnitt_northing; |
| long durchschnitt_easting; |
| volatile int gps_p; //P-Anteil (10) |
| volatile int gps_d; //D-Anteil (4) |
| volatile int skal; //Skalierungsfaktor der Regelung (alter Wert: 10) (20) |
| volatile int gps_gethome; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/Chris_hallo/makefile |
|---|
| 0,0 → 1,391 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/Chris_hallo/menu.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i Kanäle ",PPM_in[7]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/Chris_hallo/menu.h |
|---|
| 0,0 → 1,5 |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/Chris_hallo/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/Chris_hallo/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/Chris_hallo/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/Chris_hallo/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
| } |
| } |
| } |
| /branches/Chris_hallo/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/Chris_hallo/readme.txt |
|---|
| 0,0 → 1,84 |
| GPS-Modifikation auf Basis der Original V0.6 by Holger Buss & Ingo Busker |
| ----- BETA V0.2----- |
| Copyright by Christopher Hartmann und Daniel Schmitz. |
| -Disclaimer- |
| Wir übernehmen keinerlei Garantie für die Funktionstüchtigkeit dieser Software |
| jegliche Änderung geschehen auf Eigene Gefahr |
| für eventuelle Schäden übernehmen wir keinerlei Haftung |
| ______ |
| Parametrierung ist noch nicht abgeschlossen !!!! |
| Kompass nicht integriert !!!! -> Ufo muss nach Norden ausgerichtet sein !!!!!! |
| Im Koptertool nicht vergessen GPS zu aktivieren ! |
| Testparamter : P:2 / D:2 |
| ________ ***************ÄNDERUNGEN**************************** |
| folgende Änderungen am GPS-Empfänger vornehmen (siehe auch Pitschu Anleitung für Details) |
| folgende Einstellungen werden nicht mehr benötigt (muss nicht zwingend deaktiviert werden) |
| unter Messages: |
| -NAV-POSLLH |
| -NAV-POSUTM |
| -NAV-VELNED |
| folgende Einstellungen müssen aktiviert werden: (für Target1) |
| unter Messages: |
| -NAV-POSECEF |
| -NAV-VELECEF |
| _________****************************************************** |
| features: |
| -Auslesen der GPS Daten im UBX Protokoll (modifizierte Version, - Original von Pitschu (Peter Schulten) ) |
| - integrierter PD Regler - Parametrierung des P-, D-Anteils (der D-Anteil sollte ggf. durch Änderung im Quelltext weiter verkleinert werden) |
| User Parameter 1: P-Regler, 2:D-Regler |
| - Rotationsmatrix für Kompass |
| - Postiton Hold (Aktivierung über Poti 1 ( 0=Aus , >0 =aktiviert) |
| - kruzes Piepsen bestätigt Aktivierung des PH |
| - rote LED der Flight-Ctrl für Statusanzeige: (blinkend : GPS Aktiv) |
| - Aktivierung des Postiton-Hold ohne Empfang von GPS unterbunden |
| - Einbinden des GPS-Empfängers bitte Erklärung von PITSCHU aus XUFO-Forum entnehmen (http://forum.xufo.net/bb/viewtopic.php?t=5980) |
| ----- BAUDRATE einstellen auf 57600 ------ |
| _____ |
| in Planung: (TWI: teilweise Integriert, siehe Quelltext -- UNGETESTET -- ) |
| - Kompass (TWI) |
| - dynamische Parametrierung anhand der mittleren Abweichung der GPS Daten (höhrere Genauigkeit im PH) |
| -"Home Postition" (TWI) |
| - Eingangsdatenfilterung (Kompensation von Ungenauigkeit) |
| - Auslagerung auf externen Prozessor |
| . |
| /branches/Chris_hallo/timer0.c |
|---|
| 0,0 → 1,139 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<2); |
| } |
| else |
| PORTD &= ~(1<<2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/Chris_hallo/timer0.h |
|---|
| 0,0 → 1,14 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/Chris_hallo/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/Chris_hallo/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/Chris_hallo/uart.c |
|---|
| 0,0 → 1,656 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // + |
| // + GPS read out: |
| // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
| // + only for non-profit use |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| //gpsInfo_t gpsPoints[5]; // stored position to fly to (currently only 1 target supported) |
| //gpsInfo_t *gpsTarget; // points to one of the targets |
| gpsInfo_t actualPos; // measured position (last gps record) |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| #define CLASS_NAV 0x01 |
| #define MSGID_POSECEF 0x01 |
| #define MSGID_STATUS 0x03 |
| //#define MSGID_POSLLH 0x02 |
| #define MSGID_VELECEF 0x11 |
| //#define MSGID_POSUTM 0x08 |
| //#define MSGID_VELNED 0x12 |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| /* |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| */ |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEF_X; // ecef x / cm |
| long ECEF_Y; // ecef y / cm |
| long ECEF_Z; // ecef z / cm |
| unsigned long Pacc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_POSECEF_t ; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEFVX; // ecef x velocity cm/s |
| long ECEFVY; // ecef y velocity cm/s |
| long ECEFVZ; // ecef z velocity cm/s |
| unsigned long SAcc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_VELECEF_t; |
| NAV_STATUS_t navStatus; |
| NAV_POSECEF_t navPosECEF; |
| NAV_VELECEF_t navVelECEF; |
| //NAV_POSLLH_t navPosLlh; |
| //NAV_POSUTM_t navPosUtm; |
| //NAV_VELECEF avVelNed; |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| // distance to target position |
| long rollOffset; // in 10cm |
| long nickOffset; |
| #define GPS_INTCYCLES 100 |
| #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| void GPSscanData (void) |
| { |
| if (navPosECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
| actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
| actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
| navPosECEF.packetStatus = 0; |
| } |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.state = navStatus.GPSfix; |
| navStatus.packetStatus = 0; |
| } |
| if (navVelECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
| actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
| actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
| navVelECEF.packetStatus = 0; |
| } |
| /* |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; ///10; // in 10cm; |
| actualPos.easting = navPosUtm.EAST; //10; |
| actualPos.altitude = navPosUtm.ALT; //10; |
| navPosUtm.packetStatus = 0; |
| } |
| if (navPosLlh.packetStatus == 1) |
| navPosLlh.packetStatus = 0; |
| if (navVelNed.packetStatus == 1){ |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| navVelNed.packetStatus = 0;} |
| navPosLlh and navVelNed currently not used |
| */ |
| if (actualPos.state != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn GPS Signal brauchbar |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| uint8_t c; |
| uint8_t re; |
| re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
| c = SioTmp; |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR0 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR0B |= _B1(UDRIE0); //enable further irqs |
| } |
| #endif |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| case MSGID_POSECEF: |
| ubxP = (char*)&navPosECEF; |
| ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
| ubxSp = (char*)&navPosECEF.packetStatus; |
| ignorePacket = navPosECEF.packetStatus; |
| break; |
| case MSGID_VELECEF: |
| ubxP = (char*)&navVelECEF; |
| ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
| ubxSp = (char*)&navVelECEF.packetStatus; |
| ignorePacket = navVelECEF.packetStatus; |
| break; |
| /* |
| case MSGID_POSLLH: |
| ubxP = (char*)&navPosLlh; |
| ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
| ubxSp = (char*)&navPosLlh.packetStatus; |
| ignorePacket = navPosLlh.packetStatus; |
| break; |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| */ |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
| } |
| GPSscanData (); |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned int tmp_int_arr1[1]; |
| unsigned int tmp_int_arr2[2]; |
| unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| unsigned char tmp_char_arr3[3]; |
| unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| gpsState = GPS_EMPTY; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/Chris_hallo/uart.h |
|---|
| 0,0 → 1,118 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| #define _B1(bit) (1 << (bit)) |
| #define _B0(bit) (0 << (bit)) |
| typedef struct { |
| long x; // in cm (+ = north) |
| long y; // in cm (+ = east) |
| long z; // in cm |
| long vx; |
| long vy; |
| long vz; |
| //long groundSpeed; |
| //long heading; |
| uint8_t state; // status of data: 0 = invlid; 1 = valid |
| uint8_t noSV; // number of sats |
| } gpsInfo_t; |
| extern gpsInfo_t lockedPos; // stored position to fly to |
| extern gpsInfo_t actualPos; // measured position (last gps record) |
| extern void GPSscanData (void); |
| extern void GPSupdate(void); |
| extern void GPSsaveTarget (uint8_t mode); |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/FLightCtrl/GPS.c |
|---|
| 0,0 → 1,30 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| } |
| void GPS_BerechneZielrichtung(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| /branches/FLightCtrl/Hex-Files/BootLoader_MEGA644_20MHZ_V0_1.hex |
|---|
| 0,0 → 1,64 |
| :10F8000011241FBECFEFD0E1DEBFCDBF11E0A0E0DD |
| :10F81000B1E0E0EEFBEF02C005900D92A030B10721 |
| :10F82000D9F712E0A0E0B1E001C01D92A230B1070B |
| :10F83000E1F70C943B7C0C941D7C0895982F8091EB |
| :10F84000C00085FFFCCF9093C60008958091C00052 |
| :10F850008823E4F78091C600992708958DE40E94DB |
| :10F860001E7C8BE40E941E7C82E40E941E7C8CE441 |
| :10F870000E941E7C0895CFEFD0E1DEBFCDBFE0E057 |
| :10F88000F0E014915F01772474BE98E10FB6F8940C |
| :10F8900090936000109260000FBE7092C5008AE2E3 |
| :10F8A0008093C4008091C00082608093C0009093D8 |
| :10F8B000C10086E08093C200EF01072D8091C00057 |
| :10F8C00087FF0DC0013031F48091C6008A3AB1F152 |
| :10F8D00000E005C08091C6008B3109F401E0CE0143 |
| :10F8E00021968436910528F11F3F41F0112331F014 |
| :10F8F000E0910001F091010109951BC01092C50033 |
| :10F900008AE28093C4008AE00E941E7C8DE00E94FF |
| :10F910001E7C86E50E941E7C80E30E941E7C8EE297 |
| :10F920000E941E7C81E30E941E7C8AE30E941E7C52 |
| :10F9300005C080E593EC0197F1F7C0CF0E942E7CC3 |
| :10F940000E94267C813611F489E547C1813471F427 |
| :10F950000E94267CA82EBB24BA2CAA240E94267CB6 |
| :10F960009927A82AB92AB694A79406C1823629F401 |
| :10F9700089E50E941E7C81E00BC1823409F083C0BE |
| :10F980000E94267C9927D82FCC270E94267C992775 |
| :10F99000C82BD92B0E94267C082F12E0812E11E063 |
| :10F9A000912EEE24FF2464010894811C911CEC1616 |
| :10F9B000FD0618F40E94267C01C08FEFD6018C93BF |
| :10F9C0000894E11CF11CBFEFEB16F10461F358F34E |
| :10F9D000E4E77E1609F0DEC0063409F03DC0FFEF13 |
| :10F9E000AF16F7EFBF0608F033C0DE01A5016627AA |
| :10F9F0007727440F551F661F771F6A017B01C2E0FE |
| :10FA0000D1E001E08991992729913327322F2227CC |
| :10FA1000822B932B0C01FA0100935700E8951124D7 |
| :10FA20004E5F5F4F6F4F7F4F129761F785E0F60192 |
| :10FA300080935700E89507B600FCFDCF81E18093E5 |
| :10FA40005700E89576956795579547955A0194C064 |
| :10FA500080E00E941E7C90C0053409F08DC0F50145 |
| :10FA60009E01A2E0B1E0E1BD8F2F992782BD8D916B |
| :10FA700080BD3196FA9AF99AF999FECF215030401B |
| :10FA800091F75F0179C0873609F047C00E94267C54 |
| :10FA90009927D82ECC240E94267C9927C82AD92AB7 |
| :10FAA0000E94267C863411F5E6016501EE24FF24D0 |
| :10FAB000CC0CDD1CEE1CFF1CF60105911491802F6F |
| :10FAC0000E941E7C812F99270E941E7C82E090E07C |
| :10FAD000A0E0B0E0C80ED91EEA1EFB1E229761F717 |
| :10FAE000F694E794D794C79456012ACF853409F049 |
| :10FAF00027CF7501E1BC8F2D992782BDF89A089414 |
| :10FB0000E11CF11C80B50E941E7C0894C108D1083C |
| :10FB1000C114D10479F7570113CF853601F594E765 |
| :10FB2000791651F580E090E0A0E0B0E023E0FC0120 |
| :10FB300020935700E89507B600FCFDCF80509F4FFB |
| :10FB4000AF4FBF4F8F3FE7EF9E07E0E0AE07E0E02B |
| :10FB5000BE0768F381E180935700E8950DC08534B6 |
| :10FB600069F488E190E02CE00FB6F894A8958093B2 |
| :10FB700060000FBE209360008DE02FC08035E1F360 |
| :10FB80008C34D1F3803711F483E527C0843721F416 |
| :10FB90000E941E7C80E021C0843521F40E94267CD6 |
| :10FBA000782EEACF8B3109F4C9CE8A3A09F4C6CE51 |
| :10FBB000863529F480E30E941E7C81E30EC08337E2 |
| :10FBC00041F489E00E941E7C86E90E941E7C8EE141 |
| :10FBD00004C08B3109F4B4CE8FE30E941E7CB0CEFA |
| :040000030000F80001 |
| :00000001FF |
| /branches/FLightCtrl/Hex-Files/BrushLess-Ctrl_16kHz_ADR1_V0_31.hex |
|---|
| 0,0 → 1,286 |
| :1000000012C05DC52AC029C0C3C5C5C426C025C04D |
| :10001000B1C4F8C322C0EFC220C0BCC21EC01DC004 |
| :10002000C1C561C51AC011241FBECFE5D4E0DEBF33 |
| :10003000CDBF10E0A0E6B0E0E8EBF1E102C0059032 |
| :100040000D92A037B107D9F713E0A0E7B0E001C0E7 |
| :100050001D92A339B107E1F73AC1D2CF20918200B6 |
| :1000600080916100821710F4282FAB9A8091800054 |
| :10007000909181008338910560F01BBC1ABC19BCBB |
| :1000800018BC13BCAB9A01979093810080938000B9 |
| :100090000895822F9927880F991F9BBD8ABD99BD0E |
| :1000A00088BD23BD089582E08FBD81E485BD85B301 |
| :1000B000817F85BB89E08EBD089592B7980F82B786 |
| :1000C000891B87FDFCCF0895AF92BF92CF92DF923C |
| :1000D000EF92FF920F931F93CF93DF93182F8CE231 |
| :1000E000A82E81E0B82EC12CD12C109297004398F5 |
| :1000F00085E090E09093830080938200AFDF57D635 |
| :1001000088EC90E0DDD3C12FDD27D0938300C0932E |
| :100110008200EE24FF248701EA14FB040C051D0570 |
| :1001200078F480916600882311F43ED201C050D348 |
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|---|
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| /branches/FLightCtrl/Hex-Files/Flight-Ctrl_MEGA644_V0_60.hex |
|---|
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| :105710009F575F57950F13F49AF1F1CF91589F3F20 |
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| :1057A000649FE00DF11D929FF00D839FF00D749F9B |
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| :1057D000AA1BBB1B51E107C0AA1FBB1FA617B70717 |
| :1057E00010F0A61BB70B881F991F5A95A9F7809533 |
| :1057F0009095BC01CD01089597FB092E07260AD08C |
| :1058000077FD04D0E5DF06D000201AF4709561958D |
| :105810007F4F0895F6F7909581959F4F0895A1E2E7 |
| :105820001A2EAA1BBB1BFD010DC0AA1FBB1FEE1F1A |
| :10583000FF1FA217B307E407F50720F0A21BB30B65 |
| :10584000E40BF50B661F771F881F991F1A9469F7E1 |
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| :105870000AD0001C38F450954095309521953F4F43 |
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| :105890007F4F8F4F9F4F0895F999FECFB2BDA1BDA5 |
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| :1058B00000BC11960FB6F894FA9AF99A0FBE0895A3 |
| :1058C0006401010AFF03007D0000640048616C6C04 |
| :1058D0006F2057656C74000000000000000000009D |
| :1058E00000000000000000000000000000000000B8 |
| :1058F00000000000000000000000000000000000A8 |
| :105900000000000000000000000000000000000097 |
| :10591000000000000000000000000000010203047D |
| :1059200005060708090A0A01640A029632403A107D |
| :10593000FB3017B7D1380000803F4E6F726D616C3D |
| :0A59400000004B616D65726100000C |
| :00000001FF |
| /branches/FLightCtrl/Hex-Files/WasIstWas.txt |
|---|
| 0,0 → 1,22 |
| +++++++++++++++++++++++++ |
| + Flight-Ctrl: |
| +++++++++++++++++++++++++ |
| BootLoader_MEGA644_20MHZ_V0_1.hex |
| Der Bootloader wird per ISP eingespielt |
| Der Bootloader nur dann eingespielt werden, wenn noch nie ein Bootloader eingespielt wurde! |
| Danach können Softwareupdates seriell eingespielt werden. |
| Flight-Ctrl_MEGA644_Vx_yy.hex |
| Aktuelle Firmware |
| Wird per serielle Schnittstelle (durch den Bootloader) eingespielt |
| Flight-Ctrl SW > 0.60 benötigt das Kopter-Tool >1.45 |
| +++++++++++++++++++++++++ |
| + BL-Ctrl: |
| +++++++++++++++++++++++++ |
| BrushLess-Ctrl_16kHz_ADRq_Vx_yy.hex |
| Firmware für den BL-Regler |
| Jeder Regler benötigt die Software mit seiner eigenen Adresse |
| /branches/FLightCtrl/Hex-Files/___Hex-Files_komplett__.zip |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /branches/FLightCtrl/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/FLightCtrl/Settings.h |
|---|
| --- FLightCtrl/_Settings.h (nonexistent) |
| +++ FLightCtrl/_Settings.h (revision 171) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/FLightCtrl/analog.c |
|---|
| 0,0 → 1,155 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ay = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ay; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/FLightCtrl/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/FLightCtrl/eeprom.c |
|---|
| --- FLightCtrl/fc.c (nonexistent) |
| +++ FLightCtrl/fc.c (revision 171) |
| @@ -0,0 +1,812 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + GPS_Neutral(); |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + DebugOut.Analog[12] = Motor_Vorne; |
| + DebugOut.Analog[13] = Motor_Hinten; |
| + DebugOut.Analog[14] = Motor_Links; |
| + DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| + unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| + unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| + |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 35) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + //KompassValue = 12; |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + int w,v; |
| + static int SignalSchlecht = 0; |
| + w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| + v = abs(IntegralRoll /512); |
| + if(v > w) w = v; // grösste Neigung ermitteln |
| + if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| + w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| + if(w > 0) |
| + { |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + if(SignalSchlecht) SignalSchlecht--; |
| + } |
| + else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| +// DebugOut.Analog[0] = MesswertNick; |
| +// DebugOut.Analog[1] = MesswertRoll; |
| +// DebugOut.Analog[2] = MesswertGier; |
| + DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[2] = Mittelwert_AccNick; |
| + DebugOut.Analog[3] = Mittelwert_AccRoll; |
| + DebugOut.Analog[4] = MesswertGier; |
| + DebugOut.Analog[5] = HoehenWert; |
| + DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| + DebugOut.Analog[7] = GasMischanteil; |
| + DebugOut.Analog[8] = KompassValue; |
| +// DebugOut.Analog[9] = SollHoehe; |
| +// DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| +// DebugOut.Analog[11] = KompassStartwert; |
| +// DebugOut.Analog[10] = Parameter_Gyro_I; |
| +// DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| +// DebugOut.Analog[9] = KompassRichtung; |
| +// DebugOut.Analog[10] = GasMischanteil; |
| +// DebugOut.Analog[3] = HoeheD * 32; |
| +// DebugOut.Analog[4] = hoehenregler; |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| + SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/FLightCtrl/fc.h |
|---|
| 0,0 → 1,106 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/FLightCtrl/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File></Project> |
| /branches/FLightCtrl/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/FLightCtrl/gps.h |
|---|
| 0,0 → 1,4 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| /branches/FLightCtrl/main.c |
|---|
| 0,0 → 1,210 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/FLightCtrl/main.h |
|---|
| 0,0 → 1,92 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/FLightCtrl/makefile |
|---|
| 0,0 → 1,391 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/FLightCtrl/menu.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i Kanäle ",PPM_in[7]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/FLightCtrl/menu.h |
|---|
| 0,0 → 1,5 |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/FLightCtrl/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/FLightCtrl/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/FLightCtrl/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/FLightCtrl/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
| } |
| } |
| } |
| /branches/FLightCtrl/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/FLightCtrl/timer0.c |
|---|
| 0,0 → 1,139 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<2); |
| } |
| else |
| PORTD &= ~(1<<2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/FLightCtrl/timer0.h |
|---|
| 0,0 → 1,14 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/FLightCtrl/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/FLightCtrl/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/FLightCtrl/uart.c |
|---|
| 0,0 → 1,328 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned int tmp_int_arr1[1]; |
| unsigned int tmp_int_arr2[2]; |
| unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| unsigned char tmp_char_arr3[3]; |
| unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/FLightCtrl/uart.h |
|---|
| 0,0 → 1,93 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/FLightCtrl/version.txt |
|---|
| 0,0 → 1,49 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| /branches/Flight-Ctrl/GPS.c |
|---|
| 0,0 → 1,30 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| } |
| void GPS_BerechneZielrichtung(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| /branches/Flight-Ctrl/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/Flight-Ctrl/Settings.h |
|---|
| --- Flight-Ctrl/_Settings.h (nonexistent) |
| +++ Flight-Ctrl/_Settings.h (revision 171) |
| @@ -0,0 +1,55 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| + #define K_POTI5 8 |
| + #define K_POTI6 9 |
| + #define K_POTI7 10 |
| + #define K_POTI8 11 |
| + |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/Flight-Ctrl/analog.c |
|---|
| 0,0 → 1,155 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ay = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ay; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/Flight-Ctrl/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/Flight-Ctrl/eeprom.c |
|---|
| --- Flight-Ctrl/fc.c (nonexistent) |
| +++ Flight-Ctrl/fc.c (revision 171) |
| @@ -0,0 +1,845 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0,Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + GPS_Neutral(); |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| + if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| + if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| + if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| + |
| + |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| + if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| + if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| + if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| + if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| + if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| + if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| + if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| + |
| + |
| + |
| + |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| + if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| + if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| + if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| + if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| +// DebugOut.Analog[12] = Motor_Vorne; |
| +// DebugOut.Analog[13] = Motor_Hinten; |
| +// DebugOut.Analog[14] = Motor_Links; |
| +// DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
| + EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
| + EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
| + EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
| + |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
| + EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
| + EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
| + EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
| + |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| + unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| + unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| + |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 35) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + //KompassValue = 12; |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + int w,v; |
| + static int SignalSchlecht = 0; |
| + w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| + v = abs(IntegralRoll /512); |
| + if(v > w) w = v; // grösste Neigung ermitteln |
| + if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| + w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| + if(w > 0) |
| + { |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + if(SignalSchlecht) SignalSchlecht--; |
| + } |
| + else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| +// DebugOut.Analog[0] = MesswertNick; |
| +// DebugOut.Analog[1] = MesswertRoll; |
| +// DebugOut.Analog[2] = MesswertGier; |
| + DebugOut.Analog[0] = Poti1; |
| + DebugOut.Analog[1] = Poti2; |
| + DebugOut.Analog[2] = Poti3; |
| + DebugOut.Analog[3] = Poti4; |
| + DebugOut.Analog[4] = Poti5; |
| + DebugOut.Analog[5] = Poti6; |
| + DebugOut.Analog[6] = Poti7; |
| + DebugOut.Analog[7] = Poti8; |
| + // DebugOut.Analog[8] = PPM_in[12]; |
| + // DebugOut.Analog[9] = PPM_in[13]; |
| + // DebugOut.Analog[10] = EE_Parameter.Kanalbelegung[K_POTI5]; |
| + // DebugOut.Analog[11] = EE_Parameter.Kanalbelegung[K_POTI6]; |
| + // DebugOut.Analog[12] = EE_Parameter.Kanalbelegung[K_POTI7]; |
| + // DebugOut.Analog[13] = EE_Parameter.Kanalbelegung[K_POTI8]; |
| + // DebugOut.Analog[14] = EE_Parameter.Kanalbelegung[K_POTI4]; |
| +// DebugOut.Analog[10] = GasMischanteil; |
| +// DebugOut.Analog[3] = HoeheD * 32; |
| +// DebugOut.Analog[4] = hoehenregler; |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| + SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/Flight-Ctrl/fc.h |
|---|
| 0,0 → 1,106 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4,Poti5,Poti6,Poti7,Poti8; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 Poti5 Poti6 Poti7 Poti8 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/Flight-Ctrl/flight.aps |
|---|
| 0,0 → 1,0 |
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| /branches/Flight-Ctrl/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File></Project> |
| /branches/Flight-Ctrl/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/Flight-Ctrl/gps.h |
|---|
| 0,0 → 1,4 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| /branches/Flight-Ctrl/main.c |
|---|
| 0,0 → 1,210 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/Flight-Ctrl/main.h |
|---|
| 0,0 → 1,92 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/Flight-Ctrl/makefile |
|---|
| 0,0 → 1,391 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/Flight-Ctrl/menu.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i Kanäle ",PPM_in[7]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/Flight-Ctrl/menu.h |
|---|
| 0,0 → 1,5 |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/Flight-Ctrl/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/Flight-Ctrl/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/Flight-Ctrl/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/Flight-Ctrl/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[15]; |
| volatile int PPM_diff[15]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 14) |
| { |
| if((signal > 250) && (signal < 687) ) |
| { |
| signal -= 466; // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) |
| { |
| if(SenderOkay < 200) SenderOkay += 10; |
| } |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| } |
| } |
| } |
| /branches/Flight-Ctrl/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[15]; |
| extern volatile int PPM_diff[15]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/Flight-Ctrl/timer0.c |
|---|
| 0,0 → 1,139 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<2); |
| } |
| else |
| PORTD &= ~(1<<2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/Flight-Ctrl/timer0.h |
|---|
| 0,0 → 1,14 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/Flight-Ctrl/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/Flight-Ctrl/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/Flight-Ctrl/uart.c |
|---|
| 0,0 → 1,328 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned int tmp_int_arr1[1]; |
| unsigned int tmp_int_arr2[2]; |
| unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| unsigned char tmp_char_arr3[3]; |
| unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/Flight-Ctrl/uart.h |
|---|
| 0,0 → 1,93 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/Flight-Ctrl/version.txt |
|---|
| 0,0 → 1,49 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| /branches/chris_hallo2/Flight-Ctrl_MEGA644_V0_60.eep |
|---|
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| /branches/chris_hallo2/Flight-Ctrl_MEGA644_V0_60.elf |
|---|
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| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| :00000001FF |
| /branches/chris_hallo2/Flight-Ctrl_MEGA644_V0_60.lss |
|---|
| 0,0 → 1,9066 |
| Flight-Ctrl_MEGA644_V0_60.elf: file format elf32-avr |
| Sections: |
| Idx Name Size VMA LMA File off Algn |
| 0 .data 0000008e 00800100 00005a70 00005b24 2**0 |
| CONTENTS, ALLOC, LOAD, DATA |
| 1 .text 00005a70 00000000 00000000 000000b4 2**1 |
| CONTENTS, ALLOC, LOAD, READONLY, CODE |
| 2 .bss 0000042f 0080018e 0080018e 00005bb2 2**0 |
| ALLOC |
| 3 .eeprom 00000800 00810000 00810000 00005bb2 2**0 |
| CONTENTS, ALLOC, LOAD, DATA |
| 4 .stab 00000378 00000000 00000000 000063b4 2**2 |
| CONTENTS, READONLY, DEBUGGING |
| 5 .stabstr 00000071 00000000 00000000 0000672c 2**0 |
| CONTENTS, READONLY, DEBUGGING |
| Disassembly of section .text: |
| 00000000 <__vectors>: |
| 0: 0c 94 d9 01 jmp 0x3b2 ; 0x3b2 <__ctors_end> |
| 4: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 8: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| c: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 10: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 14: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 18: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 1c: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 20: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 24: 0c 94 10 0c jmp 0x1820 ; 0x1820 <__vector_9> |
| 28: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 2c: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 30: 0c 94 e1 14 jmp 0x29c2 ; 0x29c2 <__vector_12> |
| 34: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 38: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 3c: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 40: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 44: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 48: 0c 94 67 0b jmp 0x16ce ; 0x16ce <__vector_18> |
| 4c: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 50: 0c 94 43 04 jmp 0x886 ; 0x886 <__vector_20> |
| 54: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 58: 0c 94 92 03 jmp 0x724 ; 0x724 <__vector_22> |
| 5c: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 60: 0c 94 fc 0c jmp 0x19f8 ; 0x19f8 <__vector_24> |
| 64: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 68: 0c 94 2e 14 jmp 0x285c ; 0x285c <__vector_26> |
| 6c: 0c 94 f6 01 jmp 0x3ec ; 0x3ec <__bad_interrupt> |
| 00000070 <__c.2018>: |
| 70: 0a 0a 0d 00 .... |
| 00000074 <__c.2016>: |
| 74: 4e 65 75 74 72 61 6c 00 Neutral. |
| 0000007c <__c.2014>: |
| 7c: 48 65 61 64 69 6e 67 48 6f 6c 64 00 HeadingHold. |
| 00000088 <__c.2012>: |
| 88: 0a 0d 53 74 65 75 65 72 75 6e 67 3a 20 00 ..Steuerung: . |
| 00000096 <__c.2010>: |
| 96: 4f 4b 0a 0d 00 OK... |
| 0000009b <__c.2005>: |
| 9b: 0a 0d 41 62 67 6c 65 69 63 68 20 4c 75 66 74 64 ..Abgleich Luftd |
| ab: 72 75 63 6b 73 65 6e 73 6f 72 2e 2e 00 rucksensor... |
| 000000b8 <__c.2003>: |
| b8: 0a 0d 42 65 6e 75 74 7a 65 20 50 61 72 61 6d 65 ..Benutze Parame |
| c8: 74 65 72 73 61 74 7a 20 25 64 00 tersatz %d. |
| 000000d3 <__c.1995>: |
| d3: 0a 0d 49 6e 69 74 2e 20 45 45 50 52 4f 4d 3a 20 ..Init. EEPROM: |
| e3: 47 65 6e 65 72 69 65 72 65 20 44 65 66 61 75 6c Generiere Defaul |
| f3: 74 2d 50 61 72 61 6d 65 74 65 72 2e 2e 2e 00 t-Parameter.... |
| 00000102 <__c.1993>: |
| 102: 0a 0d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d ..============== |
| 112: 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d 3d ================ |
| ... |
| 00000123 <__c.1991>: |
| 123: 0a 0d 46 6c 69 67 68 74 43 6f 6e 74 72 6f 6c 20 ..FlightControl |
| 133: 56 25 64 2e 25 64 20 00 V%d.%d . |
| 0000013b <__c.1990>: |
| 13b: 2e 00 .. |
| 0000013d <__c.2072>: |
| 13d: 52 61 6e 67 65 3a 25 33 69 2d 25 33 69 00 Range:%3i-%3i. |
| 0000014b <__c.2070>: |
| 14b: 53 74 65 6c 6c 75 6e 67 3a 20 25 33 69 00 Stellung: %3i. |
| 00000159 <__c.2068>: |
| 159: 53 65 74 70 6f 69 6e 74 20 20 25 33 69 00 Setpoint %3i. |
| 00000167 <__c.2066>: |
| 167: 53 65 72 76 6f 20 20 00 Servo . |
| 0000016f <__c.2063>: |
| 16f: 50 6f 74 69 34 3a 20 20 25 33 69 00 Poti4: %3i. |
| 0000017b <__c.2061>: |
| 17b: 50 6f 74 69 33 3a 20 20 25 33 69 00 Poti3: %3i. |
| 00000187 <__c.2059>: |
| 187: 50 6f 74 69 32 3a 20 20 25 33 69 00 Poti2: %3i. |
| 00000193 <__c.2057>: |
| 193: 50 6f 74 69 31 3a 20 20 25 33 69 00 Poti1: %3i. |
| 0000019f <__c.2054>: |
| 19f: 53 74 61 72 74 3a 20 20 20 20 20 25 35 69 00 Start: %5i. |
| 000001ae <__c.2052>: |
| 1ae: 4d 65 73 73 77 65 72 74 3a 20 20 25 35 69 00 Messwert: %5i. |
| 000001bd <__c.2050>: |
| 1bd: 52 69 63 68 74 75 6e 67 3a 20 20 25 35 69 00 Richtung: %5i. |
| 000001cc <__c.2048>: |
| 1cc: 4b 6f 6d 70 61 73 73 20 20 20 20 20 20 20 00 Kompass . |
| 000001db <__c.2045>: |
| 1db: 45 6d 70 66 2e 50 65 67 65 6c 3a 25 35 69 00 Empf.Pegel:%5i. |
| 000001ea <__c.2043>: |
| 1ea: 53 70 61 6e 6e 75 6e 67 3a 20 20 25 35 69 00 Spannung: %5i. |
| 000001f9 <__c.2040>: |
| 1f9: 48 6f 63 68 20 25 34 69 20 28 25 33 69 29 00 Hoch %4i (%3i). |
| 00000208 <__c.2038>: |
| 208: 52 6f 6c 6c 20 25 34 69 20 28 25 33 69 29 00 Roll %4i (%3i). |
| 00000217 <__c.2036>: |
| 217: 4e 69 63 6b 20 25 34 69 20 28 25 33 69 29 00 Nick %4i (%3i). |
| 00000226 <__c.2034>: |
| 226: 41 43 43 20 2d 20 53 65 6e 73 6f 72 00 ACC - Sensor. |
| 00000233 <__c.2031>: |
| 233: 47 69 65 72 20 25 34 69 20 28 25 33 69 29 00 Gier %4i (%3i). |
| 00000242 <__c.2029>: |
| 242: 52 6f 6c 6c 20 25 34 69 20 28 25 33 69 29 00 Roll %4i (%3i). |
| 00000251 <__c.2027>: |
| 251: 4e 69 63 6b 20 25 34 69 20 28 25 33 69 29 00 Nick %4i (%3i). |
| 00000260 <__c.2025>: |
| 260: 47 79 72 6f 20 2d 20 53 65 6e 73 6f 72 00 Gyro - Sensor. |
| 0000026e <__c.2022>: |
| 26e: 50 33 3a 25 34 69 20 20 4b 61 6e e4 6c 65 20 00 P3:%4i Kan.le . |
| 0000027e <__c.2020>: |
| 27e: 50 31 3a 25 34 69 20 20 50 32 3a 25 34 69 20 00 P1:%4i P2:%4i . |
| 0000028e <__c.2018>: |
| 28e: 47 73 3a 25 34 69 20 20 47 69 3a 25 34 69 20 00 Gs:%4i Gi:%4i . |
| 0000029e <__c.2016>: |
| 29e: 4e 69 3a 25 34 69 20 20 52 6f 3a 25 34 69 20 00 Ni:%4i Ro:%4i . |
| 000002ae <__c.2013>: |
| 2ae: 4b 37 3a 25 34 69 20 20 4b 61 6e e4 6c 65 20 00 K7:%4i Kan.le . |
| 000002be <__c.2011>: |
| 2be: 4b 35 3a 25 34 69 20 20 4b 36 3a 25 34 69 20 00 K5:%4i K6:%4i . |
| 000002ce <__c.2009>: |
| 2ce: 4b 33 3a 25 34 69 20 20 4b 34 3a 25 34 69 20 00 K3:%4i K4:%4i . |
| 000002de <__c.2007>: |
| 2de: 4b 31 3a 25 34 69 20 20 4b 32 3a 25 34 69 20 00 K1:%4i K2:%4i . |
| 000002ee <__c.2004>: |
| 2ee: 4b 6f 6d 70 61 73 73 3a 20 20 20 25 35 69 00 Kompass: %5i. |
| 000002fd <__c.2002>: |
| 2fd: 52 6f 6c 6c 3a 20 20 20 20 20 20 25 35 69 00 Roll: %5i. |
| 0000030c <__c.2000>: |
| 30c: 4e 69 63 6b 3a 20 20 20 20 20 20 25 35 69 00 Nick: %5i. |
| 0000031b <__c.1998>: |
| 31b: 61 6b 74 2e 20 4c 61 67 65 00 akt. Lage. |
| 00000325 <__c.1995>: |
| 325: 48 f6 68 65 6e 72 65 67 65 6c 75 6e 67 00 H.henregelung. |
| 00000333 <__c.1993>: |
| 333: 4b 65 69 6e 65 20 00 Keine . |
| 0000033a <__c.1991>: |
| 33a: 4f 66 66 20 20 20 20 20 20 3a 20 25 35 69 00 Off : %5i. |
| 00000349 <__c.1989>: |
| 349: 4c 75 66 74 64 72 75 63 6b 3a 20 25 35 69 00 Luftdruck: %5i. |
| 00000358 <__c.1987>: |
| 358: 53 6f 6c 6c 48 6f 65 68 65 3a 20 25 35 69 00 SollHoehe: %5i. |
| 00000367 <__c.1985>: |
| 367: 48 6f 65 68 65 3a 20 20 20 20 20 25 35 69 00 Hoehe: %5i. |
| 00000376 <__c.1981>: |
| 376: 28 63 29 20 48 6f 6c 67 65 72 20 42 75 73 73 00 (c) Holger Buss. |
| 00000386 <__c.1979>: |
| 386: 53 65 74 74 69 6e 67 3a 20 25 64 20 00 Setting: %d . |
| 00000393 <__c.1977>: |
| 393: 56 25 64 2e 25 64 00 V%d.%d. |
| 0000039a <__c.1975>: |
| 39a: 2b 2b 20 4d 69 6b 72 6f 4b 6f 70 74 65 72 20 2b ++ MikroKopter + |
| 3aa: 2b 00 +. |
| 000003ac <__c.1972>: |
| 3ac: 5b 25 69 5d 00 00 [%i].. |
| 000003b2 <__ctors_end>: |
| 3b2: 11 24 eor r1, r1 |
| 3b4: 1f be out 0x3f, r1 ; 63 |
| 3b6: cf ef ldi r28, 0xFF ; 255 |
| 3b8: d0 e1 ldi r29, 0x10 ; 16 |
| 3ba: de bf out 0x3e, r29 ; 62 |
| 3bc: cd bf out 0x3d, r28 ; 61 |
| 000003be <__do_copy_data>: |
| 3be: 11 e0 ldi r17, 0x01 ; 1 |
| 3c0: a0 e0 ldi r26, 0x00 ; 0 |
| 3c2: b1 e0 ldi r27, 0x01 ; 1 |
| 3c4: e0 e7 ldi r30, 0x70 ; 112 |
| 3c6: fa e5 ldi r31, 0x5A ; 90 |
| 3c8: 02 c0 rjmp .+4 ; 0x3ce <.do_copy_data_start> |
| 000003ca <.do_copy_data_loop>: |
| 3ca: 05 90 lpm r0, Z+ |
| 3cc: 0d 92 st X+, r0 |
| 000003ce <.do_copy_data_start>: |
| 3ce: ae 38 cpi r26, 0x8E ; 142 |
| 3d0: b1 07 cpc r27, r17 |
| 3d2: d9 f7 brne .-10 ; 0x3ca <.do_copy_data_loop> |
| 000003d4 <__do_clear_bss>: |
| 3d4: 15 e0 ldi r17, 0x05 ; 5 |
| 3d6: ae e8 ldi r26, 0x8E ; 142 |
| 3d8: b1 e0 ldi r27, 0x01 ; 1 |
| 3da: 01 c0 rjmp .+2 ; 0x3de <.do_clear_bss_start> |
| 000003dc <.do_clear_bss_loop>: |
| 3dc: 1d 92 st X+, r1 |
| 000003de <.do_clear_bss_start>: |
| 3de: ad 3b cpi r26, 0xBD ; 189 |
| 3e0: b1 07 cpc r27, r17 |
| 3e2: e1 f7 brne .-8 ; 0x3dc <.do_clear_bss_loop> |
| 3e4: 0e 94 2d 02 call 0x45a ; 0x45a <main> |
| 3e8: 0c 94 37 2d jmp 0x5a6e ; 0x5a6e <_exit> |
| 000003ec <__bad_interrupt>: |
| 3ec: 0c 94 00 00 jmp 0 ; 0x0 <__vectors> |
| 000003f0 <GetActiveParamSetNumber>: |
| 3f0: a2 e0 ldi r26, 0x02 ; 2 |
| 3f2: b0 e0 ldi r27, 0x00 ; 0 |
| 3f4: 0e 94 23 2d call 0x5a46 ; 0x5a46 <__eeprom_read_byte_1F2021> |
| 3f8: 80 2d mov r24, r0 |
| 3fa: 99 27 eor r25, r25 |
| 3fc: 08 95 ret |
| 000003fe <WriteParameterSet>: |
| 3fe: fb 01 movw r30, r22 |
| 400: 28 2f mov r18, r24 |
| 402: 86 30 cpi r24, 0x06 ; 6 |
| 404: 08 f0 brcs .+2 ; 0x408 <WriteParameterSet+0xa> |
| 406: 25 e0 ldi r18, 0x05 ; 5 |
| 408: 84 2f mov r24, r20 |
| 40a: 99 27 eor r25, r25 |
| 40c: 42 9f mul r20, r18 |
| 40e: d0 01 movw r26, r0 |
| 410: 11 24 eor r1, r1 |
| 412: ac 59 subi r26, 0x9C ; 156 |
| 414: bf 4f sbci r27, 0xFF ; 255 |
| 00000416 <.26_start>: |
| 416: 01 97 sbiw r24, 0x01 ; 1 |
| 418: 24 f0 brlt .+8 ; 0x422 <.26_finished> |
| 41a: 01 90 ld r0, Z+ |
| 41c: 0e 94 2b 2d call 0x5a56 ; 0x5a56 <__eeprom_write_byte_1F2021> |
| 420: fa cf rjmp .-12 ; 0x416 <.26_start> |
| 00000422 <.26_finished>: |
| 422: a2 e0 ldi r26, 0x02 ; 2 |
| 424: b0 e0 ldi r27, 0x00 ; 0 |
| 426: 02 2e mov r0, r18 |
| 428: 0e 94 2b 2d call 0x5a56 ; 0x5a56 <__eeprom_write_byte_1F2021> |
| 42c: 08 95 ret |
| 0000042e <ReadParameterSet>: |
| 42e: cf 93 push r28 |
| 430: df 93 push r29 |
| 432: fb 01 movw r30, r22 |
| 434: c4 2f mov r28, r20 |
| 436: dd 27 eor r29, r29 |
| 438: 86 30 cpi r24, 0x06 ; 6 |
| 43a: 08 f0 brcs .+2 ; 0x43e <ReadParameterSet+0x10> |
| 43c: 85 e0 ldi r24, 0x05 ; 5 |
| 43e: 48 9f mul r20, r24 |
| 440: d0 01 movw r26, r0 |
| 442: 11 24 eor r1, r1 |
| 444: ac 59 subi r26, 0x9C ; 156 |
| 446: bf 4f sbci r27, 0xFF ; 255 |
| 00000448 <.44_start>: |
| 448: 21 97 sbiw r28, 0x01 ; 1 |
| 44a: 24 f0 brlt .+8 ; 0x454 <.44_finished> |
| 44c: 0e 94 23 2d call 0x5a46 ; 0x5a46 <__eeprom_read_byte_1F2021> |
| 450: 01 92 st Z+, r0 |
| 452: fa cf rjmp .-12 ; 0x448 <.44_start> |
| 00000454 <.44_finished>: |
| 454: df 91 pop r29 |
| 456: cf 91 pop r28 |
| 458: 08 95 ret |
| 0000045a <main>: |
| 45a: 0f 93 push r16 |
| 45c: 1f 93 push r17 |
| 45e: cf 93 push r28 |
| 460: df 93 push r29 |
| 462: 91 e0 ldi r25, 0x01 ; 1 |
| 464: 97 b9 out 0x07, r25 ; 7 |
| 466: 8f ef ldi r24, 0xFF ; 255 |
| 468: 88 b9 out 0x08, r24 ; 8 |
| 46a: 8b e1 ldi r24, 0x1B ; 27 |
| 46c: 84 b9 out 0x04, r24 ; 4 |
| 46e: 95 b9 out 0x05, r25 ; 5 |
| 470: 8e e3 ldi r24, 0x3E ; 62 |
| 472: 8a b9 out 0x0a, r24 ; 10 |
| 474: 57 9a sbi 0x0a, 7 ; 10 |
| 476: 87 ef ldi r24, 0xF7 ; 247 |
| 478: 8b b9 out 0x0b, r24 ; 11 |
| 47a: 84 b7 in r24, 0x34 ; 52 |
| 47c: 87 7f andi r24, 0xF7 ; 247 |
| 47e: 84 bf out 0x34, r24 ; 52 |
| 480: 80 91 60 00 lds r24, 0x0060 |
| 484: 88 61 ori r24, 0x18 ; 24 |
| 486: 80 93 60 00 sts 0x0060, r24 |
| 48a: 10 92 60 00 sts 0x0060, r1 |
| 48e: 80 ed ldi r24, 0xD0 ; 208 |
| 490: 97 e0 ldi r25, 0x07 ; 7 |
| 492: 90 93 ac 01 sts 0x01AC, r25 |
| 496: 80 93 ab 01 sts 0x01AB, r24 |
| 49a: 10 92 2d 02 sts 0x022D, r1 |
| 49e: 10 92 2c 02 sts 0x022C, r1 |
| 4a2: 10 92 46 05 sts 0x0546, r1 |
| 4a6: 10 92 45 05 sts 0x0545, r1 |
| 4aa: 10 92 2b 02 sts 0x022B, r1 |
| 4ae: 10 92 2a 02 sts 0x022A, r1 |
| 4b2: 10 92 29 02 sts 0x0229, r1 |
| 4b6: 10 92 28 02 sts 0x0228, r1 |
| 4ba: 28 98 cbi 0x05, 0 ; 5 |
| 4bc: 0e 94 bd 0c call 0x197a ; 0x197a <Timer_Init> |
| 4c0: 0e 94 2d 07 call 0xe5a ; 0xe5a <UART_Init> |
| 4c4: 0e 94 cc 14 call 0x2998 ; 0x2998 <rc_sum_init> |
| 4c8: 0e 94 f6 0c call 0x19ec ; 0x19ec <ADC_Init> |
| 4cc: 0e 94 14 14 call 0x2828 ; 0x2828 <i2c_init> |
| 4d0: 78 94 sei |
| 4d2: 10 92 00 04 sts 0x0400, r1 |
| 4d6: 8c e3 ldi r24, 0x3C ; 60 |
| 4d8: 80 93 01 04 sts 0x0401, r24 |
| 4dc: 84 e0 ldi r24, 0x04 ; 4 |
| 4de: 80 93 02 04 sts 0x0402, r24 |
| 4e2: 8c e3 ldi r24, 0x3C ; 60 |
| 4e4: 90 e0 ldi r25, 0x00 ; 0 |
| 4e6: 9f 93 push r25 |
| 4e8: 8f 93 push r24 |
| 4ea: 1f 92 push r1 |
| 4ec: 1f 92 push r1 |
| 4ee: 83 e2 ldi r24, 0x23 ; 35 |
| 4f0: 91 e0 ldi r25, 0x01 ; 1 |
| 4f2: 9f 93 push r25 |
| 4f4: 8f 93 push r24 |
| 4f6: 1f 92 push r1 |
| 4f8: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 4fc: 82 e0 ldi r24, 0x02 ; 2 |
| 4fe: 91 e0 ldi r25, 0x01 ; 1 |
| 500: 9f 93 push r25 |
| 502: 8f 93 push r24 |
| 504: 1f 92 push r1 |
| 506: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 50a: 29 9a sbi 0x05, 1 ; 5 |
| 50c: a1 e0 ldi r26, 0x01 ; 1 |
| 50e: b0 e0 ldi r27, 0x00 ; 0 |
| 510: 0e 94 23 2d call 0x5a46 ; 0x5a46 <__eeprom_read_byte_1F2021> |
| 514: 80 2d mov r24, r0 |
| 516: 2d b7 in r18, 0x3d ; 61 |
| 518: 3e b7 in r19, 0x3e ; 62 |
| 51a: 26 5f subi r18, 0xF6 ; 246 |
| 51c: 3f 4f sbci r19, 0xFF ; 255 |
| 51e: 0f b6 in r0, 0x3f ; 63 |
| 520: f8 94 cli |
| 522: 3e bf out 0x3e, r19 ; 62 |
| 524: 0f be out 0x3f, r0 ; 63 |
| 526: 2d bf out 0x3d, r18 ; 61 |
| 528: 8b 33 cpi r24, 0x3B ; 59 |
| 52a: a9 f1 breq .+106 ; 0x596 <main+0x13c> |
| 52c: 83 ed ldi r24, 0xD3 ; 211 |
| 52e: 90 e0 ldi r25, 0x00 ; 0 |
| 530: 9f 93 push r25 |
| 532: 8f 93 push r24 |
| 534: 1f 92 push r1 |
| 536: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 53a: 0e 94 97 1c call 0x392e ; 0x392e <DefaultKonstanten1> |
| 53e: 4a e3 ldi r20, 0x3A ; 58 |
| 540: 6d e6 ldi r22, 0x6D ; 109 |
| 542: 75 e0 ldi r23, 0x05 ; 5 |
| 544: 80 e0 ldi r24, 0x00 ; 0 |
| 546: 0e 94 ff 01 call 0x3fe ; 0x3fe <WriteParameterSet> |
| 54a: 01 e0 ldi r16, 0x01 ; 1 |
| 54c: 0f 90 pop r0 |
| 54e: 0f 90 pop r0 |
| 550: 0f 90 pop r0 |
| 552: 02 30 cpi r16, 0x02 ; 2 |
| 554: 49 f4 brne .+18 ; 0x568 <main+0x10e> |
| 556: 0e 94 2a 1c call 0x3854 ; 0x3854 <DefaultKonstanten2> |
| 55a: 4a e3 ldi r20, 0x3A ; 58 |
| 55c: 6d e6 ldi r22, 0x6D ; 109 |
| 55e: 75 e0 ldi r23, 0x05 ; 5 |
| 560: 82 e0 ldi r24, 0x02 ; 2 |
| 562: 0e 94 ff 01 call 0x3fe ; 0x3fe <WriteParameterSet> |
| 566: 03 e0 ldi r16, 0x03 ; 3 |
| 568: 4a e3 ldi r20, 0x3A ; 58 |
| 56a: 6d e6 ldi r22, 0x6D ; 109 |
| 56c: 75 e0 ldi r23, 0x05 ; 5 |
| 56e: 80 2f mov r24, r16 |
| 570: 0e 94 ff 01 call 0x3fe ; 0x3fe <WriteParameterSet> |
| 574: 0f 5f subi r16, 0xFF ; 255 |
| 576: 06 30 cpi r16, 0x06 ; 6 |
| 578: 60 f3 brcs .-40 ; 0x552 <main+0xf8> |
| 57a: 81 e0 ldi r24, 0x01 ; 1 |
| 57c: 22 e0 ldi r18, 0x02 ; 2 |
| 57e: 30 e0 ldi r19, 0x00 ; 0 |
| 580: d9 01 movw r26, r18 |
| 582: 08 2e mov r0, r24 |
| 584: 0e 94 2b 2d call 0x5a56 ; 0x5a56 <__eeprom_write_byte_1F2021> |
| 588: 8b e3 ldi r24, 0x3B ; 59 |
| 58a: 21 50 subi r18, 0x01 ; 1 |
| 58c: 30 40 sbci r19, 0x00 ; 0 |
| 58e: d9 01 movw r26, r18 |
| 590: 08 2e mov r0, r24 |
| 592: 0e 94 2b 2d call 0x5a56 ; 0x5a56 <__eeprom_write_byte_1F2021> |
| 596: 02 e0 ldi r16, 0x02 ; 2 |
| 598: 10 e0 ldi r17, 0x00 ; 0 |
| 59a: d8 01 movw r26, r16 |
| 59c: 0e 94 23 2d call 0x5a46 ; 0x5a46 <__eeprom_read_byte_1F2021> |
| 5a0: 80 2d mov r24, r0 |
| 5a2: 4a e3 ldi r20, 0x3A ; 58 |
| 5a4: 6d e6 ldi r22, 0x6D ; 109 |
| 5a6: 75 e0 ldi r23, 0x05 ; 5 |
| 5a8: 0e 94 17 02 call 0x42e ; 0x42e <ReadParameterSet> |
| 5ac: d8 01 movw r26, r16 |
| 5ae: 0e 94 23 2d call 0x5a46 ; 0x5a46 <__eeprom_read_byte_1F2021> |
| 5b2: 80 2d mov r24, r0 |
| 5b4: 99 27 eor r25, r25 |
| 5b6: 9f 93 push r25 |
| 5b8: 8f 93 push r24 |
| 5ba: 88 eb ldi r24, 0xB8 ; 184 |
| 5bc: 90 e0 ldi r25, 0x00 ; 0 |
| 5be: 9f 93 push r25 |
| 5c0: 8f 93 push r24 |
| 5c2: 1f 92 push r1 |
| 5c4: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 5c8: 80 91 75 05 lds r24, 0x0575 |
| 5cc: 0f 90 pop r0 |
| 5ce: 0f 90 pop r0 |
| 5d0: 0f 90 pop r0 |
| 5d2: 0f 90 pop r0 |
| 5d4: 0f 90 pop r0 |
| 5d6: 80 ff sbrs r24, 0 |
| 5d8: 20 c0 rjmp .+64 ; 0x61a <main+0x1c0> |
| 5da: 8b e9 ldi r24, 0x9B ; 155 |
| 5dc: 90 e0 ldi r25, 0x00 ; 0 |
| 5de: 9f 93 push r25 |
| 5e0: 8f 93 push r24 |
| 5e2: 1f 92 push r1 |
| 5e4: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 5e8: 84 ec ldi r24, 0xC4 ; 196 |
| 5ea: 99 e0 ldi r25, 0x09 ; 9 |
| 5ec: 0e 94 fb 0b call 0x17f6 ; 0x17f6 <SetDelay> |
| 5f0: ec 01 movw r28, r24 |
| 5f2: 0e 94 20 10 call 0x2040 ; 0x2040 <SucheLuftruckOffset> |
| 5f6: 0f 90 pop r0 |
| 5f8: 0f 90 pop r0 |
| 5fa: 0f 90 pop r0 |
| 5fc: ce 01 movw r24, r28 |
| 5fe: 0e 94 04 0c call 0x1808 ; 0x1808 <CheckDelay> |
| 602: 88 23 and r24, r24 |
| 604: d9 f3 breq .-10 ; 0x5fc <main+0x1a2> |
| 606: 86 e9 ldi r24, 0x96 ; 150 |
| 608: 90 e0 ldi r25, 0x00 ; 0 |
| 60a: 9f 93 push r25 |
| 60c: 8f 93 push r24 |
| 60e: 1f 92 push r1 |
| 610: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 614: 0f 90 pop r0 |
| 616: 0f 90 pop r0 |
| 618: 0f 90 pop r0 |
| 61a: 0e 94 4f 1d call 0x3a9e ; 0x3a9e <SetNeutral> |
| 61e: 28 98 cbi 0x05, 0 ; 5 |
| 620: 80 ed ldi r24, 0xD0 ; 208 |
| 622: 97 e0 ldi r25, 0x07 ; 7 |
| 624: 90 93 ac 01 sts 0x01AC, r25 |
| 628: 80 93 ab 01 sts 0x01AB, r24 |
| 62c: 88 ee ldi r24, 0xE8 ; 232 |
| 62e: 93 e0 ldi r25, 0x03 ; 3 |
| 630: 90 93 fb 03 sts 0x03FB, r25 |
| 634: 80 93 fa 03 sts 0x03FA, r24 |
| 638: 85 e5 ldi r24, 0x55 ; 85 |
| 63a: 80 93 f5 03 sts 0x03F5, r24 |
| 63e: 88 e8 ldi r24, 0x88 ; 136 |
| 640: 90 e0 ldi r25, 0x00 ; 0 |
| 642: 9f 93 push r25 |
| 644: 8f 93 push r24 |
| 646: 1f 92 push r1 |
| 648: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 64c: 80 91 75 05 lds r24, 0x0575 |
| 650: 0f 90 pop r0 |
| 652: 0f 90 pop r0 |
| 654: 0f 90 pop r0 |
| 656: 82 ff sbrs r24, 2 |
| 658: 03 c0 rjmp .+6 ; 0x660 <main+0x206> |
| 65a: 8c e7 ldi r24, 0x7C ; 124 |
| 65c: 90 e0 ldi r25, 0x00 ; 0 |
| 65e: 02 c0 rjmp .+4 ; 0x664 <main+0x20a> |
| 660: 84 e7 ldi r24, 0x74 ; 116 |
| 662: 90 e0 ldi r25, 0x00 ; 0 |
| 664: 9f 93 push r25 |
| 666: 8f 93 push r24 |
| 668: 1f 92 push r1 |
| 66a: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 66e: 0f 90 pop r0 |
| 670: 0f 90 pop r0 |
| 672: 0f 90 pop r0 |
| 674: 80 e7 ldi r24, 0x70 ; 112 |
| 676: 90 e0 ldi r25, 0x00 ; 0 |
| 678: 9f 93 push r25 |
| 67a: 8f 93 push r24 |
| 67c: 1f 92 push r1 |
| 67e: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 682: 0e 94 47 10 call 0x208e ; 0x208e <LcdClear> |
| 686: 0f 90 pop r0 |
| 688: 0f 90 pop r0 |
| 68a: 0f 90 pop r0 |
| 68c: 80 91 a8 01 lds r24, 0x01A8 |
| 690: 88 23 and r24, r24 |
| 692: 79 f1 breq .+94 ; 0x6f2 <main+0x298> |
| 694: 10 92 a8 01 sts 0x01A8, r1 |
| 698: 0e 94 60 1e call 0x3cc0 ; 0x3cc0 <MotorRegler> |
| 69c: 0e 94 08 1d call 0x3a10 ; 0x3a10 <SendMotorData> |
| 6a0: 28 98 cbi 0x05, 0 ; 5 |
| 6a2: 80 91 01 01 lds r24, 0x0101 |
| 6a6: 88 23 and r24, r24 |
| 6a8: 19 f0 breq .+6 ; 0x6b0 <main+0x256> |
| 6aa: 81 50 subi r24, 0x01 ; 1 |
| 6ac: 80 93 01 01 sts 0x0101, r24 |
| 6b0: 80 91 27 02 lds r24, 0x0227 |
| 6b4: 88 23 and r24, r24 |
| 6b6: 29 f0 breq .+10 ; 0x6c2 <main+0x268> |
| 6b8: 80 91 27 02 lds r24, 0x0227 |
| 6bc: 81 50 subi r24, 0x01 ; 1 |
| 6be: 80 93 27 02 sts 0x0227, r24 |
| 6c2: 20 91 04 01 lds r18, 0x0104 |
| 6c6: 30 91 05 01 lds r19, 0x0105 |
| 6ca: 80 91 85 05 lds r24, 0x0585 |
| 6ce: 99 27 eor r25, r25 |
| 6d0: 28 17 cp r18, r24 |
| 6d2: 39 07 cpc r19, r25 |
| 6d4: 34 f4 brge .+12 ; 0x6e2 <main+0x288> |
| 6d6: 80 ed ldi r24, 0xD0 ; 208 |
| 6d8: 97 e0 ldi r25, 0x07 ; 7 |
| 6da: 90 93 ac 01 sts 0x01AC, r25 |
| 6de: 80 93 ab 01 sts 0x01AB, r24 |
| 6e2: 80 91 d6 01 lds r24, 0x01D6 |
| 6e6: 88 23 and r24, r24 |
| 6e8: 19 f4 brne .+6 ; 0x6f0 <main+0x296> |
| 6ea: 0e 94 14 14 call 0x2828 ; 0x2828 <i2c_init> |
| 6ee: 01 c0 rjmp .+2 ; 0x6f2 <main+0x298> |
| 6f0: 28 98 cbi 0x05, 0 ; 5 |
| 6f2: 0e 94 4a 07 call 0xe94 ; 0xe94 <DatenUebertragung> |
| 6f6: 0e 94 b8 07 call 0xf70 ; 0xf70 <BearbeiteRxDaten> |
| 6fa: 80 e0 ldi r24, 0x00 ; 0 |
| 6fc: 90 e0 ldi r25, 0x00 ; 0 |
| 6fe: 0e 94 04 0c call 0x1808 ; 0x1808 <CheckDelay> |
| 702: 88 23 and r24, r24 |
| 704: 19 f2 breq .-122 ; 0x68c <main+0x232> |
| 706: 80 91 2e 02 lds r24, 0x022E |
| 70a: 88 23 and r24, r24 |
| 70c: 29 f0 breq .+10 ; 0x718 <main+0x2be> |
| 70e: 88 b1 in r24, 0x08 ; 8 |
| 710: 90 e1 ldi r25, 0x10 ; 16 |
| 712: 89 27 eor r24, r25 |
| 714: 88 b9 out 0x08, r24 ; 8 |
| 716: 01 c0 rjmp .+2 ; 0x71a <main+0x2c0> |
| 718: 44 98 cbi 0x08, 4 ; 8 |
| 71a: 84 ef ldi r24, 0xF4 ; 244 |
| 71c: 91 e0 ldi r25, 0x01 ; 1 |
| 71e: 0e 94 fb 0b call 0x17f6 ; 0x17f6 <SetDelay> |
| 722: b4 cf rjmp .-152 ; 0x68c <main+0x232> |
| 00000724 <__vector_22>: |
| 724: 1f 92 push r1 |
| 726: 0f 92 push r0 |
| 728: 0f b6 in r0, 0x3f ; 63 |
| 72a: 0f 92 push r0 |
| 72c: 11 24 eor r1, r1 |
| 72e: 8f 93 push r24 |
| 730: 9f 93 push r25 |
| 732: ef 93 push r30 |
| 734: ff 93 push r31 |
| 736: 80 91 00 01 lds r24, 0x0100 |
| 73a: 88 23 and r24, r24 |
| 73c: e1 f4 brne .+56 ; 0x776 <__vector_22+0x52> |
| 73e: 80 91 a3 01 lds r24, 0x01A3 |
| 742: 90 91 a4 01 lds r25, 0x01A4 |
| 746: 01 96 adiw r24, 0x01 ; 1 |
| 748: 90 93 a4 01 sts 0x01A4, r25 |
| 74c: 80 93 a3 01 sts 0x01A3, r24 |
| 750: fc 01 movw r30, r24 |
| 752: eb 54 subi r30, 0x4B ; 75 |
| 754: fd 4f sbci r31, 0xFD ; 253 |
| 756: e0 81 ld r30, Z |
| 758: ed 30 cpi r30, 0x0D ; 13 |
| 75a: 19 f0 breq .+6 ; 0x762 <__vector_22+0x3e> |
| 75c: 86 39 cpi r24, 0x96 ; 150 |
| 75e: 91 05 cpc r25, r1 |
| 760: 39 f4 brne .+14 ; 0x770 <__vector_22+0x4c> |
| 762: 10 92 a4 01 sts 0x01A4, r1 |
| 766: 10 92 a3 01 sts 0x01A3, r1 |
| 76a: 81 e0 ldi r24, 0x01 ; 1 |
| 76c: 80 93 00 01 sts 0x0100, r24 |
| 770: e0 93 c6 00 sts 0x00C6, r30 |
| 774: 04 c0 rjmp .+8 ; 0x77e <__vector_22+0x5a> |
| 776: 10 92 a4 01 sts 0x01A4, r1 |
| 77a: 10 92 a3 01 sts 0x01A3, r1 |
| 77e: ff 91 pop r31 |
| 780: ef 91 pop r30 |
| 782: 9f 91 pop r25 |
| 784: 8f 91 pop r24 |
| 786: 0f 90 pop r0 |
| 788: 0f be out 0x3f, r0 ; 63 |
| 78a: 0f 90 pop r0 |
| 78c: 1f 90 pop r1 |
| 78e: 18 95 reti |
| 00000790 <GPSscanData>: |
| 790: 80 91 d7 04 lds r24, 0x04D7 |
| 794: 81 30 cpi r24, 0x01 ; 1 |
| 796: 91 f5 brne .+100 ; 0x7fc <GPSscanData+0x6c> |
| 798: 80 91 c7 04 lds r24, 0x04C7 |
| 79c: 90 91 c8 04 lds r25, 0x04C8 |
| 7a0: a0 91 c9 04 lds r26, 0x04C9 |
| 7a4: b0 91 ca 04 lds r27, 0x04CA |
| 7a8: 80 93 0a 05 sts 0x050A, r24 |
| 7ac: 90 93 0b 05 sts 0x050B, r25 |
| 7b0: a0 93 0c 05 sts 0x050C, r26 |
| 7b4: b0 93 0d 05 sts 0x050D, r27 |
| 7b8: 80 91 cb 04 lds r24, 0x04CB |
| 7bc: 90 91 cc 04 lds r25, 0x04CC |
| 7c0: a0 91 cd 04 lds r26, 0x04CD |
| 7c4: b0 91 ce 04 lds r27, 0x04CE |
| 7c8: 80 93 0e 05 sts 0x050E, r24 |
| 7cc: 90 93 0f 05 sts 0x050F, r25 |
| 7d0: a0 93 10 05 sts 0x0510, r26 |
| 7d4: b0 93 11 05 sts 0x0511, r27 |
| 7d8: 80 91 cf 04 lds r24, 0x04CF |
| 7dc: 90 91 d0 04 lds r25, 0x04D0 |
| 7e0: a0 91 d1 04 lds r26, 0x04D1 |
| 7e4: b0 91 d2 04 lds r27, 0x04D2 |
| 7e8: 80 93 12 05 sts 0x0512, r24 |
| 7ec: 90 93 13 05 sts 0x0513, r25 |
| 7f0: a0 93 14 05 sts 0x0514, r26 |
| 7f4: b0 93 15 05 sts 0x0515, r27 |
| 7f8: 10 92 d7 04 sts 0x04D7, r1 |
| 7fc: 80 91 f4 03 lds r24, 0x03F4 |
| 800: 81 30 cpi r24, 0x01 ; 1 |
| 802: 31 f4 brne .+12 ; 0x810 <GPSscanData+0x80> |
| 804: 80 91 e8 03 lds r24, 0x03E8 |
| 808: 80 93 22 05 sts 0x0522, r24 |
| 80c: 10 92 f4 03 sts 0x03F4, r1 |
| 810: 80 91 24 04 lds r24, 0x0424 |
| 814: 81 30 cpi r24, 0x01 ; 1 |
| 816: 91 f5 brne .+100 ; 0x87c <GPSscanData+0xec> |
| 818: 80 91 14 04 lds r24, 0x0414 |
| 81c: 90 91 15 04 lds r25, 0x0415 |
| 820: a0 91 16 04 lds r26, 0x0416 |
| 824: b0 91 17 04 lds r27, 0x0417 |
| 828: 80 93 16 05 sts 0x0516, r24 |
| 82c: 90 93 17 05 sts 0x0517, r25 |
| 830: a0 93 18 05 sts 0x0518, r26 |
| 834: b0 93 19 05 sts 0x0519, r27 |
| 838: 80 91 18 04 lds r24, 0x0418 |
| 83c: 90 91 19 04 lds r25, 0x0419 |
| 840: a0 91 1a 04 lds r26, 0x041A |
| 844: b0 91 1b 04 lds r27, 0x041B |
| 848: 80 93 1a 05 sts 0x051A, r24 |
| 84c: 90 93 1b 05 sts 0x051B, r25 |
| 850: a0 93 1c 05 sts 0x051C, r26 |
| 854: b0 93 1d 05 sts 0x051D, r27 |
| 858: 80 91 1c 04 lds r24, 0x041C |
| 85c: 90 91 1d 04 lds r25, 0x041D |
| 860: a0 91 1e 04 lds r26, 0x041E |
| 864: b0 91 1f 04 lds r27, 0x041F |
| 868: 80 93 1e 05 sts 0x051E, r24 |
| 86c: 90 93 1f 05 sts 0x051F, r25 |
| 870: a0 93 20 05 sts 0x0520, r26 |
| 874: b0 93 21 05 sts 0x0521, r27 |
| 878: 10 92 24 04 sts 0x0424, r1 |
| 87c: 80 91 22 05 lds r24, 0x0522 |
| 880: 81 11 cpse r24, r1 |
| 882: 28 9a sbi 0x05, 0 ; 5 |
| 884: 08 95 ret |
| 00000886 <__vector_20>: |
| 886: 1f 92 push r1 |
| 888: 0f 92 push r0 |
| 88a: 0f b6 in r0, 0x3f ; 63 |
| 88c: 0f 92 push r0 |
| 88e: 11 24 eor r1, r1 |
| 890: 2f 93 push r18 |
| 892: 3f 93 push r19 |
| 894: 4f 93 push r20 |
| 896: 5f 93 push r21 |
| 898: 6f 93 push r22 |
| 89a: 7f 93 push r23 |
| 89c: 8f 93 push r24 |
| 89e: 9f 93 push r25 |
| 8a0: af 93 push r26 |
| 8a2: bf 93 push r27 |
| 8a4: cf 93 push r28 |
| 8a6: df 93 push r29 |
| 8a8: ef 93 push r30 |
| 8aa: ff 93 push r31 |
| 8ac: 80 91 c6 00 lds r24, 0x00C6 |
| 8b0: 80 93 92 01 sts 0x0192, r24 |
| 8b4: 80 91 c0 00 lds r24, 0x00C0 |
| 8b8: 40 91 92 01 lds r20, 0x0192 |
| 8bc: 88 71 andi r24, 0x18 ; 24 |
| 8be: 09 f0 breq .+2 ; 0x8c2 <__vector_20+0x3c> |
| 8c0: 05 c1 rjmp .+522 ; 0xacc <__vector_20+0x246> |
| 8c2: 80 91 a5 01 lds r24, 0x01A5 |
| 8c6: 84 30 cpi r24, 0x04 ; 4 |
| 8c8: 09 f4 brne .+2 ; 0x8cc <__vector_20+0x46> |
| 8ca: 8a c0 rjmp .+276 ; 0x9e0 <__vector_20+0x15a> |
| 8cc: 85 30 cpi r24, 0x05 ; 5 |
| 8ce: 50 f4 brcc .+20 ; 0x8e4 <__vector_20+0x5e> |
| 8d0: 81 30 cpi r24, 0x01 ; 1 |
| 8d2: d1 f0 breq .+52 ; 0x908 <__vector_20+0x82> |
| 8d4: 81 30 cpi r24, 0x01 ; 1 |
| 8d6: 98 f0 brcs .+38 ; 0x8fe <__vector_20+0x78> |
| 8d8: 82 30 cpi r24, 0x02 ; 2 |
| 8da: 01 f1 breq .+64 ; 0x91c <__vector_20+0x96> |
| 8dc: 83 30 cpi r24, 0x03 ; 3 |
| 8de: 09 f0 breq .+2 ; 0x8e2 <__vector_20+0x5c> |
| 8e0: f2 c0 rjmp .+484 ; 0xac6 <__vector_20+0x240> |
| 8e2: 21 c0 rjmp .+66 ; 0x926 <__vector_20+0xa0> |
| 8e4: 86 30 cpi r24, 0x06 ; 6 |
| 8e6: 09 f4 brne .+2 ; 0x8ea <__vector_20+0x64> |
| 8e8: ab c0 rjmp .+342 ; 0xa40 <__vector_20+0x1ba> |
| 8ea: 86 30 cpi r24, 0x06 ; 6 |
| 8ec: 08 f4 brcc .+2 ; 0x8f0 <__vector_20+0x6a> |
| 8ee: 8c c0 rjmp .+280 ; 0xa08 <__vector_20+0x182> |
| 8f0: 87 30 cpi r24, 0x07 ; 7 |
| 8f2: 09 f4 brne .+2 ; 0x8f6 <__vector_20+0x70> |
| 8f4: d6 c0 rjmp .+428 ; 0xaa2 <__vector_20+0x21c> |
| 8f6: 88 30 cpi r24, 0x08 ; 8 |
| 8f8: 09 f0 breq .+2 ; 0x8fc <__vector_20+0x76> |
| 8fa: e5 c0 rjmp .+458 ; 0xac6 <__vector_20+0x240> |
| 8fc: d8 c0 rjmp .+432 ; 0xaae <__vector_20+0x228> |
| 8fe: 45 3b cpi r20, 0xB5 ; 181 |
| 900: 09 f0 breq .+2 ; 0x904 <__vector_20+0x7e> |
| 902: e8 c0 rjmp .+464 ; 0xad4 <__vector_20+0x24e> |
| 904: 81 e0 ldi r24, 0x01 ; 1 |
| 906: 03 c0 rjmp .+6 ; 0x90e <__vector_20+0x88> |
| 908: 42 36 cpi r20, 0x62 ; 98 |
| 90a: 21 f4 brne .+8 ; 0x914 <__vector_20+0x8e> |
| 90c: 82 e0 ldi r24, 0x02 ; 2 |
| 90e: 80 93 a5 01 sts 0x01A5, r24 |
| 912: e0 c0 rjmp .+448 ; 0xad4 <__vector_20+0x24e> |
| 914: 45 3b cpi r20, 0xB5 ; 181 |
| 916: 09 f4 brne .+2 ; 0x91a <__vector_20+0x94> |
| 918: dd c0 rjmp .+442 ; 0xad4 <__vector_20+0x24e> |
| 91a: d5 c0 rjmp .+426 ; 0xac6 <__vector_20+0x240> |
| 91c: 41 30 cpi r20, 0x01 ; 1 |
| 91e: 09 f0 breq .+2 ; 0x922 <__vector_20+0x9c> |
| 920: d2 c0 rjmp .+420 ; 0xac6 <__vector_20+0x240> |
| 922: 83 e0 ldi r24, 0x03 ; 3 |
| 924: f4 cf rjmp .-24 ; 0x90e <__vector_20+0x88> |
| 926: 40 93 24 05 sts 0x0524, r20 |
| 92a: 4f 5f subi r20, 0xFF ; 255 |
| 92c: 40 93 b4 02 sts 0x02B4, r20 |
| 930: 80 91 b4 02 lds r24, 0x02B4 |
| 934: 8f 5f subi r24, 0xFF ; 255 |
| 936: 80 93 e3 03 sts 0x03E3, r24 |
| 93a: 84 e0 ldi r24, 0x04 ; 4 |
| 93c: 80 93 a5 01 sts 0x01A5, r24 |
| 940: 80 91 24 05 lds r24, 0x0524 |
| 944: 83 30 cpi r24, 0x03 ; 3 |
| 946: 31 f0 breq .+12 ; 0x954 <__vector_20+0xce> |
| 948: 81 31 cpi r24, 0x11 ; 17 |
| 94a: 61 f1 breq .+88 ; 0x9a4 <__vector_20+0x11e> |
| 94c: 81 30 cpi r24, 0x01 ; 1 |
| 94e: 09 f0 breq .+2 ; 0x952 <__vector_20+0xcc> |
| 950: 3f c0 rjmp .+126 ; 0x9d0 <__vector_20+0x14a> |
| 952: 14 c0 rjmp .+40 ; 0x97c <__vector_20+0xf6> |
| 954: 84 ee ldi r24, 0xE4 ; 228 |
| 956: 93 e0 ldi r25, 0x03 ; 3 |
| 958: 90 93 0f 04 sts 0x040F, r25 |
| 95c: 80 93 0e 04 sts 0x040E, r24 |
| 960: 25 e0 ldi r18, 0x05 ; 5 |
| 962: 35 e0 ldi r19, 0x05 ; 5 |
| 964: 30 93 b2 02 sts 0x02B2, r19 |
| 968: 20 93 b1 02 sts 0x02B1, r18 |
| 96c: 40 96 adiw r24, 0x10 ; 16 |
| 96e: 90 93 bc 04 sts 0x04BC, r25 |
| 972: 80 93 bb 04 sts 0x04BB, r24 |
| 976: 80 91 f4 03 lds r24, 0x03F4 |
| 97a: 27 c0 rjmp .+78 ; 0x9ca <__vector_20+0x144> |
| 97c: 83 ec ldi r24, 0xC3 ; 195 |
| 97e: 94 e0 ldi r25, 0x04 ; 4 |
| 980: 90 93 0f 04 sts 0x040F, r25 |
| 984: 80 93 0e 04 sts 0x040E, r24 |
| 988: 2c e7 ldi r18, 0x7C ; 124 |
| 98a: 36 e0 ldi r19, 0x06 ; 6 |
| 98c: 30 93 b2 02 sts 0x02B2, r19 |
| 990: 20 93 b1 02 sts 0x02B1, r18 |
| 994: 44 96 adiw r24, 0x14 ; 20 |
| 996: 90 93 bc 04 sts 0x04BC, r25 |
| 99a: 80 93 bb 04 sts 0x04BB, r24 |
| 99e: 80 91 d7 04 lds r24, 0x04D7 |
| 9a2: 13 c0 rjmp .+38 ; 0x9ca <__vector_20+0x144> |
| 9a4: 80 e1 ldi r24, 0x10 ; 16 |
| 9a6: 94 e0 ldi r25, 0x04 ; 4 |
| 9a8: 90 93 0f 04 sts 0x040F, r25 |
| 9ac: 80 93 0e 04 sts 0x040E, r24 |
| 9b0: 29 ec ldi r18, 0xC9 ; 201 |
| 9b2: 35 e0 ldi r19, 0x05 ; 5 |
| 9b4: 30 93 b2 02 sts 0x02B2, r19 |
| 9b8: 20 93 b1 02 sts 0x02B1, r18 |
| 9bc: 44 96 adiw r24, 0x14 ; 20 |
| 9be: 90 93 bc 04 sts 0x04BC, r25 |
| 9c2: 80 93 bb 04 sts 0x04BB, r24 |
| 9c6: 80 91 24 04 lds r24, 0x0424 |
| 9ca: 80 93 25 05 sts 0x0525, r24 |
| 9ce: 82 c0 rjmp .+260 ; 0xad4 <__vector_20+0x24e> |
| 9d0: 81 e0 ldi r24, 0x01 ; 1 |
| 9d2: 80 93 25 05 sts 0x0525, r24 |
| 9d6: 10 92 bc 04 sts 0x04BC, r1 |
| 9da: 10 92 bb 04 sts 0x04BB, r1 |
| 9de: 7a c0 rjmp .+244 ; 0xad4 <__vector_20+0x24e> |
| 9e0: 84 2f mov r24, r20 |
| 9e2: 99 27 eor r25, r25 |
| 9e4: 90 93 be 04 sts 0x04BE, r25 |
| 9e8: 80 93 bd 04 sts 0x04BD, r24 |
| 9ec: 80 91 b4 02 lds r24, 0x02B4 |
| 9f0: 84 0f add r24, r20 |
| 9f2: 80 93 b4 02 sts 0x02B4, r24 |
| 9f6: 80 91 e3 03 lds r24, 0x03E3 |
| 9fa: 90 91 b4 02 lds r25, 0x02B4 |
| 9fe: 89 0f add r24, r25 |
| a00: 80 93 e3 03 sts 0x03E3, r24 |
| a04: 85 e0 ldi r24, 0x05 ; 5 |
| a06: 83 cf rjmp .-250 ; 0x90e <__vector_20+0x88> |
| a08: 20 91 bd 04 lds r18, 0x04BD |
| a0c: 30 91 be 04 lds r19, 0x04BE |
| a10: 84 2f mov r24, r20 |
| a12: 99 27 eor r25, r25 |
| a14: 98 2f mov r25, r24 |
| a16: 88 27 eor r24, r24 |
| a18: 28 0f add r18, r24 |
| a1a: 39 1f adc r19, r25 |
| a1c: 30 93 be 04 sts 0x04BE, r19 |
| a20: 20 93 bd 04 sts 0x04BD, r18 |
| a24: 80 91 b4 02 lds r24, 0x02B4 |
| a28: 84 0f add r24, r20 |
| a2a: 80 93 b4 02 sts 0x02B4, r24 |
| a2e: 80 91 e3 03 lds r24, 0x03E3 |
| a32: 90 91 b4 02 lds r25, 0x02B4 |
| a36: 89 0f add r24, r25 |
| a38: 80 93 e3 03 sts 0x03E3, r24 |
| a3c: 86 e0 ldi r24, 0x06 ; 6 |
| a3e: 67 cf rjmp .-306 ; 0x90e <__vector_20+0x88> |
| a40: 80 91 b4 02 lds r24, 0x02B4 |
| a44: 84 0f add r24, r20 |
| a46: 80 93 b4 02 sts 0x02B4, r24 |
| a4a: 80 91 e3 03 lds r24, 0x03E3 |
| a4e: 90 91 b4 02 lds r25, 0x02B4 |
| a52: 89 0f add r24, r25 |
| a54: 80 93 e3 03 sts 0x03E3, r24 |
| a58: 80 91 25 05 lds r24, 0x0525 |
| a5c: 88 23 and r24, r24 |
| a5e: 81 f4 brne .+32 ; 0xa80 <__vector_20+0x1fa> |
| a60: e0 91 0e 04 lds r30, 0x040E |
| a64: f0 91 0f 04 lds r31, 0x040F |
| a68: 80 91 b1 02 lds r24, 0x02B1 |
| a6c: 90 91 b2 02 lds r25, 0x02B2 |
| a70: e8 17 cp r30, r24 |
| a72: f9 07 cpc r31, r25 |
| a74: 28 f4 brcc .+10 ; 0xa80 <__vector_20+0x1fa> |
| a76: 41 93 st Z+, r20 |
| a78: f0 93 0f 04 sts 0x040F, r31 |
| a7c: e0 93 0e 04 sts 0x040E, r30 |
| a80: 80 91 bd 04 lds r24, 0x04BD |
| a84: 90 91 be 04 lds r25, 0x04BE |
| a88: 01 97 sbiw r24, 0x01 ; 1 |
| a8a: 90 93 be 04 sts 0x04BE, r25 |
| a8e: 80 93 bd 04 sts 0x04BD, r24 |
| a92: 80 91 bd 04 lds r24, 0x04BD |
| a96: 90 91 be 04 lds r25, 0x04BE |
| a9a: 89 2b or r24, r25 |
| a9c: d9 f4 brne .+54 ; 0xad4 <__vector_20+0x24e> |
| a9e: 87 e0 ldi r24, 0x07 ; 7 |
| aa0: 36 cf rjmp .-404 ; 0x90e <__vector_20+0x88> |
| aa2: 80 91 b4 02 lds r24, 0x02B4 |
| aa6: 48 17 cp r20, r24 |
| aa8: 71 f4 brne .+28 ; 0xac6 <__vector_20+0x240> |
| aaa: 88 e0 ldi r24, 0x08 ; 8 |
| aac: 30 cf rjmp .-416 ; 0x90e <__vector_20+0x88> |
| aae: 80 91 e3 03 lds r24, 0x03E3 |
| ab2: 48 17 cp r20, r24 |
| ab4: 41 f4 brne .+16 ; 0xac6 <__vector_20+0x240> |
| ab6: e0 91 bb 04 lds r30, 0x04BB |
| aba: f0 91 bc 04 lds r31, 0x04BC |
| abe: 30 97 sbiw r30, 0x00 ; 0 |
| ac0: 11 f0 breq .+4 ; 0xac6 <__vector_20+0x240> |
| ac2: 81 e0 ldi r24, 0x01 ; 1 |
| ac4: 80 83 st Z, r24 |
| ac6: 10 92 a5 01 sts 0x01A5, r1 |
| aca: 04 c0 rjmp .+8 ; 0xad4 <__vector_20+0x24e> |
| acc: 10 92 a5 01 sts 0x01A5, r1 |
| ad0: 0e 94 c8 03 call 0x790 ; 0x790 <GPSscanData> |
| ad4: 0e 94 c8 03 call 0x790 ; 0x790 <GPSscanData> |
| ad8: 40 91 9e 01 lds r20, 0x019E |
| adc: 46 39 cpi r20, 0x96 ; 150 |
| ade: 10 f0 brcs .+4 ; 0xae4 <__vector_20+0x25e> |
| ae0: 10 92 9d 01 sts 0x019D, r1 |
| ae4: 80 91 92 01 lds r24, 0x0192 |
| ae8: 8d 30 cpi r24, 0x0D ; 13 |
| aea: 09 f0 breq .+2 ; 0xaee <__vector_20+0x268> |
| aec: 5c c0 rjmp .+184 ; 0xba6 <__vector_20+0x320> |
| aee: 80 91 9d 01 lds r24, 0x019D |
| af2: 82 30 cpi r24, 0x02 ; 2 |
| af4: 09 f0 breq .+2 ; 0xaf8 <__vector_20+0x272> |
| af6: 57 c0 rjmp .+174 ; 0xba6 <__vector_20+0x320> |
| af8: 10 92 9d 01 sts 0x019D, r1 |
| afc: a4 2f mov r26, r20 |
| afe: bb 27 eor r27, r27 |
| b00: fd 01 movw r30, r26 |
| b02: ed 5d subi r30, 0xDD ; 221 |
| b04: fb 4f sbci r31, 0xFB ; 251 |
| b06: 30 81 ld r19, Z |
| b08: ed 01 movw r28, r26 |
| b0a: cc 5d subi r28, 0xDC ; 220 |
| b0c: db 4f sbci r29, 0xFB ; 251 |
| b0e: 28 81 ld r18, Y |
| b10: 80 91 a1 01 lds r24, 0x01A1 |
| b14: 90 91 a2 01 lds r25, 0x01A2 |
| b18: 83 1b sub r24, r19 |
| b1a: 91 09 sbc r25, r1 |
| b1c: 82 1b sub r24, r18 |
| b1e: 91 09 sbc r25, r1 |
| b20: 9f 70 andi r25, 0x0F ; 15 |
| b22: 90 93 a2 01 sts 0x01A2, r25 |
| b26: 80 93 a1 01 sts 0x01A1, r24 |
| b2a: 9c 01 movw r18, r24 |
| b2c: 96 e0 ldi r25, 0x06 ; 6 |
| b2e: 36 95 lsr r19 |
| b30: 27 95 ror r18 |
| b32: 9a 95 dec r25 |
| b34: e1 f7 brne .-8 ; 0xb2e <__vector_20+0x2a8> |
| b36: 23 5c subi r18, 0xC3 ; 195 |
| b38: 20 93 a0 01 sts 0x01A0, r18 |
| b3c: 98 2f mov r25, r24 |
| b3e: 9f 73 andi r25, 0x3F ; 63 |
| b40: 93 5c subi r25, 0xC3 ; 195 |
| b42: 90 93 9f 01 sts 0x019F, r25 |
| b46: 80 81 ld r24, Z |
| b48: 28 17 cp r18, r24 |
| b4a: 29 f4 brne .+10 ; 0xb56 <__vector_20+0x2d0> |
| b4c: 88 81 ld r24, Y |
| b4e: 98 17 cp r25, r24 |
| b50: 11 f4 brne .+4 ; 0xb56 <__vector_20+0x2d0> |
| b52: 91 e0 ldi r25, 0x01 ; 1 |
| b54: 06 c0 rjmp .+12 ; 0xb62 <__vector_20+0x2dc> |
| b56: 80 91 95 01 lds r24, 0x0195 |
| b5a: 8f 5f subi r24, 0xFF ; 255 |
| b5c: 80 93 95 01 sts 0x0195, r24 |
| b60: 90 e0 ldi r25, 0x00 ; 0 |
| b62: 80 91 93 01 lds r24, 0x0193 |
| b66: 88 23 and r24, r24 |
| b68: 09 f0 breq .+2 ; 0xb6c <__vector_20+0x2e6> |
| b6a: 64 c0 rjmp .+200 ; 0xc34 <__vector_20+0x3ae> |
| b6c: 99 23 and r25, r25 |
| b6e: 09 f4 brne .+2 ; 0xb72 <__vector_20+0x2ec> |
| b70: 61 c0 rjmp .+194 ; 0xc34 <__vector_20+0x3ae> |
| b72: 81 e0 ldi r24, 0x01 ; 1 |
| b74: 80 93 93 01 sts 0x0193, r24 |
| b78: 40 93 96 01 sts 0x0196, r20 |
| b7c: ab 5d subi r26, 0xDB ; 219 |
| b7e: bb 4f sbci r27, 0xFB ; 251 |
| b80: 8d e0 ldi r24, 0x0D ; 13 |
| b82: 8c 93 st X, r24 |
| b84: 80 91 27 04 lds r24, 0x0427 |
| b88: 82 35 cpi r24, 0x52 ; 82 |
| b8a: 09 f0 breq .+2 ; 0xb8e <__vector_20+0x308> |
| b8c: 53 c0 rjmp .+166 ; 0xc34 <__vector_20+0x3ae> |
| b8e: 88 e1 ldi r24, 0x18 ; 24 |
| b90: 90 e0 ldi r25, 0x00 ; 0 |
| b92: 2c e0 ldi r18, 0x0C ; 12 |
| b94: 0f b6 in r0, 0x3f ; 63 |
| b96: f8 94 cli |
| b98: a8 95 wdr |
| b9a: 80 93 60 00 sts 0x0060, r24 |
| b9e: 0f be out 0x3f, r0 ; 63 |
| ba0: 20 93 60 00 sts 0x0060, r18 |
| ba4: 47 c0 rjmp .+142 ; 0xc34 <__vector_20+0x3ae> |
| ba6: 80 91 9d 01 lds r24, 0x019D |
| baa: 81 30 cpi r24, 0x01 ; 1 |
| bac: d9 f0 breq .+54 ; 0xbe4 <__vector_20+0x35e> |
| bae: 81 30 cpi r24, 0x01 ; 1 |
| bb0: 18 f0 brcs .+6 ; 0xbb8 <__vector_20+0x332> |
| bb2: 82 30 cpi r24, 0x02 ; 2 |
| bb4: e9 f5 brne .+122 ; 0xc30 <__vector_20+0x3aa> |
| bb6: 30 c0 rjmp .+96 ; 0xc18 <__vector_20+0x392> |
| bb8: 80 91 92 01 lds r24, 0x0192 |
| bbc: 83 32 cpi r24, 0x23 ; 35 |
| bbe: 39 f4 brne .+14 ; 0xbce <__vector_20+0x348> |
| bc0: 80 91 93 01 lds r24, 0x0193 |
| bc4: 88 23 and r24, r24 |
| bc6: 19 f4 brne .+6 ; 0xbce <__vector_20+0x348> |
| bc8: 81 e0 ldi r24, 0x01 ; 1 |
| bca: 80 93 9d 01 sts 0x019D, r24 |
| bce: 80 91 92 01 lds r24, 0x0192 |
| bd2: 80 93 25 04 sts 0x0425, r24 |
| bd6: 81 e0 ldi r24, 0x01 ; 1 |
| bd8: 80 93 9e 01 sts 0x019E, r24 |
| bdc: 80 91 92 01 lds r24, 0x0192 |
| be0: 99 27 eor r25, r25 |
| be2: 15 c0 rjmp .+42 ; 0xc0e <__vector_20+0x388> |
| be4: 82 e0 ldi r24, 0x02 ; 2 |
| be6: 80 93 9d 01 sts 0x019D, r24 |
| bea: e4 2f mov r30, r20 |
| bec: ff 27 eor r31, r31 |
| bee: 80 91 92 01 lds r24, 0x0192 |
| bf2: eb 5d subi r30, 0xDB ; 219 |
| bf4: fb 4f sbci r31, 0xFB ; 251 |
| bf6: 80 83 st Z, r24 |
| bf8: 4f 5f subi r20, 0xFF ; 255 |
| bfa: 40 93 9e 01 sts 0x019E, r20 |
| bfe: 20 91 92 01 lds r18, 0x0192 |
| c02: 80 91 a1 01 lds r24, 0x01A1 |
| c06: 90 91 a2 01 lds r25, 0x01A2 |
| c0a: 82 0f add r24, r18 |
| c0c: 91 1d adc r25, r1 |
| c0e: 90 93 a2 01 sts 0x01A2, r25 |
| c12: 80 93 a1 01 sts 0x01A1, r24 |
| c16: 0e c0 rjmp .+28 ; 0xc34 <__vector_20+0x3ae> |
| c18: e4 2f mov r30, r20 |
| c1a: ff 27 eor r31, r31 |
| c1c: 80 91 92 01 lds r24, 0x0192 |
| c20: eb 5d subi r30, 0xDB ; 219 |
| c22: fb 4f sbci r31, 0xFB ; 251 |
| c24: 80 83 st Z, r24 |
| c26: 46 39 cpi r20, 0x96 ; 150 |
| c28: 38 f3 brcs .-50 ; 0xbf8 <__vector_20+0x372> |
| c2a: 10 92 9d 01 sts 0x019D, r1 |
| c2e: e7 cf rjmp .-50 ; 0xbfe <__vector_20+0x378> |
| c30: 10 92 9d 01 sts 0x019D, r1 |
| c34: ff 91 pop r31 |
| c36: ef 91 pop r30 |
| c38: df 91 pop r29 |
| c3a: cf 91 pop r28 |
| c3c: bf 91 pop r27 |
| c3e: af 91 pop r26 |
| c40: 9f 91 pop r25 |
| c42: 8f 91 pop r24 |
| c44: 7f 91 pop r23 |
| c46: 6f 91 pop r22 |
| c48: 5f 91 pop r21 |
| c4a: 4f 91 pop r20 |
| c4c: 3f 91 pop r19 |
| c4e: 2f 91 pop r18 |
| c50: 0f 90 pop r0 |
| c52: 0f be out 0x3f, r0 ; 63 |
| c54: 0f 90 pop r0 |
| c56: 1f 90 pop r1 |
| c58: 18 95 reti |
| 00000c5a <AddCRC>: |
| c5a: dc 01 movw r26, r24 |
| c5c: 20 e0 ldi r18, 0x00 ; 0 |
| c5e: 30 e0 ldi r19, 0x00 ; 0 |
| c60: 40 e0 ldi r20, 0x00 ; 0 |
| c62: 50 e0 ldi r21, 0x00 ; 0 |
| c64: e5 eb ldi r30, 0xB5 ; 181 |
| c66: f2 e0 ldi r31, 0x02 ; 2 |
| c68: 05 c0 rjmp .+10 ; 0xc74 <AddCRC+0x1a> |
| c6a: 81 91 ld r24, Z+ |
| c6c: 28 0f add r18, r24 |
| c6e: 31 1d adc r19, r1 |
| c70: 4f 5f subi r20, 0xFF ; 255 |
| c72: 5f 4f sbci r21, 0xFF ; 255 |
| c74: 4a 17 cp r20, r26 |
| c76: 5b 07 cpc r21, r27 |
| c78: c1 f7 brne .-16 ; 0xc6a <AddCRC+0x10> |
| c7a: 3f 70 andi r19, 0x0F ; 15 |
| c7c: c9 01 movw r24, r18 |
| c7e: 66 e0 ldi r22, 0x06 ; 6 |
| c80: 96 95 lsr r25 |
| c82: 87 95 ror r24 |
| c84: 6a 95 dec r22 |
| c86: e1 f7 brne .-8 ; 0xc80 <AddCRC+0x26> |
| c88: 83 5c subi r24, 0xC3 ; 195 |
| c8a: fd 01 movw r30, r26 |
| c8c: eb 54 subi r30, 0x4B ; 75 |
| c8e: fd 4f sbci r31, 0xFD ; 253 |
| c90: 80 83 st Z, r24 |
| c92: 11 96 adiw r26, 0x01 ; 1 |
| c94: 2f 73 andi r18, 0x3F ; 63 |
| c96: 23 5c subi r18, 0xC3 ; 195 |
| c98: fd 01 movw r30, r26 |
| c9a: eb 54 subi r30, 0x4B ; 75 |
| c9c: fd 4f sbci r31, 0xFD ; 253 |
| c9e: 20 83 st Z, r18 |
| ca0: aa 54 subi r26, 0x4A ; 74 |
| ca2: bd 4f sbci r27, 0xFD ; 253 |
| ca4: 8d e0 ldi r24, 0x0D ; 13 |
| ca6: 8c 93 st X, r24 |
| ca8: 10 92 00 01 sts 0x0100, r1 |
| cac: 80 91 b5 02 lds r24, 0x02B5 |
| cb0: 80 93 c6 00 sts 0x00C6, r24 |
| cb4: 08 95 ret |
| 00000cb6 <SendOutData>: |
| cb6: ef 92 push r14 |
| cb8: ff 92 push r15 |
| cba: 0f 93 push r16 |
| cbc: 1f 93 push r17 |
| cbe: cf 93 push r28 |
| cc0: df 93 push r29 |
| cc2: 7a 01 movw r14, r20 |
| cc4: 72 2f mov r23, r18 |
| cc6: 93 e2 ldi r25, 0x23 ; 35 |
| cc8: 90 93 b5 02 sts 0x02B5, r25 |
| ccc: 60 93 b6 02 sts 0x02B6, r22 |
| cd0: 80 93 b7 02 sts 0x02B7, r24 |
| cd4: 03 e0 ldi r16, 0x03 ; 3 |
| cd6: 10 e0 ldi r17, 0x00 ; 0 |
| cd8: 60 e0 ldi r22, 0x00 ; 0 |
| cda: a8 eb ldi r26, 0xB8 ; 184 |
| cdc: b2 e0 ldi r27, 0x02 ; 2 |
| cde: 46 c0 rjmp .+140 ; 0xd6c <SendOutData+0xb6> |
| ce0: f7 01 movw r30, r14 |
| ce2: e6 0f add r30, r22 |
| ce4: f1 1d adc r31, r1 |
| ce6: 90 81 ld r25, Z |
| ce8: 6f 5f subi r22, 0xFF ; 255 |
| cea: 71 50 subi r23, 0x01 ; 1 |
| cec: 19 f4 brne .+6 ; 0xcf4 <SendOutData+0x3e> |
| cee: e0 e0 ldi r30, 0x00 ; 0 |
| cf0: 40 e0 ldi r20, 0x00 ; 0 |
| cf2: 0f c0 rjmp .+30 ; 0xd12 <SendOutData+0x5c> |
| cf4: f7 01 movw r30, r14 |
| cf6: e6 0f add r30, r22 |
| cf8: f1 1d adc r31, r1 |
| cfa: 40 81 ld r20, Z |
| cfc: 6f 5f subi r22, 0xFF ; 255 |
| cfe: 71 50 subi r23, 0x01 ; 1 |
| d00: 11 f4 brne .+4 ; 0xd06 <SendOutData+0x50> |
| d02: e0 e0 ldi r30, 0x00 ; 0 |
| d04: 06 c0 rjmp .+12 ; 0xd12 <SendOutData+0x5c> |
| d06: f7 01 movw r30, r14 |
| d08: e6 0f add r30, r22 |
| d0a: f1 1d adc r31, r1 |
| d0c: e0 81 ld r30, Z |
| d0e: 6f 5f subi r22, 0xFF ; 255 |
| d10: 71 50 subi r23, 0x01 ; 1 |
| d12: 89 2f mov r24, r25 |
| d14: 86 95 lsr r24 |
| d16: 86 95 lsr r24 |
| d18: 83 5c subi r24, 0xC3 ; 195 |
| d1a: 8c 93 st X, r24 |
| d1c: 55 27 eor r21, r21 |
| d1e: 89 2f mov r24, r25 |
| d20: 99 27 eor r25, r25 |
| d22: 83 70 andi r24, 0x03 ; 3 |
| d24: 90 70 andi r25, 0x00 ; 0 |
| d26: 24 e0 ldi r18, 0x04 ; 4 |
| d28: 88 0f add r24, r24 |
| d2a: 99 1f adc r25, r25 |
| d2c: 2a 95 dec r18 |
| d2e: e1 f7 brne .-8 ; 0xd28 <SendOutData+0x72> |
| d30: 9a 01 movw r18, r20 |
| d32: 94 e0 ldi r25, 0x04 ; 4 |
| d34: 36 95 lsr r19 |
| d36: 27 95 ror r18 |
| d38: 9a 95 dec r25 |
| d3a: e1 f7 brne .-8 ; 0xd34 <SendOutData+0x7e> |
| d3c: 82 2b or r24, r18 |
| d3e: 83 5c subi r24, 0xC3 ; 195 |
| d40: ed 01 movw r28, r26 |
| d42: 89 83 std Y+1, r24 ; 0x01 |
| d44: 4f 70 andi r20, 0x0F ; 15 |
| d46: 50 70 andi r21, 0x00 ; 0 |
| d48: 44 0f add r20, r20 |
| d4a: 55 1f adc r21, r21 |
| d4c: 44 0f add r20, r20 |
| d4e: 55 1f adc r21, r21 |
| d50: 8e 2f mov r24, r30 |
| d52: 82 95 swap r24 |
| d54: 86 95 lsr r24 |
| d56: 86 95 lsr r24 |
| d58: 83 70 andi r24, 0x03 ; 3 |
| d5a: 84 2b or r24, r20 |
| d5c: 83 5c subi r24, 0xC3 ; 195 |
| d5e: 8a 83 std Y+2, r24 ; 0x02 |
| d60: ef 73 andi r30, 0x3F ; 63 |
| d62: e3 5c subi r30, 0xC3 ; 195 |
| d64: eb 83 std Y+3, r30 ; 0x03 |
| d66: 0c 5f subi r16, 0xFC ; 252 |
| d68: 1f 4f sbci r17, 0xFF ; 255 |
| d6a: 14 96 adiw r26, 0x04 ; 4 |
| d6c: 77 23 and r23, r23 |
| d6e: 09 f0 breq .+2 ; 0xd72 <SendOutData+0xbc> |
| d70: b7 cf rjmp .-146 ; 0xce0 <SendOutData+0x2a> |
| d72: c8 01 movw r24, r16 |
| d74: 0e 94 2d 06 call 0xc5a ; 0xc5a <AddCRC> |
| d78: df 91 pop r29 |
| d7a: cf 91 pop r28 |
| d7c: 1f 91 pop r17 |
| d7e: 0f 91 pop r16 |
| d80: ff 90 pop r15 |
| d82: ef 90 pop r14 |
| d84: 08 95 ret |
| 00000d86 <Decode64>: |
| d86: 1f 93 push r17 |
| d88: cf 93 push r28 |
| d8a: df 93 push r29 |
| d8c: ec 01 movw r28, r24 |
| d8e: 70 e0 ldi r23, 0x00 ; 0 |
| d90: a2 2f mov r26, r18 |
| d92: bb 27 eor r27, r27 |
| d94: 12 97 sbiw r26, 0x02 ; 2 |
| d96: 48 c0 rjmp .+144 ; 0xe28 <Decode64+0xa2> |
| d98: e4 2f mov r30, r20 |
| d9a: ff 27 eor r31, r31 |
| d9c: eb 5d subi r30, 0xDB ; 219 |
| d9e: fb 4f sbci r31, 0xFB ; 251 |
| da0: 30 81 ld r19, Z |
| da2: 4f 5f subi r20, 0xFF ; 255 |
| da4: e4 2f mov r30, r20 |
| da6: ff 27 eor r31, r31 |
| da8: eb 5d subi r30, 0xDB ; 219 |
| daa: fb 4f sbci r31, 0xFB ; 251 |
| dac: 50 81 ld r21, Z |
| dae: 4f 5f subi r20, 0xFF ; 255 |
| db0: e4 2f mov r30, r20 |
| db2: ff 27 eor r31, r31 |
| db4: eb 5d subi r30, 0xDB ; 219 |
| db6: fb 4f sbci r31, 0xFB ; 251 |
| db8: 10 81 ld r17, Z |
| dba: 4f 5f subi r20, 0xFF ; 255 |
| dbc: e4 2f mov r30, r20 |
| dbe: ff 27 eor r31, r31 |
| dc0: eb 5d subi r30, 0xDB ; 219 |
| dc2: fb 4f sbci r31, 0xFB ; 251 |
| dc4: 20 81 ld r18, Z |
| dc6: 4f 5f subi r20, 0xFF ; 255 |
| dc8: 84 2f mov r24, r20 |
| dca: 99 27 eor r25, r25 |
| dcc: a8 17 cp r26, r24 |
| dce: b9 07 cpc r27, r25 |
| dd0: 74 f1 brlt .+92 ; 0xe2e <Decode64+0xa8> |
| dd2: 5d 53 subi r21, 0x3D ; 61 |
| dd4: fe 01 movw r30, r28 |
| dd6: e7 0f add r30, r23 |
| dd8: f1 1d adc r31, r1 |
| dda: 3d 53 subi r19, 0x3D ; 61 |
| ddc: 33 0f add r19, r19 |
| dde: 33 0f add r19, r19 |
| de0: 85 2f mov r24, r21 |
| de2: 82 95 swap r24 |
| de4: 8f 70 andi r24, 0x0F ; 15 |
| de6: 38 2b or r19, r24 |
| de8: 30 83 st Z, r19 |
| dea: 61 30 cpi r22, 0x01 ; 1 |
| dec: 01 f1 breq .+64 ; 0xe2e <Decode64+0xa8> |
| dee: 91 2f mov r25, r17 |
| df0: 9d 53 subi r25, 0x3D ; 61 |
| df2: 7f 5f subi r23, 0xFF ; 255 |
| df4: fe 01 movw r30, r28 |
| df6: e7 0f add r30, r23 |
| df8: f1 1d adc r31, r1 |
| dfa: 71 50 subi r23, 0x01 ; 1 |
| dfc: 52 95 swap r21 |
| dfe: 50 7f andi r21, 0xF0 ; 240 |
| e00: 89 2f mov r24, r25 |
| e02: 86 95 lsr r24 |
| e04: 86 95 lsr r24 |
| e06: 58 2b or r21, r24 |
| e08: 50 83 st Z, r21 |
| e0a: 63 50 subi r22, 0x03 ; 3 |
| e0c: 6f 3f cpi r22, 0xFF ; 255 |
| e0e: 79 f0 breq .+30 ; 0xe2e <Decode64+0xa8> |
| e10: 7e 5f subi r23, 0xFE ; 254 |
| e12: fe 01 movw r30, r28 |
| e14: e7 0f add r30, r23 |
| e16: f1 1d adc r31, r1 |
| e18: 92 95 swap r25 |
| e1a: 99 0f add r25, r25 |
| e1c: 99 0f add r25, r25 |
| e1e: 90 7c andi r25, 0xC0 ; 192 |
| e20: 2d 53 subi r18, 0x3D ; 61 |
| e22: 92 2b or r25, r18 |
| e24: 90 83 st Z, r25 |
| e26: 7f 5f subi r23, 0xFF ; 255 |
| e28: 66 23 and r22, r22 |
| e2a: 09 f0 breq .+2 ; 0xe2e <Decode64+0xa8> |
| e2c: b5 cf rjmp .-150 ; 0xd98 <Decode64+0x12> |
| e2e: df 91 pop r29 |
| e30: cf 91 pop r28 |
| e32: 1f 91 pop r17 |
| e34: 08 95 ret |
| 00000e36 <uart_putchar>: |
| e36: 1f 93 push r17 |
| e38: 18 2f mov r17, r24 |
| e3a: 8a 30 cpi r24, 0x0A ; 10 |
| e3c: 19 f4 brne .+6 ; 0xe44 <uart_putchar+0xe> |
| e3e: 8d e0 ldi r24, 0x0D ; 13 |
| e40: 0e 94 1b 07 call 0xe36 ; 0xe36 <uart_putchar> |
| e44: 80 91 c0 00 lds r24, 0x00C0 |
| e48: 85 ff sbrs r24, 5 |
| e4a: fc cf rjmp .-8 ; 0xe44 <uart_putchar+0xe> |
| e4c: 10 93 c6 00 sts 0x00C6, r17 |
| e50: 80 e0 ldi r24, 0x00 ; 0 |
| e52: 90 e0 ldi r25, 0x00 ; 0 |
| e54: 1f 91 pop r17 |
| e56: 08 95 ret |
| 00000e58 <WriteProgramData>: |
| e58: 08 95 ret |
| 00000e5a <UART_Init>: |
| e5a: e1 ec ldi r30, 0xC1 ; 193 |
| e5c: f0 e0 ldi r31, 0x00 ; 0 |
| e5e: 88 e1 ldi r24, 0x18 ; 24 |
| e60: 80 83 st Z, r24 |
| e62: a0 ec ldi r26, 0xC0 ; 192 |
| e64: b0 e0 ldi r27, 0x00 ; 0 |
| e66: 8c 91 ld r24, X |
| e68: 82 60 ori r24, 0x02 ; 2 |
| e6a: 8c 93 st X, r24 |
| e6c: 80 81 ld r24, Z |
| e6e: 80 68 ori r24, 0x80 ; 128 |
| e70: 80 83 st Z, r24 |
| e72: 80 81 ld r24, Z |
| e74: 80 64 ori r24, 0x40 ; 64 |
| e76: 80 83 st Z, r24 |
| e78: 8a e2 ldi r24, 0x2A ; 42 |
| e7a: 80 93 c4 00 sts 0x00C4, r24 |
| e7e: 88 ec ldi r24, 0xC8 ; 200 |
| e80: 90 e0 ldi r25, 0x00 ; 0 |
| e82: 0e 94 fb 0b call 0x17f6 ; 0x17f6 <SetDelay> |
| e86: 90 93 e2 03 sts 0x03E2, r25 |
| e8a: 80 93 e1 03 sts 0x03E1, r24 |
| e8e: 10 92 a5 01 sts 0x01A5, r1 |
| e92: 08 95 ret |
| 00000e94 <DatenUebertragung>: |
| e94: 80 91 00 01 lds r24, 0x0100 |
| e98: 88 23 and r24, r24 |
| e9a: 09 f4 brne .+2 ; 0xe9e <DatenUebertragung+0xa> |
| e9c: 68 c0 rjmp .+208 ; 0xf6e <DatenUebertragung+0xda> |
| e9e: 80 91 8e 01 lds r24, 0x018E |
| ea2: 88 23 and r24, r24 |
| ea4: 71 f0 breq .+28 ; 0xec2 <DatenUebertragung+0x2e> |
| ea6: 80 91 00 01 lds r24, 0x0100 |
| eaa: 88 23 and r24, r24 |
| eac: 51 f0 breq .+20 ; 0xec2 <DatenUebertragung+0x2e> |
| eae: 2b e0 ldi r18, 0x0B ; 11 |
| eb0: 45 ef ldi r20, 0xF5 ; 245 |
| eb2: 53 e0 ldi r21, 0x03 ; 3 |
| eb4: 60 91 b3 02 lds r22, 0x02B3 |
| eb8: 87 e4 ldi r24, 0x47 ; 71 |
| eba: 0e 94 5b 06 call 0xcb6 ; 0xcb6 <SendOutData> |
| ebe: 10 92 8e 01 sts 0x018E, r1 |
| ec2: 80 91 e1 03 lds r24, 0x03E1 |
| ec6: 90 91 e2 03 lds r25, 0x03E2 |
| eca: 0e 94 04 0c call 0x1808 ; 0x1808 <CheckDelay> |
| ece: 88 23 and r24, r24 |
| ed0: 21 f4 brne .+8 ; 0xeda <DatenUebertragung+0x46> |
| ed2: 80 91 90 01 lds r24, 0x0190 |
| ed6: 88 23 and r24, r24 |
| ed8: b1 f0 breq .+44 ; 0xf06 <DatenUebertragung+0x72> |
| eda: 80 91 00 01 lds r24, 0x0100 |
| ede: 88 23 and r24, r24 |
| ee0: 91 f0 breq .+36 ; 0xf06 <DatenUebertragung+0x72> |
| ee2: 22 e3 ldi r18, 0x32 ; 50 |
| ee4: 48 ed ldi r20, 0xD8 ; 216 |
| ee6: 54 e0 ldi r21, 0x04 ; 4 |
| ee8: 60 91 b3 02 lds r22, 0x02B3 |
| eec: 84 e4 ldi r24, 0x44 ; 68 |
| eee: 0e 94 5b 06 call 0xcb6 ; 0xcb6 <SendOutData> |
| ef2: 10 92 90 01 sts 0x0190, r1 |
| ef6: 8a ef ldi r24, 0xFA ; 250 |
| ef8: 90 e0 ldi r25, 0x00 ; 0 |
| efa: 0e 94 fb 0b call 0x17f6 ; 0x17f6 <SetDelay> |
| efe: 90 93 e2 03 sts 0x03E2, r25 |
| f02: 80 93 e1 03 sts 0x03E1, r24 |
| f06: 80 91 8f 01 lds r24, 0x018F |
| f0a: 88 23 and r24, r24 |
| f0c: f1 f0 breq .+60 ; 0xf4a <DatenUebertragung+0xb6> |
| f0e: 80 91 00 01 lds r24, 0x0100 |
| f12: 88 23 and r24, r24 |
| f14: d1 f0 breq .+52 ; 0xf4a <DatenUebertragung+0xb6> |
| f16: 0e 94 50 10 call 0x20a0 ; 0x20a0 <Menu> |
| f1a: 10 92 8f 01 sts 0x018F, r1 |
| f1e: 80 91 9c 01 lds r24, 0x019C |
| f22: 8f 5f subi r24, 0xFF ; 255 |
| f24: 80 93 9c 01 sts 0x019C, r24 |
| f28: 84 30 cpi r24, 0x04 ; 4 |
| f2a: 11 f4 brne .+4 ; 0xf30 <DatenUebertragung+0x9c> |
| f2c: 10 92 9c 01 sts 0x019C, r1 |
| f30: 80 91 9c 01 lds r24, 0x019C |
| f34: 44 e1 ldi r20, 0x14 ; 20 |
| f36: 84 9f mul r24, r20 |
| f38: a0 01 movw r20, r0 |
| f3a: 11 24 eor r1, r1 |
| f3c: 4a 5e subi r20, 0xEA ; 234 |
| f3e: 5e 4f sbci r21, 0xFE ; 254 |
| f40: 24 e1 ldi r18, 0x14 ; 20 |
| f42: 60 e0 ldi r22, 0x00 ; 0 |
| f44: 80 5d subi r24, 0xD0 ; 208 |
| f46: 0e 94 5b 06 call 0xcb6 ; 0xcb6 <SendOutData> |
| f4a: 80 91 91 01 lds r24, 0x0191 |
| f4e: 88 23 and r24, r24 |
| f50: 71 f0 breq .+28 ; 0xf6e <DatenUebertragung+0xda> |
| f52: 80 91 00 01 lds r24, 0x0100 |
| f56: 88 23 and r24, r24 |
| f58: 51 f0 breq .+20 ; 0xf6e <DatenUebertragung+0xda> |
| f5a: 2a e0 ldi r18, 0x0A ; 10 |
| f5c: 40 e0 ldi r20, 0x00 ; 0 |
| f5e: 54 e0 ldi r21, 0x04 ; 4 |
| f60: 60 91 b3 02 lds r22, 0x02B3 |
| f64: 86 e5 ldi r24, 0x56 ; 86 |
| f66: 0e 94 5b 06 call 0xcb6 ; 0xcb6 <SendOutData> |
| f6a: 10 92 91 01 sts 0x0191, r1 |
| f6e: 08 95 ret |
| 00000f70 <BearbeiteRxDaten>: |
| f70: 1f 93 push r17 |
| f72: cf 93 push r28 |
| f74: df 93 push r29 |
| f76: cd b7 in r28, 0x3d ; 61 |
| f78: de b7 in r29, 0x3e ; 62 |
| f7a: 22 97 sbiw r28, 0x02 ; 2 |
| f7c: 0f b6 in r0, 0x3f ; 63 |
| f7e: f8 94 cli |
| f80: de bf out 0x3e, r29 ; 62 |
| f82: 0f be out 0x3f, r0 ; 63 |
| f84: cd bf out 0x3d, r28 ; 61 |
| f86: 80 91 93 01 lds r24, 0x0193 |
| f8a: 88 23 and r24, r24 |
| f8c: 09 f4 brne .+2 ; 0xf90 <BearbeiteRxDaten+0x20> |
| f8e: 98 c0 rjmp .+304 ; 0x10c0 <BearbeiteRxDaten+0x150> |
| f90: 8f ef ldi r24, 0xFF ; 255 |
| f92: 80 93 01 01 sts 0x0101, r24 |
| f96: 80 91 27 04 lds r24, 0x0427 |
| f9a: 81 37 cpi r24, 0x71 ; 113 |
| f9c: 60 f4 brcc .+24 ; 0xfb6 <BearbeiteRxDaten+0x46> |
| f9e: 8c 36 cpi r24, 0x6C ; 108 |
| fa0: 08 f0 brcs .+2 ; 0xfa4 <BearbeiteRxDaten+0x34> |
| fa2: 6f c0 rjmp .+222 ; 0x1082 <BearbeiteRxDaten+0x112> |
| fa4: 87 36 cpi r24, 0x67 ; 103 |
| fa6: 09 f4 brne .+2 ; 0xfaa <BearbeiteRxDaten+0x3a> |
| fa8: 40 c0 rjmp .+128 ; 0x102a <BearbeiteRxDaten+0xba> |
| faa: 88 36 cpi r24, 0x68 ; 104 |
| fac: f9 f0 breq .+62 ; 0xfec <BearbeiteRxDaten+0x7c> |
| fae: 83 36 cpi r24, 0x63 ; 99 |
| fb0: 09 f0 breq .+2 ; 0xfb4 <BearbeiteRxDaten+0x44> |
| fb2: 84 c0 rjmp .+264 ; 0x10bc <BearbeiteRxDaten+0x14c> |
| fb4: 08 c0 rjmp .+16 ; 0xfc6 <BearbeiteRxDaten+0x56> |
| fb6: 84 37 cpi r24, 0x74 ; 116 |
| fb8: 59 f1 breq .+86 ; 0x1010 <BearbeiteRxDaten+0xa0> |
| fba: 86 37 cpi r24, 0x76 ; 118 |
| fbc: 91 f1 breq .+100 ; 0x1022 <BearbeiteRxDaten+0xb2> |
| fbe: 81 37 cpi r24, 0x71 ; 113 |
| fc0: 09 f0 breq .+2 ; 0xfc4 <BearbeiteRxDaten+0x54> |
| fc2: 7c c0 rjmp .+248 ; 0x10bc <BearbeiteRxDaten+0x14c> |
| fc4: 36 c0 rjmp .+108 ; 0x1032 <BearbeiteRxDaten+0xc2> |
| fc6: 20 91 96 01 lds r18, 0x0196 |
| fca: 43 e0 ldi r20, 0x03 ; 3 |
| fcc: 6b e0 ldi r22, 0x0B ; 11 |
| fce: 85 ef ldi r24, 0xF5 ; 245 |
| fd0: 93 e0 ldi r25, 0x03 ; 3 |
| fd2: 0e 94 c3 06 call 0xd86 ; 0xd86 <Decode64> |
| fd6: 80 91 cd 01 lds r24, 0x01CD |
| fda: 90 91 f7 03 lds r25, 0x03F7 |
| fde: 89 2b or r24, r25 |
| fe0: 80 93 cd 01 sts 0x01CD, r24 |
| fe4: 81 e0 ldi r24, 0x01 ; 1 |
| fe6: 80 93 90 01 sts 0x0190, r24 |
| fea: 68 c0 rjmp .+208 ; 0x10bc <BearbeiteRxDaten+0x14c> |
| fec: 20 91 96 01 lds r18, 0x0196 |
| ff0: 43 e0 ldi r20, 0x03 ; 3 |
| ff2: 62 e0 ldi r22, 0x02 ; 2 |
| ff4: ce 01 movw r24, r28 |
| ff6: 01 96 adiw r24, 0x01 ; 1 |
| ff8: 0e 94 c3 06 call 0xd86 ; 0xd86 <Decode64> |
| ffc: 80 91 cd 01 lds r24, 0x01CD |
| 1000: 99 81 ldd r25, Y+1 ; 0x01 |
| 1002: 89 2b or r24, r25 |
| 1004: 80 93 cd 01 sts 0x01CD, r24 |
| 1008: 81 e0 ldi r24, 0x01 ; 1 |
| 100a: 80 93 8f 01 sts 0x018F, r24 |
| 100e: 56 c0 rjmp .+172 ; 0x10bc <BearbeiteRxDaten+0x14c> |
| 1010: 20 91 96 01 lds r18, 0x0196 |
| 1014: 43 e0 ldi r20, 0x03 ; 3 |
| 1016: 64 e0 ldi r22, 0x04 ; 4 |
| 1018: 88 e9 ldi r24, 0x98 ; 152 |
| 101a: 91 e0 ldi r25, 0x01 ; 1 |
| 101c: 0e 94 c3 06 call 0xd86 ; 0xd86 <Decode64> |
| 1020: 4d c0 rjmp .+154 ; 0x10bc <BearbeiteRxDaten+0x14c> |
| 1022: 81 e0 ldi r24, 0x01 ; 1 |
| 1024: 80 93 91 01 sts 0x0191, r24 |
| 1028: 49 c0 rjmp .+146 ; 0x10bc <BearbeiteRxDaten+0x14c> |
| 102a: 81 e0 ldi r24, 0x01 ; 1 |
| 102c: 80 93 8e 01 sts 0x018E, r24 |
| 1030: 45 c0 rjmp .+138 ; 0x10bc <BearbeiteRxDaten+0x14c> |
| 1032: 20 91 96 01 lds r18, 0x0196 |
| 1036: 43 e0 ldi r20, 0x03 ; 3 |
| 1038: 62 e0 ldi r22, 0x02 ; 2 |
| 103a: ce 01 movw r24, r28 |
| 103c: 01 96 adiw r24, 0x01 ; 1 |
| 103e: 0e 94 c3 06 call 0xd86 ; 0xd86 <Decode64> |
| 1042: 89 81 ldd r24, Y+1 ; 0x01 |
| 1044: 8f 3f cpi r24, 0xFF ; 255 |
| 1046: 89 f0 breq .+34 ; 0x106a <BearbeiteRxDaten+0xfa> |
| 1048: 86 30 cpi r24, 0x06 ; 6 |
| 104a: 10 f0 brcs .+4 ; 0x1050 <BearbeiteRxDaten+0xe0> |
| 104c: 85 e0 ldi r24, 0x05 ; 5 |
| 104e: 89 83 std Y+1, r24 ; 0x01 |
| 1050: 4a e3 ldi r20, 0x3A ; 58 |
| 1052: 6d e6 ldi r22, 0x6D ; 109 |
| 1054: 75 e0 ldi r23, 0x05 ; 5 |
| 1056: 89 81 ldd r24, Y+1 ; 0x01 |
| 1058: 0e 94 17 02 call 0x42e ; 0x42e <ReadParameterSet> |
| 105c: 89 81 ldd r24, Y+1 ; 0x01 |
| 105e: 2a e3 ldi r18, 0x3A ; 58 |
| 1060: 4d e6 ldi r20, 0x6D ; 109 |
| 1062: 55 e0 ldi r21, 0x05 ; 5 |
| 1064: 60 91 b3 02 lds r22, 0x02B3 |
| 1068: 08 c0 rjmp .+16 ; 0x107a <BearbeiteRxDaten+0x10a> |
| 106a: 10 91 b3 02 lds r17, 0x02B3 |
| 106e: 0e 94 f8 01 call 0x3f0 ; 0x3f0 <GetActiveParamSetNumber> |
| 1072: 2a e3 ldi r18, 0x3A ; 58 |
| 1074: 4d e6 ldi r20, 0x6D ; 109 |
| 1076: 55 e0 ldi r21, 0x05 ; 5 |
| 1078: 61 2f mov r22, r17 |
| 107a: 85 5b subi r24, 0xB5 ; 181 |
| 107c: 0e 94 5b 06 call 0xcb6 ; 0xcb6 <SendOutData> |
| 1080: 1d c0 rjmp .+58 ; 0x10bc <BearbeiteRxDaten+0x14c> |
| 1082: 20 91 96 01 lds r18, 0x0196 |
| 1086: 43 e0 ldi r20, 0x03 ; 3 |
| 1088: 6a e3 ldi r22, 0x3A ; 58 |
| 108a: 8d e6 ldi r24, 0x6D ; 109 |
| 108c: 95 e0 ldi r25, 0x05 ; 5 |
| 108e: 0e 94 c3 06 call 0xd86 ; 0xd86 <Decode64> |
| 1092: 80 91 27 04 lds r24, 0x0427 |
| 1096: 4a e3 ldi r20, 0x3A ; 58 |
| 1098: 6d e6 ldi r22, 0x6D ; 109 |
| 109a: 75 e0 ldi r23, 0x05 ; 5 |
| 109c: 8b 56 subi r24, 0x6B ; 107 |
| 109e: 0e 94 ff 01 call 0x3fe ; 0x3fe <WriteParameterSet> |
| 10a2: 80 91 27 04 lds r24, 0x0427 |
| 10a6: 8b 56 subi r24, 0x6B ; 107 |
| 10a8: a2 e0 ldi r26, 0x02 ; 2 |
| 10aa: b0 e0 ldi r27, 0x00 ; 0 |
| 10ac: 08 2e mov r0, r24 |
| 10ae: 0e 94 2b 2d call 0x5a56 ; 0x5a56 <__eeprom_write_byte_1F2021> |
| 10b2: 0e 94 f8 01 call 0x3f0 ; 0x3f0 <GetActiveParamSetNumber> |
| 10b6: 99 27 eor r25, r25 |
| 10b8: 0e 94 4b 1e call 0x3c96 ; 0x3c96 <Piep> |
| 10bc: 10 92 93 01 sts 0x0193, r1 |
| 10c0: 22 96 adiw r28, 0x02 ; 2 |
| 10c2: 0f b6 in r0, 0x3f ; 63 |
| 10c4: f8 94 cli |
| 10c6: de bf out 0x3e, r29 ; 62 |
| 10c8: 0f be out 0x3f, r0 ; 63 |
| 10ca: cd bf out 0x3d, r28 ; 61 |
| 10cc: df 91 pop r29 |
| 10ce: cf 91 pop r28 |
| 10d0: 1f 91 pop r17 |
| 10d2: 08 95 ret |
| 000010d4 <Putchar>: |
| 10d4: 98 2f mov r25, r24 |
| 10d6: 80 91 26 05 lds r24, 0x0526 |
| 10da: 81 30 cpi r24, 0x01 ; 1 |
| 10dc: 69 f4 brne .+26 ; 0x10f8 <Putchar+0x24> |
| 10de: 80 91 cc 01 lds r24, 0x01CC |
| 10e2: e8 2f mov r30, r24 |
| 10e4: ff 27 eor r31, r31 |
| 10e6: ea 5e subi r30, 0xEA ; 234 |
| 10e8: fe 4f sbci r31, 0xFE ; 254 |
| 10ea: 90 83 st Z, r25 |
| 10ec: 8f 5f subi r24, 0xFF ; 255 |
| 10ee: 80 93 cc 01 sts 0x01CC, r24 |
| 10f2: 21 e0 ldi r18, 0x01 ; 1 |
| 10f4: 30 e0 ldi r19, 0x00 ; 0 |
| 10f6: 05 c0 rjmp .+10 ; 0x1102 <__stack+0x3> |
| 10f8: 89 2f mov r24, r25 |
| 10fa: 0e 94 1b 07 call 0xe36 ; 0xe36 <uart_putchar> |
| 10fe: 28 2f mov r18, r24 |
| 1100: 33 27 eor r19, r19 |
| 1102: c9 01 movw r24, r18 |
| 1104: 08 95 ret |
| 00001106 <PAD_0>: |
| 1106: 1f 93 push r17 |
| 1108: 18 2f mov r17, r24 |
| 110a: 04 c0 rjmp .+8 ; 0x1114 <PAD_0+0xe> |
| 110c: 80 e3 ldi r24, 0x30 ; 48 |
| 110e: 0e 94 6a 08 call 0x10d4 ; 0x10d4 <Putchar> |
| 1112: 11 50 subi r17, 0x01 ; 1 |
| 1114: 11 16 cp r1, r17 |
| 1116: d4 f3 brlt .-12 ; 0x110c <PAD_0+0x6> |
| 1118: 1f 91 pop r17 |
| 111a: 08 95 ret |
| 0000111c <PAD_SP>: |
| 111c: 1f 93 push r17 |
| 111e: 18 2f mov r17, r24 |
| 1120: 04 c0 rjmp .+8 ; 0x112a <PAD_SP+0xe> |
| 1122: 80 e2 ldi r24, 0x20 ; 32 |
| 1124: 0e 94 6a 08 call 0x10d4 ; 0x10d4 <Putchar> |
| 1128: 11 50 subi r17, 0x01 ; 1 |
| 112a: 11 16 cp r1, r17 |
| 112c: d4 f3 brlt .-12 ; 0x1122 <PAD_SP+0x6> |
| 112e: 1f 91 pop r17 |
| 1130: 08 95 ret |
| 00001132 <PRINTP>: |
| 1132: 0f 93 push r16 |
| 1134: 1f 93 push r17 |
| 1136: cf 93 push r28 |
| 1138: df 93 push r29 |
| 113a: 8c 01 movw r16, r24 |
| 113c: eb 01 movw r28, r22 |
| 113e: 08 c0 rjmp .+16 ; 0x1150 <PRINTP+0x1e> |
| 1140: f8 01 movw r30, r16 |
| 1142: 0f 5f subi r16, 0xFF ; 255 |
| 1144: 1f 4f sbci r17, 0xFF ; 255 |
| 1146: e4 91 lpm r30, Z |
| 1148: 8e 2f mov r24, r30 |
| 114a: 0e 94 6a 08 call 0x10d4 ; 0x10d4 <Putchar> |
| 114e: 21 97 sbiw r28, 0x01 ; 1 |
| 1150: 20 97 sbiw r28, 0x00 ; 0 |
| 1152: b1 f7 brne .-20 ; 0x1140 <PRINTP+0xe> |
| 1154: df 91 pop r29 |
| 1156: cf 91 pop r28 |
| 1158: 1f 91 pop r17 |
| 115a: 0f 91 pop r16 |
| 115c: 08 95 ret |
| 0000115e <PRINT>: |
| 115e: 0f 93 push r16 |
| 1160: 1f 93 push r17 |
| 1162: cf 93 push r28 |
| 1164: df 93 push r29 |
| 1166: 8c 01 movw r16, r24 |
| 1168: eb 01 movw r28, r22 |
| 116a: 06 c0 rjmp .+12 ; 0x1178 <PRINT+0x1a> |
| 116c: f8 01 movw r30, r16 |
| 116e: 81 91 ld r24, Z+ |
| 1170: 8f 01 movw r16, r30 |
| 1172: 0e 94 6a 08 call 0x10d4 ; 0x10d4 <Putchar> |
| 1176: 21 97 sbiw r28, 0x01 ; 1 |
| 1178: 20 97 sbiw r28, 0x00 ; 0 |
| 117a: c1 f7 brne .-16 ; 0x116c <PRINT+0xe> |
| 117c: df 91 pop r29 |
| 117e: cf 91 pop r28 |
| 1180: 1f 91 pop r17 |
| 1182: 0f 91 pop r16 |
| 1184: 08 95 ret |
| 00001186 <_printf_P>: |
| 1186: 2f 92 push r2 |
| 1188: 3f 92 push r3 |
| 118a: 4f 92 push r4 |
| 118c: 5f 92 push r5 |
| 118e: 6f 92 push r6 |
| 1190: 7f 92 push r7 |
| 1192: 8f 92 push r8 |
| 1194: 9f 92 push r9 |
| 1196: af 92 push r10 |
| 1198: bf 92 push r11 |
| 119a: cf 92 push r12 |
| 119c: df 92 push r13 |
| 119e: ef 92 push r14 |
| 11a0: ff 92 push r15 |
| 11a2: 0f 93 push r16 |
| 11a4: 1f 93 push r17 |
| 11a6: cf 93 push r28 |
| 11a8: df 93 push r29 |
| 11aa: cd b7 in r28, 0x3d ; 61 |
| 11ac: de b7 in r29, 0x3e ; 62 |
| 11ae: e3 97 sbiw r28, 0x33 ; 51 |
| 11b0: 0f b6 in r0, 0x3f ; 63 |
| 11b2: f8 94 cli |
| 11b4: de bf out 0x3e, r29 ; 62 |
| 11b6: 0f be out 0x3f, r0 ; 63 |
| 11b8: cd bf out 0x3d, r28 ; 61 |
| 11ba: 29 96 adiw r28, 0x09 ; 9 |
| 11bc: 8f ad ldd r24, Y+63 ; 0x3f |
| 11be: 29 97 sbiw r28, 0x09 ; 9 |
| 11c0: 80 93 26 05 sts 0x0526, r24 |
| 11c4: ce 01 movw r24, r28 |
| 11c6: 85 5b subi r24, 0xB5 ; 181 |
| 11c8: 9f 4f sbci r25, 0xFF ; 255 |
| 11ca: 9d 83 std Y+5, r25 ; 0x05 |
| 11cc: 8c 83 std Y+4, r24 ; 0x04 |
| 11ce: 2b 96 adiw r28, 0x0b ; 11 |
| 11d0: 8e ad ldd r24, Y+62 ; 0x3e |
| 11d2: 9f ad ldd r25, Y+63 ; 0x3f |
| 11d4: 2b 97 sbiw r28, 0x0b ; 11 |
| 11d6: 9f a7 std Y+47, r25 ; 0x2f |
| 11d8: 8e a7 std Y+46, r24 ; 0x2e |
| 11da: 22 24 eor r2, r2 |
| 11dc: 33 24 eor r3, r3 |
| 11de: 21 01 movw r4, r2 |
| 11e0: 02 c0 rjmp .+4 ; 0x11e6 <_printf_P+0x60> |
| 11e2: 13 01 movw r2, r6 |
| 11e4: 24 01 movw r4, r8 |
| 11e6: 0e a5 ldd r16, Y+46 ; 0x2e |
| 11e8: 1f a5 ldd r17, Y+47 ; 0x2f |
| 11ea: 02 c0 rjmp .+4 ; 0x11f0 <_printf_P+0x6a> |
| 11ec: 0f 5f subi r16, 0xFF ; 255 |
| 11ee: 1f 4f sbci r17, 0xFF ; 255 |
| 11f0: f8 01 movw r30, r16 |
| 11f2: f4 90 lpm r15, Z |
| 11f4: ff 20 and r15, r15 |
| 11f6: 19 f0 breq .+6 ; 0x11fe <_printf_P+0x78> |
| 11f8: f5 e2 ldi r31, 0x25 ; 37 |
| 11fa: ff 16 cp r15, r31 |
| 11fc: b9 f7 brne .-18 ; 0x11ec <_printf_P+0x66> |
| 11fe: b8 01 movw r22, r16 |
| 1200: 8e a5 ldd r24, Y+46 ; 0x2e |
| 1202: 9f a5 ldd r25, Y+47 ; 0x2f |
| 1204: 68 1b sub r22, r24 |
| 1206: 79 0b sbc r23, r25 |
| 1208: 11 f0 breq .+4 ; 0x120e <_printf_P+0x88> |
| 120a: 0e 94 99 08 call 0x1132 ; 0x1132 <PRINTP> |
| 120e: ff 20 and r15, r15 |
| 1210: 09 f4 brne .+2 ; 0x1214 <_printf_P+0x8e> |
| 1212: 44 c2 rjmp .+1160 ; 0x169c <_printf_P+0x516> |
| 1214: 0f 5f subi r16, 0xFF ; 255 |
| 1216: 1f 4f sbci r17, 0xFF ; 255 |
| 1218: 1f a7 std Y+47, r17 ; 0x2f |
| 121a: 0e a7 std Y+46, r16 ; 0x2e |
| 121c: 19 82 std Y+1, r1 ; 0x01 |
| 121e: ac 81 ldd r26, Y+4 ; 0x04 |
| 1220: bd 81 ldd r27, Y+5 ; 0x05 |
| 1222: 1b aa std Y+51, r1 ; 0x33 |
| 1224: 1a aa std Y+50, r1 ; 0x32 |
| 1226: 9f ef ldi r25, 0xFF ; 255 |
| 1228: 99 ab std Y+49, r25 ; 0x31 |
| 122a: ee a5 ldd r30, Y+46 ; 0x2e |
| 122c: ff a5 ldd r31, Y+47 ; 0x2f |
| 122e: cf 01 movw r24, r30 |
| 1230: 01 96 adiw r24, 0x01 ; 1 |
| 1232: 9f a7 std Y+47, r25 ; 0x2f |
| 1234: 8e a7 std Y+46, r24 ; 0x2e |
| 1236: b4 90 lpm r11, Z |
| 1238: 95 e7 ldi r25, 0x75 ; 117 |
| 123a: b9 16 cp r11, r25 |
| 123c: 21 f0 breq .+8 ; 0x1246 <_printf_P+0xc0> |
| 123e: 8b 2d mov r24, r11 |
| 1240: 80 62 ori r24, 0x20 ; 32 |
| 1242: 88 37 cpi r24, 0x78 ; 120 |
| 1244: 89 f4 brne .+34 ; 0x1268 <_printf_P+0xe2> |
| 1246: eb a9 ldd r30, Y+51 ; 0x33 |
| 1248: e0 ff sbrs r30, 0 |
| 124a: 07 c0 rjmp .+14 ; 0x125a <_printf_P+0xd4> |
| 124c: 2d 90 ld r2, X+ |
| 124e: 3d 90 ld r3, X+ |
| 1250: 4d 90 ld r4, X+ |
| 1252: 5c 90 ld r5, X |
| 1254: 13 97 sbiw r26, 0x03 ; 3 |
| 1256: 14 96 adiw r26, 0x04 ; 4 |
| 1258: 07 c0 rjmp .+14 ; 0x1268 <_printf_P+0xe2> |
| 125a: 8d 91 ld r24, X+ |
| 125c: 9c 91 ld r25, X |
| 125e: 11 97 sbiw r26, 0x01 ; 1 |
| 1260: 1c 01 movw r2, r24 |
| 1262: 44 24 eor r4, r4 |
| 1264: 55 24 eor r5, r5 |
| 1266: 12 96 adiw r26, 0x02 ; 2 |
| 1268: f0 e2 ldi r31, 0x20 ; 32 |
| 126a: bf 16 cp r11, r31 |
| 126c: 21 f4 brne .+8 ; 0x1276 <_printf_P+0xf0> |
| 126e: 89 81 ldd r24, Y+1 ; 0x01 |
| 1270: 88 23 and r24, r24 |
| 1272: d9 f6 brne .-74 ; 0x122a <_printf_P+0xa4> |
| 1274: 85 c0 rjmp .+266 ; 0x1380 <_printf_P+0x1fa> |
| 1276: 83 e2 ldi r24, 0x23 ; 35 |
| 1278: b8 16 cp r11, r24 |
| 127a: 09 f4 brne .+2 ; 0x127e <_printf_P+0xf8> |
| 127c: 83 c0 rjmp .+262 ; 0x1384 <_printf_P+0x1fe> |
| 127e: 9a e2 ldi r25, 0x2A ; 42 |
| 1280: b9 16 cp r11, r25 |
| 1282: 21 f0 breq .+8 ; 0x128c <_printf_P+0x106> |
| 1284: ed e2 ldi r30, 0x2D ; 45 |
| 1286: be 16 cp r11, r30 |
| 1288: 69 f4 brne .+26 ; 0x12a4 <_printf_P+0x11e> |
| 128a: 08 c0 rjmp .+16 ; 0x129c <_printf_P+0x116> |
| 128c: fd 01 movw r30, r26 |
| 128e: 12 96 adiw r26, 0x02 ; 2 |
| 1290: e0 81 ld r30, Z |
| 1292: ea ab std Y+50, r30 ; 0x32 |
| 1294: e7 ff sbrs r30, 7 |
| 1296: c9 cf rjmp .-110 ; 0x122a <_printf_P+0xa4> |
| 1298: e1 95 neg r30 |
| 129a: ea ab std Y+50, r30 ; 0x32 |
| 129c: fb a9 ldd r31, Y+51 ; 0x33 |
| 129e: f0 61 ori r31, 0x10 ; 16 |
| 12a0: ff 7d andi r31, 0xDF ; 223 |
| 12a2: 72 c0 rjmp .+228 ; 0x1388 <_printf_P+0x202> |
| 12a4: 8b e2 ldi r24, 0x2B ; 43 |
| 12a6: b8 16 cp r11, r24 |
| 12a8: 09 f4 brne .+2 ; 0x12ac <_printf_P+0x126> |
| 12aa: 6a c0 rjmp .+212 ; 0x1380 <_printf_P+0x1fa> |
| 12ac: 9e e2 ldi r25, 0x2E ; 46 |
| 12ae: b9 16 cp r11, r25 |
| 12b0: b1 f5 brne .+108 ; 0x131e <_printf_P+0x198> |
| 12b2: 2e a5 ldd r18, Y+46 ; 0x2e |
| 12b4: 3f a5 ldd r19, Y+47 ; 0x2f |
| 12b6: 2f 5f subi r18, 0xFF ; 255 |
| 12b8: 3f 4f sbci r19, 0xFF ; 255 |
| 12ba: ee a5 ldd r30, Y+46 ; 0x2e |
| 12bc: ff a5 ldd r31, Y+47 ; 0x2f |
| 12be: 84 91 lpm r24, Z |
| 12c0: 8a 32 cpi r24, 0x2A ; 42 |
| 12c2: 21 f0 breq .+8 ; 0x12cc <_printf_P+0x146> |
| 12c4: b8 2e mov r11, r24 |
| 12c6: 20 e0 ldi r18, 0x00 ; 0 |
| 12c8: 30 e0 ldi r19, 0x00 ; 0 |
| 12ca: 1b c0 rjmp .+54 ; 0x1302 <_printf_P+0x17c> |
| 12cc: fd 01 movw r30, r26 |
| 12ce: 12 96 adiw r26, 0x02 ; 2 |
| 12d0: 40 81 ld r20, Z |
| 12d2: 51 81 ldd r21, Z+1 ; 0x01 |
| 12d4: 57 ff sbrs r21, 7 |
| 12d6: 02 c0 rjmp .+4 ; 0x12dc <_printf_P+0x156> |
| 12d8: 4f ef ldi r20, 0xFF ; 255 |
| 12da: 5f ef ldi r21, 0xFF ; 255 |
| 12dc: 49 ab std Y+49, r20 ; 0x31 |
| 12de: 3f a7 std Y+47, r19 ; 0x2f |
| 12e0: 2e a7 std Y+46, r18 ; 0x2e |
| 12e2: a3 cf rjmp .-186 ; 0x122a <_printf_P+0xa4> |
| 12e4: c9 01 movw r24, r18 |
| 12e6: 03 e0 ldi r16, 0x03 ; 3 |
| 12e8: 88 0f add r24, r24 |
| 12ea: 99 1f adc r25, r25 |
| 12ec: 0a 95 dec r16 |
| 12ee: e1 f7 brne .-8 ; 0x12e8 <_printf_P+0x162> |
| 12f0: 22 0f add r18, r18 |
| 12f2: 33 1f adc r19, r19 |
| 12f4: 28 0f add r18, r24 |
| 12f6: 39 1f adc r19, r25 |
| 12f8: 2b 0d add r18, r11 |
| 12fa: 31 1d adc r19, r1 |
| 12fc: 20 53 subi r18, 0x30 ; 48 |
| 12fe: 30 40 sbci r19, 0x00 ; 0 |
| 1300: b4 90 lpm r11, Z |
| 1302: 31 96 adiw r30, 0x01 ; 1 |
| 1304: 8b 2d mov r24, r11 |
| 1306: 80 53 subi r24, 0x30 ; 48 |
| 1308: 8a 30 cpi r24, 0x0A ; 10 |
| 130a: 60 f3 brcs .-40 ; 0x12e4 <_printf_P+0x15e> |
| 130c: ff a7 std Y+47, r31 ; 0x2f |
| 130e: ee a7 std Y+46, r30 ; 0x2e |
| 1310: a9 01 movw r20, r18 |
| 1312: 37 ff sbrs r19, 7 |
| 1314: 02 c0 rjmp .+4 ; 0x131a <_printf_P+0x194> |
| 1316: 4f ef ldi r20, 0xFF ; 255 |
| 1318: 5f ef ldi r21, 0xFF ; 255 |
| 131a: 49 ab std Y+49, r20 ; 0x31 |
| 131c: 8d cf rjmp .-230 ; 0x1238 <_printf_P+0xb2> |
| 131e: f0 e3 ldi r31, 0x30 ; 48 |
| 1320: bf 16 cp r11, r31 |
| 1322: 31 f4 brne .+12 ; 0x1330 <_printf_P+0x1aa> |
| 1324: 8b a9 ldd r24, Y+51 ; 0x33 |
| 1326: 84 fd sbrc r24, 4 |
| 1328: 80 cf rjmp .-256 ; 0x122a <_printf_P+0xa4> |
| 132a: 80 62 ori r24, 0x20 ; 32 |
| 132c: 8b ab std Y+51, r24 ; 0x33 |
| 132e: 7d cf rjmp .-262 ; 0x122a <_printf_P+0xa4> |
| 1330: 8b 2d mov r24, r11 |
| 1332: 81 53 subi r24, 0x31 ; 49 |
| 1334: 89 30 cpi r24, 0x09 ; 9 |
| 1336: e8 f4 brcc .+58 ; 0x1372 <_printf_P+0x1ec> |
| 1338: 20 e0 ldi r18, 0x00 ; 0 |
| 133a: 30 e0 ldi r19, 0x00 ; 0 |
| 133c: c9 01 movw r24, r18 |
| 133e: f3 e0 ldi r31, 0x03 ; 3 |
| 1340: 88 0f add r24, r24 |
| 1342: 99 1f adc r25, r25 |
| 1344: fa 95 dec r31 |
| 1346: e1 f7 brne .-8 ; 0x1340 <_printf_P+0x1ba> |
| 1348: 22 0f add r18, r18 |
| 134a: 33 1f adc r19, r19 |
| 134c: 28 0f add r18, r24 |
| 134e: 39 1f adc r19, r25 |
| 1350: 2b 0d add r18, r11 |
| 1352: 31 1d adc r19, r1 |
| 1354: 20 53 subi r18, 0x30 ; 48 |
| 1356: 30 40 sbci r19, 0x00 ; 0 |
| 1358: ee a5 ldd r30, Y+46 ; 0x2e |
| 135a: ff a5 ldd r31, Y+47 ; 0x2f |
| 135c: cf 01 movw r24, r30 |
| 135e: 01 96 adiw r24, 0x01 ; 1 |
| 1360: 9f a7 std Y+47, r25 ; 0x2f |
| 1362: 8e a7 std Y+46, r24 ; 0x2e |
| 1364: b4 90 lpm r11, Z |
| 1366: 8b 2d mov r24, r11 |
| 1368: 80 53 subi r24, 0x30 ; 48 |
| 136a: 8a 30 cpi r24, 0x0A ; 10 |
| 136c: 38 f3 brcs .-50 ; 0x133c <_printf_P+0x1b6> |
| 136e: 2a ab std Y+50, r18 ; 0x32 |
| 1370: 63 cf rjmp .-314 ; 0x1238 <_printf_P+0xb2> |
| 1372: 98 e6 ldi r25, 0x68 ; 104 |
| 1374: b9 16 cp r11, r25 |
| 1376: 51 f4 brne .+20 ; 0x138c <_printf_P+0x206> |
| 1378: eb a9 ldd r30, Y+51 ; 0x33 |
| 137a: e4 60 ori r30, 0x04 ; 4 |
| 137c: eb ab std Y+51, r30 ; 0x33 |
| 137e: 55 cf rjmp .-342 ; 0x122a <_printf_P+0xa4> |
| 1380: b9 82 std Y+1, r11 ; 0x01 |
| 1382: 53 cf rjmp .-346 ; 0x122a <_printf_P+0xa4> |
| 1384: fb a9 ldd r31, Y+51 ; 0x33 |
| 1386: f8 60 ori r31, 0x08 ; 8 |
| 1388: fb ab std Y+51, r31 ; 0x33 |
| 138a: 4f cf rjmp .-354 ; 0x122a <_printf_P+0xa4> |
| 138c: 8c e6 ldi r24, 0x6C ; 108 |
| 138e: b8 16 cp r11, r24 |
| 1390: 21 f4 brne .+8 ; 0x139a <_printf_P+0x214> |
| 1392: 9b a9 ldd r25, Y+51 ; 0x33 |
| 1394: 91 60 ori r25, 0x01 ; 1 |
| 1396: 9b ab std Y+51, r25 ; 0x33 |
| 1398: 48 cf rjmp .-368 ; 0x122a <_printf_P+0xa4> |
| 139a: bd 83 std Y+5, r27 ; 0x05 |
| 139c: ac 83 std Y+4, r26 ; 0x04 |
| 139e: e3 e6 ldi r30, 0x63 ; 99 |
| 13a0: be 16 cp r11, r30 |
| 13a2: 39 f4 brne .+14 ; 0x13b2 <_printf_P+0x22c> |
| 13a4: 12 96 adiw r26, 0x02 ; 2 |
| 13a6: bd 83 std Y+5, r27 ; 0x05 |
| 13a8: ac 83 std Y+4, r26 ; 0x04 |
| 13aa: 12 97 sbiw r26, 0x02 ; 2 |
| 13ac: 8c 91 ld r24, X |
| 13ae: 8e 83 std Y+6, r24 ; 0x06 |
| 13b0: 1a c1 rjmp .+564 ; 0x15e6 <_printf_P+0x460> |
| 13b2: f4 e4 ldi r31, 0x44 ; 68 |
| 13b4: bf 16 cp r11, r31 |
| 13b6: 39 f0 breq .+14 ; 0x13c6 <_printf_P+0x240> |
| 13b8: 84 e6 ldi r24, 0x64 ; 100 |
| 13ba: b8 16 cp r11, r24 |
| 13bc: 39 f0 breq .+14 ; 0x13cc <_printf_P+0x246> |
| 13be: 99 e6 ldi r25, 0x69 ; 105 |
| 13c0: b9 16 cp r11, r25 |
| 13c2: 59 f5 brne .+86 ; 0x141a <_printf_P+0x294> |
| 13c4: 03 c0 rjmp .+6 ; 0x13cc <_printf_P+0x246> |
| 13c6: eb a9 ldd r30, Y+51 ; 0x33 |
| 13c8: e1 60 ori r30, 0x01 ; 1 |
| 13ca: eb ab std Y+51, r30 ; 0x33 |
| 13cc: fb a9 ldd r31, Y+51 ; 0x33 |
| 13ce: f0 ff sbrs r31, 0 |
| 13d0: 08 c0 rjmp .+16 ; 0x13e2 <_printf_P+0x25c> |
| 13d2: 14 96 adiw r26, 0x04 ; 4 |
| 13d4: bd 83 std Y+5, r27 ; 0x05 |
| 13d6: ac 83 std Y+4, r26 ; 0x04 |
| 13d8: 5e 90 ld r5, -X |
| 13da: 4e 90 ld r4, -X |
| 13dc: 3e 90 ld r3, -X |
| 13de: 2e 90 ld r2, -X |
| 13e0: 0a c0 rjmp .+20 ; 0x13f6 <_printf_P+0x270> |
| 13e2: 12 96 adiw r26, 0x02 ; 2 |
| 13e4: bd 83 std Y+5, r27 ; 0x05 |
| 13e6: ac 83 std Y+4, r26 ; 0x04 |
| 13e8: 9e 91 ld r25, -X |
| 13ea: 8e 91 ld r24, -X |
| 13ec: 1c 01 movw r2, r24 |
| 13ee: 44 24 eor r4, r4 |
| 13f0: 37 fc sbrc r3, 7 |
| 13f2: 40 94 com r4 |
| 13f4: 54 2c mov r5, r4 |
| 13f6: 57 fc sbrc r5, 7 |
| 13f8: 03 c0 rjmp .+6 ; 0x1400 <_printf_P+0x27a> |
| 13fa: 8a e0 ldi r24, 0x0A ; 10 |
| 13fc: 88 ab std Y+48, r24 ; 0x30 |
| 13fe: 94 c0 rjmp .+296 ; 0x1528 <_printf_P+0x3a2> |
| 1400: 50 94 com r5 |
| 1402: 40 94 com r4 |
| 1404: 30 94 com r3 |
| 1406: 20 94 com r2 |
| 1408: 21 1c adc r2, r1 |
| 140a: 31 1c adc r3, r1 |
| 140c: 41 1c adc r4, r1 |
| 140e: 51 1c adc r5, r1 |
| 1410: 8d e2 ldi r24, 0x2D ; 45 |
| 1412: 89 83 std Y+1, r24 ; 0x01 |
| 1414: 9a e0 ldi r25, 0x0A ; 10 |
| 1416: 98 ab std Y+48, r25 ; 0x30 |
| 1418: 87 c0 rjmp .+270 ; 0x1528 <_printf_P+0x3a2> |
| 141a: ef e4 ldi r30, 0x4F ; 79 |
| 141c: be 16 cp r11, r30 |
| 141e: 29 f0 breq .+10 ; 0x142a <_printf_P+0x2a4> |
| 1420: ff e6 ldi r31, 0x6F ; 111 |
| 1422: bf 16 cp r11, r31 |
| 1424: 39 f4 brne .+14 ; 0x1434 <_printf_P+0x2ae> |
| 1426: 88 e0 ldi r24, 0x08 ; 8 |
| 1428: 63 c0 rjmp .+198 ; 0x14f0 <_printf_P+0x36a> |
| 142a: 9b a9 ldd r25, Y+51 ; 0x33 |
| 142c: 91 60 ori r25, 0x01 ; 1 |
| 142e: 9b ab std Y+51, r25 ; 0x33 |
| 1430: e8 e0 ldi r30, 0x08 ; 8 |
| 1432: 58 c0 rjmp .+176 ; 0x14e4 <_printf_P+0x35e> |
| 1434: f0 e7 ldi r31, 0x70 ; 112 |
| 1436: bf 16 cp r11, r31 |
| 1438: 81 f4 brne .+32 ; 0x145a <_printf_P+0x2d4> |
| 143a: 12 96 adiw r26, 0x02 ; 2 |
| 143c: bd 83 std Y+5, r27 ; 0x05 |
| 143e: ac 83 std Y+4, r26 ; 0x04 |
| 1440: 9e 91 ld r25, -X |
| 1442: 8e 91 ld r24, -X |
| 1444: 1c 01 movw r2, r24 |
| 1446: 44 24 eor r4, r4 |
| 1448: 55 24 eor r5, r5 |
| 144a: 8b a9 ldd r24, Y+51 ; 0x33 |
| 144c: 80 64 ori r24, 0x40 ; 64 |
| 144e: 8b ab std Y+51, r24 ; 0x33 |
| 1450: 90 e1 ldi r25, 0x10 ; 16 |
| 1452: 98 ab std Y+48, r25 ; 0x30 |
| 1454: 78 e7 ldi r23, 0x78 ; 120 |
| 1456: b7 2e mov r11, r23 |
| 1458: 66 c0 rjmp .+204 ; 0x1526 <_printf_P+0x3a0> |
| 145a: e3 e7 ldi r30, 0x73 ; 115 |
| 145c: be 16 cp r11, r30 |
| 145e: d9 f5 brne .+118 ; 0x14d6 <_printf_P+0x350> |
| 1460: 12 96 adiw r26, 0x02 ; 2 |
| 1462: bd 83 std Y+5, r27 ; 0x05 |
| 1464: ac 83 std Y+4, r26 ; 0x04 |
| 1466: de 90 ld r13, -X |
| 1468: ce 90 ld r12, -X |
| 146a: c1 14 cp r12, r1 |
| 146c: d1 04 cpc r13, r1 |
| 146e: 89 f4 brne .+34 ; 0x1492 <_printf_P+0x30c> |
| 1470: 88 e2 ldi r24, 0x28 ; 40 |
| 1472: 8e 83 std Y+6, r24 ; 0x06 |
| 1474: 8e e6 ldi r24, 0x6E ; 110 |
| 1476: 8f 83 std Y+7, r24 ; 0x07 |
| 1478: 85 e7 ldi r24, 0x75 ; 117 |
| 147a: 88 87 std Y+8, r24 ; 0x08 |
| 147c: 8c e6 ldi r24, 0x6C ; 108 |
| 147e: 89 87 std Y+9, r24 ; 0x09 |
| 1480: 8a 87 std Y+10, r24 ; 0x0a |
| 1482: 89 e2 ldi r24, 0x29 ; 41 |
| 1484: 8b 87 std Y+11, r24 ; 0x0b |
| 1486: 1c 86 std Y+12, r1 ; 0x0c |
| 1488: 66 e0 ldi r22, 0x06 ; 6 |
| 148a: c6 2e mov r12, r22 |
| 148c: d1 2c mov r13, r1 |
| 148e: cc 0e add r12, r28 |
| 1490: dd 1e adc r13, r29 |
| 1492: f9 a9 ldd r31, Y+49 ; 0x31 |
| 1494: f7 fd sbrc r31, 7 |
| 1496: 13 c0 rjmp .+38 ; 0x14be <_printf_P+0x338> |
| 1498: 4f 2f mov r20, r31 |
| 149a: 55 27 eor r21, r21 |
| 149c: 47 fd sbrc r20, 7 |
| 149e: 50 95 com r21 |
| 14a0: 60 e0 ldi r22, 0x00 ; 0 |
| 14a2: 70 e0 ldi r23, 0x00 ; 0 |
| 14a4: c6 01 movw r24, r12 |
| 14a6: 0e 94 d1 2a call 0x55a2 ; 0x55a2 <memchr> |
| 14aa: 00 97 sbiw r24, 0x00 ; 0 |
| 14ac: 11 f4 brne .+4 ; 0x14b2 <_printf_P+0x32c> |
| 14ae: 19 a9 ldd r17, Y+49 ; 0x31 |
| 14b0: 0d c0 rjmp .+26 ; 0x14cc <_printf_P+0x346> |
| 14b2: 8c 19 sub r24, r12 |
| 14b4: 19 a9 ldd r17, Y+49 ; 0x31 |
| 14b6: 81 17 cp r24, r17 |
| 14b8: 4c f4 brge .+18 ; 0x14cc <_printf_P+0x346> |
| 14ba: 18 2f mov r17, r24 |
| 14bc: 07 c0 rjmp .+14 ; 0x14cc <_printf_P+0x346> |
| 14be: f6 01 movw r30, r12 |
| 14c0: 01 90 ld r0, Z+ |
| 14c2: 00 20 and r0, r0 |
| 14c4: e9 f7 brne .-6 ; 0x14c0 <_printf_P+0x33a> |
| 14c6: 31 97 sbiw r30, 0x01 ; 1 |
| 14c8: 1e 2f mov r17, r30 |
| 14ca: 1c 19 sub r17, r12 |
| 14cc: 19 82 std Y+1, r1 ; 0x01 |
| 14ce: 42 01 movw r8, r4 |
| 14d0: 31 01 movw r6, r2 |
| 14d2: 40 e0 ldi r20, 0x00 ; 0 |
| 14d4: 94 c0 rjmp .+296 ; 0x15fe <_printf_P+0x478> |
| 14d6: 85 e5 ldi r24, 0x55 ; 85 |
| 14d8: b8 16 cp r11, r24 |
| 14da: 31 f0 breq .+12 ; 0x14e8 <_printf_P+0x362> |
| 14dc: 95 e7 ldi r25, 0x75 ; 117 |
| 14de: b9 16 cp r11, r25 |
| 14e0: 49 f4 brne .+18 ; 0x14f4 <_printf_P+0x36e> |
| 14e2: ea e0 ldi r30, 0x0A ; 10 |
| 14e4: e8 ab std Y+48, r30 ; 0x30 |
| 14e6: 1f c0 rjmp .+62 ; 0x1526 <_printf_P+0x3a0> |
| 14e8: fb a9 ldd r31, Y+51 ; 0x33 |
| 14ea: f1 60 ori r31, 0x01 ; 1 |
| 14ec: fb ab std Y+51, r31 ; 0x33 |
| 14ee: 8a e0 ldi r24, 0x0A ; 10 |
| 14f0: 88 ab std Y+48, r24 ; 0x30 |
| 14f2: 19 c0 rjmp .+50 ; 0x1526 <_printf_P+0x3a0> |
| 14f4: 98 e5 ldi r25, 0x58 ; 88 |
| 14f6: b9 16 cp r11, r25 |
| 14f8: 21 f0 breq .+8 ; 0x1502 <_printf_P+0x37c> |
| 14fa: e8 e7 ldi r30, 0x78 ; 120 |
| 14fc: be 16 cp r11, r30 |
| 14fe: 09 f0 breq .+2 ; 0x1502 <_printf_P+0x37c> |
| 1500: 6e c0 rjmp .+220 ; 0x15de <_printf_P+0x458> |
| 1502: fb a9 ldd r31, Y+51 ; 0x33 |
| 1504: f3 fd sbrc r31, 3 |
| 1506: 02 c0 rjmp .+4 ; 0x150c <_printf_P+0x386> |
| 1508: 80 e1 ldi r24, 0x10 ; 16 |
| 150a: f2 cf rjmp .-28 ; 0x14f0 <_printf_P+0x36a> |
| 150c: 21 14 cp r2, r1 |
| 150e: 31 04 cpc r3, r1 |
| 1510: 41 04 cpc r4, r1 |
| 1512: 51 04 cpc r5, r1 |
| 1514: 19 f4 brne .+6 ; 0x151c <_printf_P+0x396> |
| 1516: 90 e1 ldi r25, 0x10 ; 16 |
| 1518: 98 ab std Y+48, r25 ; 0x30 |
| 151a: 05 c0 rjmp .+10 ; 0x1526 <_printf_P+0x3a0> |
| 151c: eb a9 ldd r30, Y+51 ; 0x33 |
| 151e: e0 64 ori r30, 0x40 ; 64 |
| 1520: eb ab std Y+51, r30 ; 0x33 |
| 1522: f0 e1 ldi r31, 0x10 ; 16 |
| 1524: f8 ab std Y+48, r31 ; 0x30 |
| 1526: 19 82 std Y+1, r1 ; 0x01 |
| 1528: 89 a9 ldd r24, Y+49 ; 0x31 |
| 152a: 87 fd sbrc r24, 7 |
| 152c: 03 c0 rjmp .+6 ; 0x1534 <_printf_P+0x3ae> |
| 152e: 9b a9 ldd r25, Y+51 ; 0x33 |
| 1530: 9f 7d andi r25, 0xDF ; 223 |
| 1532: 9b ab std Y+51, r25 ; 0x33 |
| 1534: 21 14 cp r2, r1 |
| 1536: 31 04 cpc r3, r1 |
| 1538: 41 04 cpc r4, r1 |
| 153a: 51 04 cpc r5, r1 |
| 153c: 61 f4 brne .+24 ; 0x1556 <_printf_P+0x3d0> |
| 153e: e9 a9 ldd r30, Y+49 ; 0x31 |
| 1540: ee 23 and r30, r30 |
| 1542: 49 f4 brne .+18 ; 0x1556 <_printf_P+0x3d0> |
| 1544: 66 24 eor r6, r6 |
| 1546: 77 24 eor r7, r7 |
| 1548: 43 01 movw r8, r6 |
| 154a: 5e e2 ldi r21, 0x2E ; 46 |
| 154c: c5 2e mov r12, r21 |
| 154e: d1 2c mov r13, r1 |
| 1550: cc 0e add r12, r28 |
| 1552: dd 1e adc r13, r29 |
| 1554: 3e c0 rjmp .+124 ; 0x15d2 <_printf_P+0x44c> |
| 1556: 4e e2 ldi r20, 0x2E ; 46 |
| 1558: c4 2e mov r12, r20 |
| 155a: d1 2c mov r13, r1 |
| 155c: cc 0e add r12, r28 |
| 155e: dd 1e adc r13, r29 |
| 1560: f8 a9 ldd r31, Y+48 ; 0x30 |
| 1562: ef 2e mov r14, r31 |
| 1564: ff 24 eor r15, r15 |
| 1566: 00 27 eor r16, r16 |
| 1568: 11 27 eor r17, r17 |
| 156a: c2 01 movw r24, r4 |
| 156c: b1 01 movw r22, r2 |
| 156e: a8 01 movw r20, r16 |
| 1570: 97 01 movw r18, r14 |
| 1572: 0e 94 e6 2c call 0x59cc ; 0x59cc <__udivmodsi4> |
| 1576: 6a 30 cpi r22, 0x0A ; 10 |
| 1578: 20 f4 brcc .+8 ; 0x1582 <_printf_P+0x3fc> |
| 157a: 30 e3 ldi r19, 0x30 ; 48 |
| 157c: a3 2e mov r10, r19 |
| 157e: a6 0e add r10, r22 |
| 1580: 08 c0 rjmp .+16 ; 0x1592 <_printf_P+0x40c> |
| 1582: 27 e5 ldi r18, 0x57 ; 87 |
| 1584: a2 2e mov r10, r18 |
| 1586: a6 0e add r10, r22 |
| 1588: 88 e5 ldi r24, 0x58 ; 88 |
| 158a: b8 16 cp r11, r24 |
| 158c: 11 f4 brne .+4 ; 0x1592 <_printf_P+0x40c> |
| 158e: 9f ed ldi r25, 0xDF ; 223 |
| 1590: a9 22 and r10, r25 |
| 1592: f6 01 movw r30, r12 |
| 1594: a2 92 st -Z, r10 |
| 1596: 6f 01 movw r12, r30 |
| 1598: c2 01 movw r24, r4 |
| 159a: b1 01 movw r22, r2 |
| 159c: a8 01 movw r20, r16 |
| 159e: 97 01 movw r18, r14 |
| 15a0: 0e 94 e6 2c call 0x59cc ; 0x59cc <__udivmodsi4> |
| 15a4: 39 01 movw r6, r18 |
| 15a6: 4a 01 movw r8, r20 |
| 15a8: 2e 14 cp r2, r14 |
| 15aa: 3f 04 cpc r3, r15 |
| 15ac: 40 06 cpc r4, r16 |
| 15ae: 51 06 cpc r5, r17 |
| 15b0: 18 f0 brcs .+6 ; 0x15b8 <_printf_P+0x432> |
| 15b2: 19 01 movw r2, r18 |
| 15b4: 2a 01 movw r4, r20 |
| 15b6: d9 cf rjmp .-78 ; 0x156a <_printf_P+0x3e4> |
| 15b8: f8 a9 ldd r31, Y+48 ; 0x30 |
| 15ba: f8 30 cpi r31, 0x08 ; 8 |
| 15bc: 51 f4 brne .+20 ; 0x15d2 <_printf_P+0x44c> |
| 15be: 8b a9 ldd r24, Y+51 ; 0x33 |
| 15c0: 83 ff sbrs r24, 3 |
| 15c2: 07 c0 rjmp .+14 ; 0x15d2 <_printf_P+0x44c> |
| 15c4: 90 e3 ldi r25, 0x30 ; 48 |
| 15c6: a9 16 cp r10, r25 |
| 15c8: 21 f0 breq .+8 ; 0x15d2 <_printf_P+0x44c> |
| 15ca: 80 e3 ldi r24, 0x30 ; 48 |
| 15cc: f6 01 movw r30, r12 |
| 15ce: 82 93 st -Z, r24 |
| 15d0: 6f 01 movw r12, r30 |
| 15d2: ce 01 movw r24, r28 |
| 15d4: 8c 19 sub r24, r12 |
| 15d6: 18 2f mov r17, r24 |
| 15d8: 12 5d subi r17, 0xD2 ; 210 |
| 15da: 49 a9 ldd r20, Y+49 ; 0x31 |
| 15dc: 10 c0 rjmp .+32 ; 0x15fe <_printf_P+0x478> |
| 15de: bb 20 and r11, r11 |
| 15e0: 09 f4 brne .+2 ; 0x15e4 <_printf_P+0x45e> |
| 15e2: 5c c0 rjmp .+184 ; 0x169c <_printf_P+0x516> |
| 15e4: be 82 std Y+6, r11 ; 0x06 |
| 15e6: 19 82 std Y+1, r1 ; 0x01 |
| 15e8: 42 01 movw r8, r4 |
| 15ea: 31 01 movw r6, r2 |
| 15ec: 00 e0 ldi r16, 0x00 ; 0 |
| 15ee: 11 e0 ldi r17, 0x01 ; 1 |
| 15f0: 96 e0 ldi r25, 0x06 ; 6 |
| 15f2: c9 2e mov r12, r25 |
| 15f4: d1 2c mov r13, r1 |
| 15f6: cc 0e add r12, r28 |
| 15f8: dd 1e adc r13, r29 |
| 15fa: 21 e0 ldi r18, 0x01 ; 1 |
| 15fc: 05 c0 rjmp .+10 ; 0x1608 <_printf_P+0x482> |
| 15fe: 21 2f mov r18, r17 |
| 1600: 04 2f mov r16, r20 |
| 1602: 01 1b sub r16, r17 |
| 1604: 07 fd sbrc r16, 7 |
| 1606: 00 e0 ldi r16, 0x00 ; 0 |
| 1608: 89 81 ldd r24, Y+1 ; 0x01 |
| 160a: 88 23 and r24, r24 |
| 160c: 19 f0 breq .+6 ; 0x1614 <_printf_P+0x48e> |
| 160e: 81 2f mov r24, r17 |
| 1610: 8f 5f subi r24, 0xFF ; 255 |
| 1612: 07 c0 rjmp .+14 ; 0x1622 <_printf_P+0x49c> |
| 1614: 9b a9 ldd r25, Y+51 ; 0x33 |
| 1616: 96 fd sbrc r25, 6 |
| 1618: 02 c0 rjmp .+4 ; 0x161e <_printf_P+0x498> |
| 161a: 81 2f mov r24, r17 |
| 161c: 02 c0 rjmp .+4 ; 0x1622 <_printf_P+0x49c> |
| 161e: 82 2f mov r24, r18 |
| 1620: 8e 5f subi r24, 0xFE ; 254 |
| 1622: a8 2e mov r10, r24 |
| 1624: a0 0e add r10, r16 |
| 1626: eb a9 ldd r30, Y+51 ; 0x33 |
| 1628: ee 2e mov r14, r30 |
| 162a: ff 24 eor r15, r15 |
| 162c: 80 e3 ldi r24, 0x30 ; 48 |
| 162e: 48 2e mov r4, r24 |
| 1630: 51 2c mov r5, r1 |
| 1632: 4e 20 and r4, r14 |
| 1634: 5f 20 and r5, r15 |
| 1636: 41 14 cp r4, r1 |
| 1638: 51 04 cpc r5, r1 |
| 163a: 21 f4 brne .+8 ; 0x1644 <_printf_P+0x4be> |
| 163c: 8a a9 ldd r24, Y+50 ; 0x32 |
| 163e: 8a 19 sub r24, r10 |
| 1640: 0e 94 8e 08 call 0x111c ; 0x111c <PAD_SP> |
| 1644: 89 81 ldd r24, Y+1 ; 0x01 |
| 1646: 88 23 and r24, r24 |
| 1648: 29 f0 breq .+10 ; 0x1654 <_printf_P+0x4ce> |
| 164a: 61 e0 ldi r22, 0x01 ; 1 |
| 164c: 70 e0 ldi r23, 0x00 ; 0 |
| 164e: ce 01 movw r24, r28 |
| 1650: 01 96 adiw r24, 0x01 ; 1 |
| 1652: 09 c0 rjmp .+18 ; 0x1666 <_printf_P+0x4e0> |
| 1654: e6 fe sbrs r14, 6 |
| 1656: 09 c0 rjmp .+18 ; 0x166a <_printf_P+0x4e4> |
| 1658: 80 e3 ldi r24, 0x30 ; 48 |
| 165a: 8a 83 std Y+2, r24 ; 0x02 |
| 165c: bb 82 std Y+3, r11 ; 0x03 |
| 165e: 62 e0 ldi r22, 0x02 ; 2 |
| 1660: 70 e0 ldi r23, 0x00 ; 0 |
| 1662: ce 01 movw r24, r28 |
| 1664: 02 96 adiw r24, 0x02 ; 2 |
| 1666: 0e 94 af 08 call 0x115e ; 0x115e <PRINT> |
| 166a: f0 e2 ldi r31, 0x20 ; 32 |
| 166c: 4f 16 cp r4, r31 |
| 166e: 51 04 cpc r5, r1 |
| 1670: 21 f4 brne .+8 ; 0x167a <_printf_P+0x4f4> |
| 1672: 8a a9 ldd r24, Y+50 ; 0x32 |
| 1674: 8a 19 sub r24, r10 |
| 1676: 0e 94 83 08 call 0x1106 ; 0x1106 <PAD_0> |
| 167a: 80 2f mov r24, r16 |
| 167c: 0e 94 83 08 call 0x1106 ; 0x1106 <PAD_0> |
| 1680: 61 2f mov r22, r17 |
| 1682: 77 27 eor r23, r23 |
| 1684: 67 fd sbrc r22, 7 |
| 1686: 70 95 com r23 |
| 1688: c6 01 movw r24, r12 |
| 168a: 0e 94 af 08 call 0x115e ; 0x115e <PRINT> |
| 168e: e4 fe sbrs r14, 4 |
| 1690: a8 cd rjmp .-1200 ; 0x11e2 <_printf_P+0x5c> |
| 1692: 8a a9 ldd r24, Y+50 ; 0x32 |
| 1694: 8a 19 sub r24, r10 |
| 1696: 0e 94 8e 08 call 0x111c ; 0x111c <PAD_SP> |
| 169a: a3 cd rjmp .-1210 ; 0x11e2 <_printf_P+0x5c> |
| 169c: e3 96 adiw r28, 0x33 ; 51 |
| 169e: 0f b6 in r0, 0x3f ; 63 |
| 16a0: f8 94 cli |
| 16a2: de bf out 0x3e, r29 ; 62 |
| 16a4: 0f be out 0x3f, r0 ; 63 |
| 16a6: cd bf out 0x3d, r28 ; 61 |
| 16a8: df 91 pop r29 |
| 16aa: cf 91 pop r28 |
| 16ac: 1f 91 pop r17 |
| 16ae: 0f 91 pop r16 |
| 16b0: ff 90 pop r15 |
| 16b2: ef 90 pop r14 |
| 16b4: df 90 pop r13 |
| 16b6: cf 90 pop r12 |
| 16b8: bf 90 pop r11 |
| 16ba: af 90 pop r10 |
| 16bc: 9f 90 pop r9 |
| 16be: 8f 90 pop r8 |
| 16c0: 7f 90 pop r7 |
| 16c2: 6f 90 pop r6 |
| 16c4: 5f 90 pop r5 |
| 16c6: 4f 90 pop r4 |
| 16c8: 3f 90 pop r3 |
| 16ca: 2f 90 pop r2 |
| 16cc: 08 95 ret |
| 000016ce <__vector_18>: |
| 16ce: 1f 92 push r1 |
| 16d0: 0f 92 push r0 |
| 16d2: 0f b6 in r0, 0x3f ; 63 |
| 16d4: 0f 92 push r0 |
| 16d6: 11 24 eor r1, r1 |
| 16d8: 2f 93 push r18 |
| 16da: 3f 93 push r19 |
| 16dc: 5f 93 push r21 |
| 16de: 6f 93 push r22 |
| 16e0: 7f 93 push r23 |
| 16e2: 8f 93 push r24 |
| 16e4: 9f 93 push r25 |
| 16e6: af 93 push r26 |
| 16e8: bf 93 push r27 |
| 16ea: 80 91 af 01 lds r24, 0x01AF |
| 16ee: 81 50 subi r24, 0x01 ; 1 |
| 16f0: 80 93 af 01 sts 0x01AF, r24 |
| 16f4: 8f 3f cpi r24, 0xFF ; 255 |
| 16f6: 01 f5 brne .+64 ; 0x1738 <__vector_18+0x6a> |
| 16f8: 89 e0 ldi r24, 0x09 ; 9 |
| 16fa: 80 93 af 01 sts 0x01AF, r24 |
| 16fe: 80 91 03 01 lds r24, 0x0103 |
| 1702: 8f 5f subi r24, 0xFF ; 255 |
| 1704: 81 70 andi r24, 0x01 ; 1 |
| 1706: 80 93 03 01 sts 0x0103, r24 |
| 170a: 88 23 and r24, r24 |
| 170c: 19 f4 brne .+6 ; 0x1714 <__vector_18+0x46> |
| 170e: 81 e0 ldi r24, 0x01 ; 1 |
| 1710: 80 93 a8 01 sts 0x01A8, r24 |
| 1714: 80 91 a6 01 lds r24, 0x01A6 |
| 1718: 90 91 a7 01 lds r25, 0x01A7 |
| 171c: 01 96 adiw r24, 0x01 ; 1 |
| 171e: 90 93 a7 01 sts 0x01A7, r25 |
| 1722: 80 93 a6 01 sts 0x01A6, r24 |
| 1726: 80 91 d6 01 lds r24, 0x01D6 |
| 172a: 88 23 and r24, r24 |
| 172c: 29 f0 breq .+10 ; 0x1738 <__vector_18+0x6a> |
| 172e: 80 91 d6 01 lds r24, 0x01D6 |
| 1732: 81 50 subi r24, 0x01 ; 1 |
| 1734: 80 93 d6 01 sts 0x01D6, r24 |
| 1738: 80 91 ab 01 lds r24, 0x01AB |
| 173c: 90 91 ac 01 lds r25, 0x01AC |
| 1740: 02 97 sbiw r24, 0x02 ; 2 |
| 1742: 58 f0 brcs .+22 ; 0x175a <__vector_18+0x8c> |
| 1744: 80 91 ab 01 lds r24, 0x01AB |
| 1748: 90 91 ac 01 lds r25, 0x01AC |
| 174c: 01 97 sbiw r24, 0x01 ; 1 |
| 174e: 90 93 ac 01 sts 0x01AC, r25 |
| 1752: 80 93 ab 01 sts 0x01AB, r24 |
| 1756: 5a 9a sbi 0x0b, 2 ; 11 |
| 1758: 01 c0 rjmp .+2 ; 0x175c <__vector_18+0x8e> |
| 175a: 5a 98 cbi 0x0b, 2 ; 11 |
| 175c: 80 91 75 05 lds r24, 0x0575 |
| 1760: 83 ff sbrs r24, 3 |
| 1762: 3b c0 rjmp .+118 ; 0x17da <__vector_18+0x10c> |
| 1764: 34 9b sbis 0x06, 4 ; 6 |
| 1766: 0a c0 rjmp .+20 ; 0x177c <__vector_18+0xae> |
| 1768: 80 91 a9 01 lds r24, 0x01A9 |
| 176c: 90 91 aa 01 lds r25, 0x01AA |
| 1770: 01 96 adiw r24, 0x01 ; 1 |
| 1772: 90 93 aa 01 sts 0x01AA, r25 |
| 1776: 80 93 a9 01 sts 0x01A9, r24 |
| 177a: 2f c0 rjmp .+94 ; 0x17da <__vector_18+0x10c> |
| 177c: 80 91 a9 01 lds r24, 0x01A9 |
| 1780: 90 91 aa 01 lds r25, 0x01AA |
| 1784: 89 2b or r24, r25 |
| 1786: 79 f0 breq .+30 ; 0x17a6 <__vector_18+0xd8> |
| 1788: 80 91 a9 01 lds r24, 0x01A9 |
| 178c: 90 91 aa 01 lds r25, 0x01AA |
| 1790: 80 5a subi r24, 0xA0 ; 160 |
| 1792: 9f 40 sbci r25, 0x0F ; 15 |
| 1794: 40 f4 brcc .+16 ; 0x17a6 <__vector_18+0xd8> |
| 1796: 80 91 a9 01 lds r24, 0x01A9 |
| 179a: 90 91 aa 01 lds r25, 0x01AA |
| 179e: 90 93 18 02 sts 0x0218, r25 |
| 17a2: 80 93 17 02 sts 0x0217, r24 |
| 17a6: 80 91 17 02 lds r24, 0x0217 |
| 17aa: 90 91 18 02 lds r25, 0x0218 |
| 17ae: 20 91 19 02 lds r18, 0x0219 |
| 17b2: 30 91 1a 02 lds r19, 0x021A |
| 17b6: 82 1b sub r24, r18 |
| 17b8: 93 0b sbc r25, r19 |
| 17ba: 84 5e subi r24, 0xE4 ; 228 |
| 17bc: 9d 4f sbci r25, 0xFD ; 253 |
| 17be: 68 e6 ldi r22, 0x68 ; 104 |
| 17c0: 71 e0 ldi r23, 0x01 ; 1 |
| 17c2: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 17c6: 84 5b subi r24, 0xB4 ; 180 |
| 17c8: 90 40 sbci r25, 0x00 ; 0 |
| 17ca: 90 93 1c 02 sts 0x021C, r25 |
| 17ce: 80 93 1b 02 sts 0x021B, r24 |
| 17d2: 10 92 aa 01 sts 0x01AA, r1 |
| 17d6: 10 92 a9 01 sts 0x01A9, r1 |
| 17da: bf 91 pop r27 |
| 17dc: af 91 pop r26 |
| 17de: 9f 91 pop r25 |
| 17e0: 8f 91 pop r24 |
| 17e2: 7f 91 pop r23 |
| 17e4: 6f 91 pop r22 |
| 17e6: 5f 91 pop r21 |
| 17e8: 3f 91 pop r19 |
| 17ea: 2f 91 pop r18 |
| 17ec: 0f 90 pop r0 |
| 17ee: 0f be out 0x3f, r0 ; 63 |
| 17f0: 0f 90 pop r0 |
| 17f2: 1f 90 pop r1 |
| 17f4: 18 95 reti |
| 000017f6 <SetDelay>: |
| 17f6: 20 91 a6 01 lds r18, 0x01A6 |
| 17fa: 30 91 a7 01 lds r19, 0x01A7 |
| 17fe: 2f 5f subi r18, 0xFF ; 255 |
| 1800: 3f 4f sbci r19, 0xFF ; 255 |
| 1802: 82 0f add r24, r18 |
| 1804: 93 1f adc r25, r19 |
| 1806: 08 95 ret |
| 00001808 <CheckDelay>: |
| 1808: 20 91 a6 01 lds r18, 0x01A6 |
| 180c: 30 91 a7 01 lds r19, 0x01A7 |
| 1810: 82 1b sub r24, r18 |
| 1812: 93 0b sbc r25, r19 |
| 1814: 89 2f mov r24, r25 |
| 1816: 99 27 eor r25, r25 |
| 1818: 86 95 lsr r24 |
| 181a: 80 74 andi r24, 0x40 ; 64 |
| 181c: 99 27 eor r25, r25 |
| 181e: 08 95 ret |
| 00001820 <__vector_9>: |
| 1820: 1f 92 push r1 |
| 1822: 0f 92 push r0 |
| 1824: 0f b6 in r0, 0x3f ; 63 |
| 1826: 0f 92 push r0 |
| 1828: 11 24 eor r1, r1 |
| 182a: ef 92 push r14 |
| 182c: ff 92 push r15 |
| 182e: 0f 93 push r16 |
| 1830: 1f 93 push r17 |
| 1832: 2f 93 push r18 |
| 1834: 3f 93 push r19 |
| 1836: 4f 93 push r20 |
| 1838: 5f 93 push r21 |
| 183a: 6f 93 push r22 |
| 183c: 7f 93 push r23 |
| 183e: 8f 93 push r24 |
| 1840: 9f 93 push r25 |
| 1842: af 93 push r26 |
| 1844: bf 93 push r27 |
| 1846: cf 93 push r28 |
| 1848: df 93 push r29 |
| 184a: ef 93 push r30 |
| 184c: ff 93 push r31 |
| 184e: 80 91 02 01 lds r24, 0x0102 |
| 1852: 81 50 subi r24, 0x01 ; 1 |
| 1854: 80 93 02 01 sts 0x0102, r24 |
| 1858: 8f 3f cpi r24, 0xFF ; 255 |
| 185a: 09 f0 breq .+2 ; 0x185e <__vector_9+0x3e> |
| 185c: 73 c0 rjmp .+230 ; 0x1944 <__vector_9+0x124> |
| 185e: 83 e8 ldi r24, 0x83 ; 131 |
| 1860: 80 93 b0 00 sts 0x00B0, r24 |
| 1864: 80 91 89 01 lds r24, 0x0189 |
| 1868: c8 2f mov r28, r24 |
| 186a: dd 27 eor r29, r29 |
| 186c: d0 93 ae 01 sts 0x01AE, r29 |
| 1870: c0 93 ad 01 sts 0x01AD, r28 |
| 1874: 80 91 93 05 lds r24, 0x0593 |
| 1878: e0 90 8f 05 lds r14, 0x058F |
| 187c: 80 ff sbrs r24, 0 |
| 187e: 1e c0 rjmp .+60 ; 0x18bc <__vector_9+0x9c> |
| 1880: 60 91 e7 01 lds r22, 0x01E7 |
| 1884: 70 91 e8 01 lds r23, 0x01E8 |
| 1888: 80 91 e9 01 lds r24, 0x01E9 |
| 188c: 90 91 ea 01 lds r25, 0x01EA |
| 1890: ff 24 eor r15, r15 |
| 1892: 00 27 eor r16, r16 |
| 1894: 11 27 eor r17, r17 |
| 1896: 20 e8 ldi r18, 0x80 ; 128 |
| 1898: 30 e0 ldi r19, 0x00 ; 0 |
| 189a: 40 e0 ldi r20, 0x00 ; 0 |
| 189c: 50 e0 ldi r21, 0x00 ; 0 |
| 189e: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 18a2: c8 01 movw r24, r16 |
| 18a4: b7 01 movw r22, r14 |
| 18a6: 0e 94 a0 2c call 0x5940 ; 0x5940 <__mulsi3> |
| 18aa: 20 e0 ldi r18, 0x00 ; 0 |
| 18ac: 32 e0 ldi r19, 0x02 ; 2 |
| 18ae: 40 e0 ldi r20, 0x00 ; 0 |
| 18b0: 50 e0 ldi r21, 0x00 ; 0 |
| 18b2: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 18b6: c2 0f add r28, r18 |
| 18b8: d3 1f adc r29, r19 |
| 18ba: 1d c0 rjmp .+58 ; 0x18f6 <__vector_9+0xd6> |
| 18bc: 60 91 e7 01 lds r22, 0x01E7 |
| 18c0: 70 91 e8 01 lds r23, 0x01E8 |
| 18c4: 80 91 e9 01 lds r24, 0x01E9 |
| 18c8: 90 91 ea 01 lds r25, 0x01EA |
| 18cc: ff 24 eor r15, r15 |
| 18ce: 00 27 eor r16, r16 |
| 18d0: 11 27 eor r17, r17 |
| 18d2: 20 e8 ldi r18, 0x80 ; 128 |
| 18d4: 30 e0 ldi r19, 0x00 ; 0 |
| 18d6: 40 e0 ldi r20, 0x00 ; 0 |
| 18d8: 50 e0 ldi r21, 0x00 ; 0 |
| 18da: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 18de: c8 01 movw r24, r16 |
| 18e0: b7 01 movw r22, r14 |
| 18e2: 0e 94 a0 2c call 0x5940 ; 0x5940 <__mulsi3> |
| 18e6: 20 e0 ldi r18, 0x00 ; 0 |
| 18e8: 32 e0 ldi r19, 0x02 ; 2 |
| 18ea: 40 e0 ldi r20, 0x00 ; 0 |
| 18ec: 50 e0 ldi r21, 0x00 ; 0 |
| 18ee: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 18f2: c2 1b sub r28, r18 |
| 18f4: d3 0b sbc r29, r19 |
| 18f6: d0 93 ae 01 sts 0x01AE, r29 |
| 18fa: c0 93 ad 01 sts 0x01AD, r28 |
| 18fe: 20 91 ad 01 lds r18, 0x01AD |
| 1902: 30 91 ae 01 lds r19, 0x01AE |
| 1906: 80 91 90 05 lds r24, 0x0590 |
| 190a: 99 27 eor r25, r25 |
| 190c: 28 17 cp r18, r24 |
| 190e: 39 07 cpc r19, r25 |
| 1910: 34 f0 brlt .+12 ; 0x191e <__vector_9+0xfe> |
| 1912: 80 91 91 05 lds r24, 0x0591 |
| 1916: 99 27 eor r25, r25 |
| 1918: 82 17 cp r24, r18 |
| 191a: 93 07 cpc r25, r19 |
| 191c: 24 f4 brge .+8 ; 0x1926 <__vector_9+0x106> |
| 191e: 90 93 ae 01 sts 0x01AE, r25 |
| 1922: 80 93 ad 01 sts 0x01AD, r24 |
| 1926: 80 91 ad 01 lds r24, 0x01AD |
| 192a: 90 91 ae 01 lds r25, 0x01AE |
| 192e: 90 93 ff 04 sts 0x04FF, r25 |
| 1932: 80 93 fe 04 sts 0x04FE, r24 |
| 1936: 80 93 b3 00 sts 0x00B3, r24 |
| 193a: 80 91 92 05 lds r24, 0x0592 |
| 193e: 80 93 02 01 sts 0x0102, r24 |
| 1942: 04 c0 rjmp .+8 ; 0x194c <__vector_9+0x12c> |
| 1944: 83 e0 ldi r24, 0x03 ; 3 |
| 1946: 80 93 b0 00 sts 0x00B0, r24 |
| 194a: 5f 98 cbi 0x0b, 7 ; 11 |
| 194c: ff 91 pop r31 |
| 194e: ef 91 pop r30 |
| 1950: df 91 pop r29 |
| 1952: cf 91 pop r28 |
| 1954: bf 91 pop r27 |
| 1956: af 91 pop r26 |
| 1958: 9f 91 pop r25 |
| 195a: 8f 91 pop r24 |
| 195c: 7f 91 pop r23 |
| 195e: 6f 91 pop r22 |
| 1960: 5f 91 pop r21 |
| 1962: 4f 91 pop r20 |
| 1964: 3f 91 pop r19 |
| 1966: 2f 91 pop r18 |
| 1968: 1f 91 pop r17 |
| 196a: 0f 91 pop r16 |
| 196c: ff 90 pop r15 |
| 196e: ef 90 pop r14 |
| 1970: 0f 90 pop r0 |
| 1972: 0f be out 0x3f, r0 ; 63 |
| 1974: 0f 90 pop r0 |
| 1976: 1f 90 pop r1 |
| 1978: 18 95 reti |
| 0000197a <Timer_Init>: |
| 197a: 80 91 a6 01 lds r24, 0x01A6 |
| 197e: 90 91 a7 01 lds r25, 0x01A7 |
| 1982: 0b 96 adiw r24, 0x0b ; 11 |
| 1984: 90 93 b1 01 sts 0x01B1, r25 |
| 1988: 80 93 b0 01 sts 0x01B0, r24 |
| 198c: 82 e0 ldi r24, 0x02 ; 2 |
| 198e: 85 bd out 0x25, r24 ; 37 |
| 1990: 83 ea ldi r24, 0xA3 ; 163 |
| 1992: 84 bd out 0x24, r24 ; 36 |
| 1994: 17 bc out 0x27, r1 ; 39 |
| 1996: 88 e7 ldi r24, 0x78 ; 120 |
| 1998: 88 bd out 0x28, r24 ; 40 |
| 199a: 96 e0 ldi r25, 0x06 ; 6 |
| 199c: 96 bd out 0x26, r25 ; 38 |
| 199e: 83 ec ldi r24, 0xC3 ; 195 |
| 19a0: 80 93 b0 00 sts 0x00B0, r24 |
| 19a4: 90 93 b1 00 sts 0x00B1, r25 |
| 19a8: e0 e7 ldi r30, 0x70 ; 112 |
| 19aa: f0 e0 ldi r31, 0x00 ; 0 |
| 19ac: 80 81 ld r24, Z |
| 19ae: 82 60 ori r24, 0x02 ; 2 |
| 19b0: 80 83 st Z, r24 |
| 19b2: ee e6 ldi r30, 0x6E ; 110 |
| 19b4: f0 e0 ldi r31, 0x00 ; 0 |
| 19b6: 80 81 ld r24, Z |
| 19b8: 81 60 ori r24, 0x01 ; 1 |
| 19ba: 80 83 st Z, r24 |
| 19bc: 8a e0 ldi r24, 0x0A ; 10 |
| 19be: 80 93 b3 00 sts 0x00B3, r24 |
| 19c2: 10 92 b2 00 sts 0x00B2, r1 |
| 19c6: 08 95 ret |
| 000019c8 <Delay_ms>: |
| 19c8: 20 91 a6 01 lds r18, 0x01A6 |
| 19cc: 30 91 a7 01 lds r19, 0x01A7 |
| 19d0: 2f 5f subi r18, 0xFF ; 255 |
| 19d2: 3f 4f sbci r19, 0xFF ; 255 |
| 19d4: 28 0f add r18, r24 |
| 19d6: 39 1f adc r19, r25 |
| 19d8: 80 91 a6 01 lds r24, 0x01A6 |
| 19dc: 90 91 a7 01 lds r25, 0x01A7 |
| 19e0: a9 01 movw r20, r18 |
| 19e2: 48 1b sub r20, r24 |
| 19e4: 59 0b sbc r21, r25 |
| 19e6: 57 ff sbrs r21, 7 |
| 19e8: f7 cf rjmp .-18 ; 0x19d8 <Delay_ms+0x10> |
| 19ea: 08 95 ret |
| 000019ec <ADC_Init>: |
| 19ec: 10 92 7c 00 sts 0x007C, r1 |
| 19f0: 8f ee ldi r24, 0xEF ; 239 |
| 19f2: 80 93 7a 00 sts 0x007A, r24 |
| 19f6: 08 95 ret |
| 000019f8 <__vector_24>: |
| 19f8: 1f 92 push r1 |
| 19fa: 0f 92 push r0 |
| 19fc: 0f b6 in r0, 0x3f ; 63 |
| 19fe: 0f 92 push r0 |
| 1a00: 11 24 eor r1, r1 |
| 1a02: ef 92 push r14 |
| 1a04: ff 92 push r15 |
| 1a06: 0f 93 push r16 |
| 1a08: 1f 93 push r17 |
| 1a0a: 2f 93 push r18 |
| 1a0c: 3f 93 push r19 |
| 1a0e: 4f 93 push r20 |
| 1a10: 5f 93 push r21 |
| 1a12: 6f 93 push r22 |
| 1a14: 7f 93 push r23 |
| 1a16: 8f 93 push r24 |
| 1a18: 9f 93 push r25 |
| 1a1a: af 93 push r26 |
| 1a1c: bf 93 push r27 |
| 1a1e: cf 93 push r28 |
| 1a20: df 93 push r29 |
| 1a22: ef 93 push r30 |
| 1a24: ff 93 push r31 |
| 1a26: 10 92 7a 00 sts 0x007A, r1 |
| 1a2a: 40 91 c8 01 lds r20, 0x01C8 |
| 1a2e: 4f 5f subi r20, 0xFF ; 255 |
| 1a30: 40 93 c8 01 sts 0x01C8, r20 |
| 1a34: 41 50 subi r20, 0x01 ; 1 |
| 1a36: 43 30 cpi r20, 0x03 ; 3 |
| 1a38: 09 f4 brne .+2 ; 0x1a3c <__vector_24+0x44> |
| 1a3a: 1c c1 rjmp .+568 ; 0x1c74 <__vector_24+0x27c> |
| 1a3c: 44 30 cpi r20, 0x04 ; 4 |
| 1a3e: 38 f4 brcc .+14 ; 0x1a4e <__vector_24+0x56> |
| 1a40: 41 30 cpi r20, 0x01 ; 1 |
| 1a42: 09 f4 brne .+2 ; 0x1a46 <__vector_24+0x4e> |
| 1a44: 63 c0 rjmp .+198 ; 0x1b0c <__vector_24+0x114> |
| 1a46: 42 30 cpi r20, 0x02 ; 2 |
| 1a48: 08 f0 brcs .+2 ; 0x1a4c <__vector_24+0x54> |
| 1a4a: b9 c0 rjmp .+370 ; 0x1bbe <__vector_24+0x1c6> |
| 1a4c: 0d c0 rjmp .+26 ; 0x1a68 <__vector_24+0x70> |
| 1a4e: 45 30 cpi r20, 0x05 ; 5 |
| 1a50: 09 f4 brne .+2 ; 0x1a54 <__vector_24+0x5c> |
| 1a52: 50 c1 rjmp .+672 ; 0x1cf4 <__vector_24+0x2fc> |
| 1a54: 45 30 cpi r20, 0x05 ; 5 |
| 1a56: 08 f4 brcc .+2 ; 0x1a5a <__vector_24+0x62> |
| 1a58: 2a c1 rjmp .+596 ; 0x1cae <__vector_24+0x2b6> |
| 1a5a: 46 30 cpi r20, 0x06 ; 6 |
| 1a5c: 09 f4 brne .+2 ; 0x1a60 <__vector_24+0x68> |
| 1a5e: 6f c1 rjmp .+734 ; 0x1d3e <__vector_24+0x346> |
| 1a60: 47 30 cpi r20, 0x07 ; 7 |
| 1a62: 09 f0 breq .+2 ; 0x1a66 <__vector_24+0x6e> |
| 1a64: cb c2 rjmp .+1430 ; 0x1ffc <__vector_24+0x604> |
| 1a66: 52 c2 rjmp .+1188 ; 0x1f0c <__vector_24+0x514> |
| 1a68: 20 91 db 01 lds r18, 0x01DB |
| 1a6c: 30 91 dc 01 lds r19, 0x01DC |
| 1a70: 80 91 78 00 lds r24, 0x0078 |
| 1a74: 90 91 79 00 lds r25, 0x0079 |
| 1a78: 28 1b sub r18, r24 |
| 1a7a: 39 0b sbc r19, r25 |
| 1a7c: 80 91 b6 01 lds r24, 0x01B6 |
| 1a80: 90 91 b7 01 lds r25, 0x01B7 |
| 1a84: 82 0f add r24, r18 |
| 1a86: 93 1f adc r25, r19 |
| 1a88: 90 93 b7 01 sts 0x01B7, r25 |
| 1a8c: 80 93 b6 01 sts 0x01B6, r24 |
| 1a90: 80 91 c0 01 lds r24, 0x01C0 |
| 1a94: 8f 5f subi r24, 0xFF ; 255 |
| 1a96: 80 93 c0 01 sts 0x01C0, r24 |
| 1a9a: 80 91 0b 02 lds r24, 0x020B |
| 1a9e: 90 91 0c 02 lds r25, 0x020C |
| 1aa2: a0 91 0d 02 lds r26, 0x020D |
| 1aa6: b0 91 0e 02 lds r27, 0x020E |
| 1aaa: 44 27 eor r20, r20 |
| 1aac: 37 fd sbrc r19, 7 |
| 1aae: 40 95 com r20 |
| 1ab0: 54 2f mov r21, r20 |
| 1ab2: 82 0f add r24, r18 |
| 1ab4: 93 1f adc r25, r19 |
| 1ab6: a4 1f adc r26, r20 |
| 1ab8: b5 1f adc r27, r21 |
| 1aba: 80 93 0b 02 sts 0x020B, r24 |
| 1abe: 90 93 0c 02 sts 0x020C, r25 |
| 1ac2: a0 93 0d 02 sts 0x020D, r26 |
| 1ac6: b0 93 0e 02 sts 0x020E, r27 |
| 1aca: 80 91 0f 02 lds r24, 0x020F |
| 1ace: 90 91 10 02 lds r25, 0x0210 |
| 1ad2: a0 91 11 02 lds r26, 0x0211 |
| 1ad6: b0 91 12 02 lds r27, 0x0212 |
| 1ada: 82 0f add r24, r18 |
| 1adc: 93 1f adc r25, r19 |
| 1ade: a4 1f adc r26, r20 |
| 1ae0: b5 1f adc r27, r21 |
| 1ae2: 80 93 0f 02 sts 0x020F, r24 |
| 1ae6: 90 93 10 02 sts 0x0210, r25 |
| 1aea: a0 93 11 02 sts 0x0211, r26 |
| 1aee: b0 93 12 02 sts 0x0212, r27 |
| 1af2: 81 e0 ldi r24, 0x01 ; 1 |
| 1af4: 80 93 c9 01 sts 0x01C9, r24 |
| 1af8: 80 91 c6 01 lds r24, 0x01C6 |
| 1afc: 90 91 c7 01 lds r25, 0x01C7 |
| 1b00: 01 96 adiw r24, 0x01 ; 1 |
| 1b02: 90 93 c7 01 sts 0x01C7, r25 |
| 1b06: 80 93 c6 01 sts 0x01C6, r24 |
| 1b0a: 7c c2 rjmp .+1272 ; 0x2004 <__vector_24+0x60c> |
| 1b0c: 60 91 78 00 lds r22, 0x0078 |
| 1b10: 70 91 79 00 lds r23, 0x0079 |
| 1b14: 80 91 d9 01 lds r24, 0x01D9 |
| 1b18: 90 91 da 01 lds r25, 0x01DA |
| 1b1c: 68 1b sub r22, r24 |
| 1b1e: 79 0b sbc r23, r25 |
| 1b20: 80 91 03 02 lds r24, 0x0203 |
| 1b24: 90 91 04 02 lds r25, 0x0204 |
| 1b28: a0 91 05 02 lds r26, 0x0205 |
| 1b2c: b0 91 06 02 lds r27, 0x0206 |
| 1b30: 9b 01 movw r18, r22 |
| 1b32: 44 27 eor r20, r20 |
| 1b34: 37 fd sbrc r19, 7 |
| 1b36: 40 95 com r20 |
| 1b38: 54 2f mov r21, r20 |
| 1b3a: 82 0f add r24, r18 |
| 1b3c: 93 1f adc r25, r19 |
| 1b3e: a4 1f adc r26, r20 |
| 1b40: b5 1f adc r27, r21 |
| 1b42: 80 93 03 02 sts 0x0203, r24 |
| 1b46: 90 93 04 02 sts 0x0204, r25 |
| 1b4a: a0 93 05 02 sts 0x0205, r26 |
| 1b4e: b0 93 06 02 sts 0x0206, r27 |
| 1b52: 80 91 07 02 lds r24, 0x0207 |
| 1b56: 90 91 08 02 lds r25, 0x0208 |
| 1b5a: a0 91 09 02 lds r26, 0x0209 |
| 1b5e: b0 91 0a 02 lds r27, 0x020A |
| 1b62: 82 0f add r24, r18 |
| 1b64: 93 1f adc r25, r19 |
| 1b66: a4 1f adc r26, r20 |
| 1b68: b5 1f adc r27, r21 |
| 1b6a: 80 93 07 02 sts 0x0207, r24 |
| 1b6e: 90 93 08 02 sts 0x0208, r25 |
| 1b72: a0 93 09 02 sts 0x0209, r26 |
| 1b76: b0 93 0a 02 sts 0x020A, r27 |
| 1b7a: 80 91 78 00 lds r24, 0x0078 |
| 1b7e: 90 91 79 00 lds r25, 0x0079 |
| 1b82: 0a 97 sbiw r24, 0x0a ; 10 |
| 1b84: 10 f4 brcc .+4 ; 0x1b8a <__vector_24+0x192> |
| 1b86: 64 e4 ldi r22, 0x44 ; 68 |
| 1b88: 7d ef ldi r23, 0xFD ; 253 |
| 1b8a: 80 91 78 00 lds r24, 0x0078 |
| 1b8e: 90 91 79 00 lds r25, 0x0079 |
| 1b92: 89 5e subi r24, 0xE9 ; 233 |
| 1b94: 93 40 sbci r25, 0x03 ; 3 |
| 1b96: 10 f0 brcs .+4 ; 0x1b9c <__vector_24+0x1a4> |
| 1b98: 6c eb ldi r22, 0xBC ; 188 |
| 1b9a: 72 e0 ldi r23, 0x02 ; 2 |
| 1b9c: 80 91 b4 01 lds r24, 0x01B4 |
| 1ba0: 90 91 b5 01 lds r25, 0x01B5 |
| 1ba4: 86 0f add r24, r22 |
| 1ba6: 97 1f adc r25, r23 |
| 1ba8: 90 93 b5 01 sts 0x01B5, r25 |
| 1bac: 80 93 b4 01 sts 0x01B4, r24 |
| 1bb0: 80 91 bf 01 lds r24, 0x01BF |
| 1bb4: 8f 5f subi r24, 0xFF ; 255 |
| 1bb6: 80 93 bf 01 sts 0x01BF, r24 |
| 1bba: 82 e0 ldi r24, 0x02 ; 2 |
| 1bbc: 58 c0 rjmp .+176 ; 0x1c6e <__vector_24+0x276> |
| 1bbe: 60 91 78 00 lds r22, 0x0078 |
| 1bc2: 70 91 79 00 lds r23, 0x0079 |
| 1bc6: 80 91 d7 01 lds r24, 0x01D7 |
| 1bca: 90 91 d8 01 lds r25, 0x01D8 |
| 1bce: 68 1b sub r22, r24 |
| 1bd0: 79 0b sbc r23, r25 |
| 1bd2: 80 91 fb 01 lds r24, 0x01FB |
| 1bd6: 90 91 fc 01 lds r25, 0x01FC |
| 1bda: a0 91 fd 01 lds r26, 0x01FD |
| 1bde: b0 91 fe 01 lds r27, 0x01FE |
| 1be2: 9b 01 movw r18, r22 |
| 1be4: 44 27 eor r20, r20 |
| 1be6: 37 fd sbrc r19, 7 |
| 1be8: 40 95 com r20 |
| 1bea: 54 2f mov r21, r20 |
| 1bec: 82 0f add r24, r18 |
| 1bee: 93 1f adc r25, r19 |
| 1bf0: a4 1f adc r26, r20 |
| 1bf2: b5 1f adc r27, r21 |
| 1bf4: 80 93 fb 01 sts 0x01FB, r24 |
| 1bf8: 90 93 fc 01 sts 0x01FC, r25 |
| 1bfc: a0 93 fd 01 sts 0x01FD, r26 |
| 1c00: b0 93 fe 01 sts 0x01FE, r27 |
| 1c04: 80 91 ff 01 lds r24, 0x01FF |
| 1c08: 90 91 00 02 lds r25, 0x0200 |
| 1c0c: a0 91 01 02 lds r26, 0x0201 |
| 1c10: b0 91 02 02 lds r27, 0x0202 |
| 1c14: 82 0f add r24, r18 |
| 1c16: 93 1f adc r25, r19 |
| 1c18: a4 1f adc r26, r20 |
| 1c1a: b5 1f adc r27, r21 |
| 1c1c: 80 93 ff 01 sts 0x01FF, r24 |
| 1c20: 90 93 00 02 sts 0x0200, r25 |
| 1c24: a0 93 01 02 sts 0x0201, r26 |
| 1c28: b0 93 02 02 sts 0x0202, r27 |
| 1c2c: 80 91 78 00 lds r24, 0x0078 |
| 1c30: 90 91 79 00 lds r25, 0x0079 |
| 1c34: 0a 97 sbiw r24, 0x0a ; 10 |
| 1c36: 10 f4 brcc .+4 ; 0x1c3c <__vector_24+0x244> |
| 1c38: 64 e4 ldi r22, 0x44 ; 68 |
| 1c3a: 7d ef ldi r23, 0xFD ; 253 |
| 1c3c: 80 91 78 00 lds r24, 0x0078 |
| 1c40: 90 91 79 00 lds r25, 0x0079 |
| 1c44: 89 5e subi r24, 0xE9 ; 233 |
| 1c46: 93 40 sbci r25, 0x03 ; 3 |
| 1c48: 10 f0 brcs .+4 ; 0x1c4e <__vector_24+0x256> |
| 1c4a: 6c eb ldi r22, 0xBC ; 188 |
| 1c4c: 72 e0 ldi r23, 0x02 ; 2 |
| 1c4e: 80 91 b2 01 lds r24, 0x01B2 |
| 1c52: 90 91 b3 01 lds r25, 0x01B3 |
| 1c56: 86 0f add r24, r22 |
| 1c58: 97 1f adc r25, r23 |
| 1c5a: 90 93 b3 01 sts 0x01B3, r25 |
| 1c5e: 80 93 b2 01 sts 0x01B2, r24 |
| 1c62: 80 91 be 01 lds r24, 0x01BE |
| 1c66: 8f 5f subi r24, 0xFF ; 255 |
| 1c68: 80 93 be 01 sts 0x01BE, r24 |
| 1c6c: 84 e0 ldi r24, 0x04 ; 4 |
| 1c6e: 80 93 c9 01 sts 0x01C9, r24 |
| 1c72: c8 c1 rjmp .+912 ; 0x2004 <__vector_24+0x60c> |
| 1c74: 40 91 04 01 lds r20, 0x0104 |
| 1c78: 50 91 05 01 lds r21, 0x0105 |
| 1c7c: 80 91 78 00 lds r24, 0x0078 |
| 1c80: 90 91 79 00 lds r25, 0x0079 |
| 1c84: 9a 01 movw r18, r20 |
| 1c86: 22 0f add r18, r18 |
| 1c88: 33 1f adc r19, r19 |
| 1c8a: 24 0f add r18, r20 |
| 1c8c: 35 1f adc r19, r21 |
| 1c8e: 63 e0 ldi r22, 0x03 ; 3 |
| 1c90: 70 e0 ldi r23, 0x00 ; 0 |
| 1c92: 0e 94 bf 2c call 0x597e ; 0x597e <__udivmodhi4> |
| 1c96: 26 0f add r18, r22 |
| 1c98: 37 1f adc r19, r23 |
| 1c9a: 36 95 lsr r19 |
| 1c9c: 27 95 ror r18 |
| 1c9e: 36 95 lsr r19 |
| 1ca0: 27 95 ror r18 |
| 1ca2: 30 93 05 01 sts 0x0105, r19 |
| 1ca6: 20 93 04 01 sts 0x0104, r18 |
| 1caa: 86 e0 ldi r24, 0x06 ; 6 |
| 1cac: e0 cf rjmp .-64 ; 0x1c6e <__vector_24+0x276> |
| 1cae: 80 91 df 01 lds r24, 0x01DF |
| 1cb2: 90 91 e0 01 lds r25, 0x01E0 |
| 1cb6: 20 91 78 00 lds r18, 0x0078 |
| 1cba: 30 91 79 00 lds r19, 0x0079 |
| 1cbe: 82 1b sub r24, r18 |
| 1cc0: 93 0b sbc r25, r19 |
| 1cc2: 90 93 28 05 sts 0x0528, r25 |
| 1cc6: 80 93 27 05 sts 0x0527, r24 |
| 1cca: 80 91 b8 01 lds r24, 0x01B8 |
| 1cce: 90 91 b9 01 lds r25, 0x01B9 |
| 1cd2: 20 91 27 05 lds r18, 0x0527 |
| 1cd6: 30 91 28 05 lds r19, 0x0528 |
| 1cda: 82 0f add r24, r18 |
| 1cdc: 93 1f adc r25, r19 |
| 1cde: 90 93 b9 01 sts 0x01B9, r25 |
| 1ce2: 80 93 b8 01 sts 0x01B8, r24 |
| 1ce6: 80 91 c2 01 lds r24, 0x01C2 |
| 1cea: 8f 5f subi r24, 0xFF ; 255 |
| 1cec: 80 93 c2 01 sts 0x01C2, r24 |
| 1cf0: 87 e0 ldi r24, 0x07 ; 7 |
| 1cf2: bd cf rjmp .-134 ; 0x1c6e <__vector_24+0x276> |
| 1cf4: 80 91 78 00 lds r24, 0x0078 |
| 1cf8: 90 91 79 00 lds r25, 0x0079 |
| 1cfc: 20 91 dd 01 lds r18, 0x01DD |
| 1d00: 30 91 de 01 lds r19, 0x01DE |
| 1d04: 82 1b sub r24, r18 |
| 1d06: 93 0b sbc r25, r19 |
| 1d08: 90 93 28 05 sts 0x0528, r25 |
| 1d0c: 80 93 27 05 sts 0x0527, r24 |
| 1d10: 80 91 ba 01 lds r24, 0x01BA |
| 1d14: 90 91 bb 01 lds r25, 0x01BB |
| 1d18: 20 91 27 05 lds r18, 0x0527 |
| 1d1c: 30 91 28 05 lds r19, 0x0528 |
| 1d20: 82 0f add r24, r18 |
| 1d22: 93 1f adc r25, r19 |
| 1d24: 90 93 bb 01 sts 0x01BB, r25 |
| 1d28: 80 93 ba 01 sts 0x01BA, r24 |
| 1d2c: 80 91 c1 01 lds r24, 0x01C1 |
| 1d30: 8f 5f subi r24, 0xFF ; 255 |
| 1d32: 80 93 c1 01 sts 0x01C1, r24 |
| 1d36: 40 93 c9 01 sts 0x01C9, r20 |
| 1d3a: 86 e0 ldi r24, 0x06 ; 6 |
| 1d3c: e4 c0 rjmp .+456 ; 0x1f06 <__vector_24+0x50e> |
| 1d3e: 60 91 78 00 lds r22, 0x0078 |
| 1d42: 70 91 79 00 lds r23, 0x0079 |
| 1d46: e0 90 e1 01 lds r14, 0x01E1 |
| 1d4a: f0 90 e2 01 lds r15, 0x01E2 |
| 1d4e: 00 91 e3 01 lds r16, 0x01E3 |
| 1d52: 10 91 e4 01 lds r17, 0x01E4 |
| 1d56: 88 27 eor r24, r24 |
| 1d58: 77 fd sbrc r23, 7 |
| 1d5a: 80 95 com r24 |
| 1d5c: 98 2f mov r25, r24 |
| 1d5e: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 1d62: a8 01 movw r20, r16 |
| 1d64: 97 01 movw r18, r14 |
| 1d66: 0e 94 de 2a call 0x55bc ; 0x55bc <__subsf3> |
| 1d6a: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 1d6e: 70 93 bd 01 sts 0x01BD, r23 |
| 1d72: 60 93 bc 01 sts 0x01BC, r22 |
| 1d76: 20 91 bc 01 lds r18, 0x01BC |
| 1d7a: 30 91 bd 01 lds r19, 0x01BD |
| 1d7e: e0 91 27 05 lds r30, 0x0527 |
| 1d82: f0 91 28 05 lds r31, 0x0528 |
| 1d86: 80 91 32 05 lds r24, 0x0532 |
| 1d8a: 90 91 33 05 lds r25, 0x0533 |
| 1d8e: 97 ff sbrs r25, 7 |
| 1d90: 03 c0 rjmp .+6 ; 0x1d98 <__vector_24+0x3a0> |
| 1d92: 90 95 com r25 |
| 1d94: 81 95 neg r24 |
| 1d96: 9f 4f sbci r25, 0xFF ; 255 |
| 1d98: 64 e0 ldi r22, 0x04 ; 4 |
| 1d9a: 70 e0 ldi r23, 0x00 ; 0 |
| 1d9c: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 1da0: eb 01 movw r28, r22 |
| 1da2: cf 01 movw r24, r30 |
| 1da4: f7 ff sbrs r31, 7 |
| 1da6: 03 c0 rjmp .+6 ; 0x1dae <__vector_24+0x3b6> |
| 1da8: 90 95 com r25 |
| 1daa: 81 95 neg r24 |
| 1dac: 9f 4f sbci r25, 0xFF ; 255 |
| 1dae: 64 e0 ldi r22, 0x04 ; 4 |
| 1db0: 70 e0 ldi r23, 0x00 ; 0 |
| 1db2: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 1db6: 26 0f add r18, r22 |
| 1db8: 37 1f adc r19, r23 |
| 1dba: 2c 0f add r18, r28 |
| 1dbc: 3d 1f adc r19, r29 |
| 1dbe: 30 93 bd 01 sts 0x01BD, r19 |
| 1dc2: 20 93 bc 01 sts 0x01BC, r18 |
| 1dc6: 80 91 bc 01 lds r24, 0x01BC |
| 1dca: 90 91 bd 01 lds r25, 0x01BD |
| 1dce: 02 97 sbiw r24, 0x02 ; 2 |
| 1dd0: 04 f1 brlt .+64 ; 0x1e12 <__vector_24+0x41a> |
| 1dd2: 60 91 e1 01 lds r22, 0x01E1 |
| 1dd6: 70 91 e2 01 lds r23, 0x01E2 |
| 1dda: 80 91 e3 01 lds r24, 0x01E3 |
| 1dde: 90 91 e4 01 lds r25, 0x01E4 |
| 1de2: 20 e0 ldi r18, 0x00 ; 0 |
| 1de4: 30 e0 ldi r19, 0x00 ; 0 |
| 1de6: 48 e4 ldi r20, 0x48 ; 72 |
| 1de8: 54 e4 ldi r21, 0x44 ; 68 |
| 1dea: 0e 94 8e 2b call 0x571c ; 0x571c <__eqsf2> |
| 1dee: 88 23 and r24, r24 |
| 1df0: 0c f0 brlt .+2 ; 0x1df4 <__vector_24+0x3fc> |
| 1df2: 3c c0 rjmp .+120 ; 0x1e6c <__vector_24+0x474> |
| 1df4: 60 91 e1 01 lds r22, 0x01E1 |
| 1df8: 70 91 e2 01 lds r23, 0x01E2 |
| 1dfc: 80 91 e3 01 lds r24, 0x01E3 |
| 1e00: 90 91 e4 01 lds r25, 0x01E4 |
| 1e04: 2a e0 ldi r18, 0x0A ; 10 |
| 1e06: 37 ed ldi r19, 0xD7 ; 215 |
| 1e08: 43 ea ldi r20, 0xA3 ; 163 |
| 1e0a: 5c e3 ldi r21, 0x3C ; 60 |
| 1e0c: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 1e10: 25 c0 rjmp .+74 ; 0x1e5c <__vector_24+0x464> |
| 1e12: 80 91 bc 01 lds r24, 0x01BC |
| 1e16: 90 91 bd 01 lds r25, 0x01BD |
| 1e1a: 8f 5f subi r24, 0xFF ; 255 |
| 1e1c: 9f 4f sbci r25, 0xFF ; 255 |
| 1e1e: 34 f5 brge .+76 ; 0x1e6c <__vector_24+0x474> |
| 1e20: 60 91 e1 01 lds r22, 0x01E1 |
| 1e24: 70 91 e2 01 lds r23, 0x01E2 |
| 1e28: 80 91 e3 01 lds r24, 0x01E3 |
| 1e2c: 90 91 e4 01 lds r25, 0x01E4 |
| 1e30: 20 e0 ldi r18, 0x00 ; 0 |
| 1e32: 30 e0 ldi r19, 0x00 ; 0 |
| 1e34: 46 e1 ldi r20, 0x16 ; 22 |
| 1e36: 54 e4 ldi r21, 0x44 ; 68 |
| 1e38: 0e 94 91 2b call 0x5722 ; 0x5722 <__gesf2> |
| 1e3c: 18 16 cp r1, r24 |
| 1e3e: b4 f4 brge .+44 ; 0x1e6c <__vector_24+0x474> |
| 1e40: 60 91 e1 01 lds r22, 0x01E1 |
| 1e44: 70 91 e2 01 lds r23, 0x01E2 |
| 1e48: 80 91 e3 01 lds r24, 0x01E3 |
| 1e4c: 90 91 e4 01 lds r25, 0x01E4 |
| 1e50: 2a e0 ldi r18, 0x0A ; 10 |
| 1e52: 37 ed ldi r19, 0xD7 ; 215 |
| 1e54: 43 ea ldi r20, 0xA3 ; 163 |
| 1e56: 5c e3 ldi r21, 0x3C ; 60 |
| 1e58: 0e 94 de 2a call 0x55bc ; 0x55bc <__subsf3> |
| 1e5c: 60 93 e1 01 sts 0x01E1, r22 |
| 1e60: 70 93 e2 01 sts 0x01E2, r23 |
| 1e64: 80 93 e3 01 sts 0x01E3, r24 |
| 1e68: 90 93 e4 01 sts 0x01E4, r25 |
| 1e6c: 81 e0 ldi r24, 0x01 ; 1 |
| 1e6e: 80 93 c3 01 sts 0x01C3, r24 |
| 1e72: 80 91 78 00 lds r24, 0x0078 |
| 1e76: 90 91 79 00 lds r25, 0x0079 |
| 1e7a: 90 93 2a 05 sts 0x052A, r25 |
| 1e7e: 80 93 29 05 sts 0x0529, r24 |
| 1e82: 20 91 13 02 lds r18, 0x0213 |
| 1e86: 30 91 14 02 lds r19, 0x0214 |
| 1e8a: 40 91 15 02 lds r20, 0x0215 |
| 1e8e: 50 91 16 02 lds r21, 0x0216 |
| 1e92: 80 91 bc 01 lds r24, 0x01BC |
| 1e96: 90 91 bd 01 lds r25, 0x01BD |
| 1e9a: aa 27 eor r26, r26 |
| 1e9c: 97 fd sbrc r25, 7 |
| 1e9e: a0 95 com r26 |
| 1ea0: ba 2f mov r27, r26 |
| 1ea2: 28 0f add r18, r24 |
| 1ea4: 39 1f adc r19, r25 |
| 1ea6: 4a 1f adc r20, r26 |
| 1ea8: 5b 1f adc r21, r27 |
| 1eaa: 20 93 13 02 sts 0x0213, r18 |
| 1eae: 30 93 14 02 sts 0x0214, r19 |
| 1eb2: 40 93 15 02 sts 0x0215, r20 |
| 1eb6: 50 93 16 02 sts 0x0216, r21 |
| 1eba: e0 90 13 02 lds r14, 0x0213 |
| 1ebe: f0 90 14 02 lds r15, 0x0214 |
| 1ec2: 00 91 15 02 lds r16, 0x0215 |
| 1ec6: 10 91 16 02 lds r17, 0x0216 |
| 1eca: 60 91 13 02 lds r22, 0x0213 |
| 1ece: 70 91 14 02 lds r23, 0x0214 |
| 1ed2: 80 91 15 02 lds r24, 0x0215 |
| 1ed6: 90 91 16 02 lds r25, 0x0216 |
| 1eda: 20 e0 ldi r18, 0x00 ; 0 |
| 1edc: 34 e0 ldi r19, 0x04 ; 4 |
| 1ede: 40 e0 ldi r20, 0x00 ; 0 |
| 1ee0: 50 e0 ldi r21, 0x00 ; 0 |
| 1ee2: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 1ee6: e2 1a sub r14, r18 |
| 1ee8: f3 0a sbc r15, r19 |
| 1eea: 04 0b sbc r16, r20 |
| 1eec: 15 0b sbc r17, r21 |
| 1eee: e0 92 13 02 sts 0x0213, r14 |
| 1ef2: f0 92 14 02 sts 0x0214, r15 |
| 1ef6: 00 93 15 02 sts 0x0215, r16 |
| 1efa: 10 93 16 02 sts 0x0216, r17 |
| 1efe: 83 e0 ldi r24, 0x03 ; 3 |
| 1f00: 80 93 c9 01 sts 0x01C9, r24 |
| 1f04: 87 e0 ldi r24, 0x07 ; 7 |
| 1f06: 80 93 c8 01 sts 0x01C8, r24 |
| 1f0a: 7c c0 rjmp .+248 ; 0x2004 <__vector_24+0x60c> |
| 1f0c: 80 91 37 05 lds r24, 0x0537 |
| 1f10: 90 91 38 05 lds r25, 0x0538 |
| 1f14: 20 91 78 00 lds r18, 0x0078 |
| 1f18: 30 91 79 00 lds r19, 0x0079 |
| 1f1c: 82 0f add r24, r18 |
| 1f1e: 93 1f adc r25, r19 |
| 1f20: 90 93 38 05 sts 0x0538, r25 |
| 1f24: 80 93 37 05 sts 0x0537, r24 |
| 1f28: 80 91 2f 05 lds r24, 0x052F |
| 1f2c: 8f 5f subi r24, 0xFF ; 255 |
| 1f2e: 80 93 2f 05 sts 0x052F, r24 |
| 1f32: 80 91 2f 05 lds r24, 0x052F |
| 1f36: 85 30 cpi r24, 0x05 ; 5 |
| 1f38: 08 f4 brcc .+2 ; 0x1f3c <__vector_24+0x544> |
| 1f3a: 60 c0 rjmp .+192 ; 0x1ffc <__vector_24+0x604> |
| 1f3c: 80 91 78 00 lds r24, 0x0078 |
| 1f40: 90 91 79 00 lds r25, 0x0079 |
| 1f44: 90 93 0b 01 sts 0x010B, r25 |
| 1f48: 80 93 0a 01 sts 0x010A, r24 |
| 1f4c: 10 92 2f 05 sts 0x052F, r1 |
| 1f50: 80 91 2b 05 lds r24, 0x052B |
| 1f54: 90 91 2c 05 lds r25, 0x052C |
| 1f58: 20 91 37 05 lds r18, 0x0537 |
| 1f5c: 30 91 38 05 lds r19, 0x0538 |
| 1f60: 82 1b sub r24, r18 |
| 1f62: 93 0b sbc r25, r19 |
| 1f64: 20 91 2f 02 lds r18, 0x022F |
| 1f68: 30 91 30 02 lds r19, 0x0230 |
| 1f6c: 82 1b sub r24, r18 |
| 1f6e: 93 0b sbc r25, r19 |
| 1f70: 90 93 c5 01 sts 0x01C5, r25 |
| 1f74: 80 93 c4 01 sts 0x01C4, r24 |
| 1f78: 60 91 37 05 lds r22, 0x0537 |
| 1f7c: 70 91 38 05 lds r23, 0x0538 |
| 1f80: e0 90 06 01 lds r14, 0x0106 |
| 1f84: f0 90 07 01 lds r15, 0x0107 |
| 1f88: 00 91 08 01 lds r16, 0x0108 |
| 1f8c: 10 91 09 01 lds r17, 0x0109 |
| 1f90: 88 27 eor r24, r24 |
| 1f92: 77 fd sbrc r23, 7 |
| 1f94: 80 95 com r24 |
| 1f96: 98 2f mov r25, r24 |
| 1f98: a8 01 movw r20, r16 |
| 1f9a: 97 01 movw r18, r14 |
| 1f9c: 22 0f add r18, r18 |
| 1f9e: 33 1f adc r19, r19 |
| 1fa0: 44 1f adc r20, r20 |
| 1fa2: 55 1f adc r21, r21 |
| 1fa4: 2e 0d add r18, r14 |
| 1fa6: 3f 1d adc r19, r15 |
| 1fa8: 40 1f adc r20, r16 |
| 1faa: 51 1f adc r21, r17 |
| 1fac: 62 0f add r22, r18 |
| 1fae: 73 1f adc r23, r19 |
| 1fb0: 84 1f adc r24, r20 |
| 1fb2: 95 1f adc r25, r21 |
| 1fb4: 24 e0 ldi r18, 0x04 ; 4 |
| 1fb6: 30 e0 ldi r19, 0x00 ; 0 |
| 1fb8: 40 e0 ldi r20, 0x00 ; 0 |
| 1fba: 50 e0 ldi r21, 0x00 ; 0 |
| 1fbc: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 1fc0: 20 93 06 01 sts 0x0106, r18 |
| 1fc4: 30 93 07 01 sts 0x0107, r19 |
| 1fc8: 40 93 08 01 sts 0x0108, r20 |
| 1fcc: 50 93 09 01 sts 0x0109, r21 |
| 1fd0: 20 91 2b 05 lds r18, 0x052B |
| 1fd4: 30 91 2c 05 lds r19, 0x052C |
| 1fd8: 80 91 06 01 lds r24, 0x0106 |
| 1fdc: 90 91 07 01 lds r25, 0x0107 |
| 1fe0: a0 91 08 01 lds r26, 0x0108 |
| 1fe4: b0 91 09 01 lds r27, 0x0109 |
| 1fe8: 28 1b sub r18, r24 |
| 1fea: 39 0b sbc r19, r25 |
| 1fec: 30 93 30 02 sts 0x0230, r19 |
| 1ff0: 20 93 2f 02 sts 0x022F, r18 |
| 1ff4: 10 92 38 05 sts 0x0538, r1 |
| 1ff8: 10 92 37 05 sts 0x0537, r1 |
| 1ffc: 10 92 c9 01 sts 0x01C9, r1 |
| 2000: 10 92 c8 01 sts 0x01C8, r1 |
| 2004: 80 91 c9 01 lds r24, 0x01C9 |
| 2008: 80 93 7c 00 sts 0x007C, r24 |
| 200c: 8f ee ldi r24, 0xEF ; 239 |
| 200e: 80 93 7a 00 sts 0x007A, r24 |
| 2012: ff 91 pop r31 |
| 2014: ef 91 pop r30 |
| 2016: df 91 pop r29 |
| 2018: cf 91 pop r28 |
| 201a: bf 91 pop r27 |
| 201c: af 91 pop r26 |
| 201e: 9f 91 pop r25 |
| 2020: 8f 91 pop r24 |
| 2022: 7f 91 pop r23 |
| 2024: 6f 91 pop r22 |
| 2026: 5f 91 pop r21 |
| 2028: 4f 91 pop r20 |
| 202a: 3f 91 pop r19 |
| 202c: 2f 91 pop r18 |
| 202e: 1f 91 pop r17 |
| 2030: 0f 91 pop r16 |
| 2032: ff 90 pop r15 |
| 2034: ef 90 pop r14 |
| 2036: 0f 90 pop r0 |
| 2038: 0f be out 0x3f, r0 ; 63 |
| 203a: 0f 90 pop r0 |
| 203c: 1f 90 pop r1 |
| 203e: 18 95 reti |
| 00002040 <SucheLuftruckOffset>: |
| 2040: cf 93 push r28 |
| 2042: df 93 push r29 |
| 2044: c0 e0 ldi r28, 0x00 ; 0 |
| 2046: d0 e0 ldi r29, 0x00 ; 0 |
| 2048: c7 bd out 0x27, r28 ; 39 |
| 204a: 82 e3 ldi r24, 0x32 ; 50 |
| 204c: 90 e0 ldi r25, 0x00 ; 0 |
| 204e: 0e 94 e4 0c call 0x19c8 ; 0x19c8 <Delay_ms> |
| 2052: 8b e3 ldi r24, 0x3B ; 59 |
| 2054: 91 e0 ldi r25, 0x01 ; 1 |
| 2056: 9f 93 push r25 |
| 2058: 8f 93 push r24 |
| 205a: 1f 92 push r1 |
| 205c: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2060: 80 91 0a 01 lds r24, 0x010A |
| 2064: 90 91 0b 01 lds r25, 0x010B |
| 2068: 0f 90 pop r0 |
| 206a: 0f 90 pop r0 |
| 206c: 0f 90 pop r0 |
| 206e: 84 58 subi r24, 0x84 ; 132 |
| 2070: 93 40 sbci r25, 0x03 ; 3 |
| 2072: 20 f0 brcs .+8 ; 0x207c <SucheLuftruckOffset+0x3c> |
| 2074: 21 96 adiw r28, 0x01 ; 1 |
| 2076: ca 3f cpi r28, 0xFA ; 250 |
| 2078: d1 05 cpc r29, r1 |
| 207a: 31 f7 brne .-52 ; 0x2048 <SucheLuftruckOffset+0x8> |
| 207c: c0 93 34 05 sts 0x0534, r28 |
| 2080: 88 ec ldi r24, 0xC8 ; 200 |
| 2082: 90 e0 ldi r25, 0x00 ; 0 |
| 2084: 0e 94 e4 0c call 0x19c8 ; 0x19c8 <Delay_ms> |
| 2088: df 91 pop r29 |
| 208a: cf 91 pop r28 |
| 208c: 08 95 ret |
| 0000208e <LcdClear>: |
| 208e: e6 e1 ldi r30, 0x16 ; 22 |
| 2090: f1 e0 ldi r31, 0x01 ; 1 |
| 2092: 80 e2 ldi r24, 0x20 ; 32 |
| 2094: 81 93 st Z+, r24 |
| 2096: 91 e0 ldi r25, 0x01 ; 1 |
| 2098: e6 36 cpi r30, 0x66 ; 102 |
| 209a: f9 07 cpc r31, r25 |
| 209c: d9 f7 brne .-10 ; 0x2094 <LcdClear+0x6> |
| 209e: 08 95 ret |
| 000020a0 <Menu>: |
| 20a0: ff 92 push r15 |
| 20a2: 0f 93 push r16 |
| 20a4: 1f 93 push r17 |
| 20a6: 80 91 cd 01 lds r24, 0x01CD |
| 20aa: 28 2f mov r18, r24 |
| 20ac: 33 27 eor r19, r19 |
| 20ae: c9 01 movw r24, r18 |
| 20b0: 81 70 andi r24, 0x01 ; 1 |
| 20b2: 90 70 andi r25, 0x00 ; 0 |
| 20b4: 68 2f mov r22, r24 |
| 20b6: 88 23 and r24, r24 |
| 20b8: 91 f0 breq .+36 ; 0x20de <Menu+0x3e> |
| 20ba: 80 91 ce 01 lds r24, 0x01CE |
| 20be: 88 23 and r24, r24 |
| 20c0: 11 f0 breq .+4 ; 0x20c6 <Menu+0x26> |
| 20c2: 81 50 subi r24, 0x01 ; 1 |
| 20c4: 02 c0 rjmp .+4 ; 0x20ca <Menu+0x2a> |
| 20c6: 80 91 66 01 lds r24, 0x0166 |
| 20ca: 80 93 ce 01 sts 0x01CE, r24 |
| 20ce: e6 e1 ldi r30, 0x16 ; 22 |
| 20d0: f1 e0 ldi r31, 0x01 ; 1 |
| 20d2: 80 e2 ldi r24, 0x20 ; 32 |
| 20d4: 81 93 st Z+, r24 |
| 20d6: 91 e0 ldi r25, 0x01 ; 1 |
| 20d8: e6 36 cpi r30, 0x66 ; 102 |
| 20da: f9 07 cpc r31, r25 |
| 20dc: d9 f7 brne .-10 ; 0x20d4 <Menu+0x34> |
| 20de: a9 01 movw r20, r18 |
| 20e0: 42 70 andi r20, 0x02 ; 2 |
| 20e2: 50 70 andi r21, 0x00 ; 0 |
| 20e4: 21 ff sbrs r18, 1 |
| 20e6: 0d c0 rjmp .+26 ; 0x2102 <Menu+0x62> |
| 20e8: 80 91 ce 01 lds r24, 0x01CE |
| 20ec: 8f 5f subi r24, 0xFF ; 255 |
| 20ee: 80 93 ce 01 sts 0x01CE, r24 |
| 20f2: e6 e1 ldi r30, 0x16 ; 22 |
| 20f4: f1 e0 ldi r31, 0x01 ; 1 |
| 20f6: 80 e2 ldi r24, 0x20 ; 32 |
| 20f8: 81 93 st Z+, r24 |
| 20fa: 91 e0 ldi r25, 0x01 ; 1 |
| 20fc: e6 36 cpi r30, 0x66 ; 102 |
| 20fe: f9 07 cpc r31, r25 |
| 2100: d9 f7 brne .-10 ; 0x20f8 <Menu+0x58> |
| 2102: 66 23 and r22, r22 |
| 2104: 21 f0 breq .+8 ; 0x210e <Menu+0x6e> |
| 2106: 45 2b or r20, r21 |
| 2108: 11 f0 breq .+4 ; 0x210e <Menu+0x6e> |
| 210a: 10 92 ce 01 sts 0x01CE, r1 |
| 210e: 81 e1 ldi r24, 0x11 ; 17 |
| 2110: 80 93 cc 01 sts 0x01CC, r24 |
| 2114: 80 91 ce 01 lds r24, 0x01CE |
| 2118: 99 27 eor r25, r25 |
| 211a: 9f 93 push r25 |
| 211c: 8f 93 push r24 |
| 211e: 8c ea ldi r24, 0xAC ; 172 |
| 2120: 93 e0 ldi r25, 0x03 ; 3 |
| 2122: 9f 93 push r25 |
| 2124: 8f 93 push r24 |
| 2126: e1 e0 ldi r30, 0x01 ; 1 |
| 2128: fe 2e mov r15, r30 |
| 212a: ff 92 push r15 |
| 212c: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2130: 00 91 ce 01 lds r16, 0x01CE |
| 2134: 0f 90 pop r0 |
| 2136: 0f 90 pop r0 |
| 2138: 0f 90 pop r0 |
| 213a: 0f 90 pop r0 |
| 213c: 0f 90 pop r0 |
| 213e: 05 30 cpi r16, 0x05 ; 5 |
| 2140: 09 f4 brne .+2 ; 0x2144 <Menu+0xa4> |
| 2142: d7 c1 rjmp .+942 ; 0x24f2 <Menu+0x452> |
| 2144: 06 30 cpi r16, 0x06 ; 6 |
| 2146: 90 f4 brcc .+36 ; 0x216c <Menu+0xcc> |
| 2148: 02 30 cpi r16, 0x02 ; 2 |
| 214a: 09 f4 brne .+2 ; 0x214e <Menu+0xae> |
| 214c: b8 c0 rjmp .+368 ; 0x22be <Menu+0x21e> |
| 214e: 03 30 cpi r16, 0x03 ; 3 |
| 2150: 30 f4 brcc .+12 ; 0x215e <Menu+0xbe> |
| 2152: 00 23 and r16, r16 |
| 2154: f1 f0 breq .+60 ; 0x2192 <Menu+0xf2> |
| 2156: 01 30 cpi r16, 0x01 ; 1 |
| 2158: 09 f0 breq .+2 ; 0x215c <Menu+0xbc> |
| 215a: 5b c3 rjmp .+1718 ; 0x2812 <Menu+0x772> |
| 215c: 4d c0 rjmp .+154 ; 0x21f8 <Menu+0x158> |
| 215e: 03 30 cpi r16, 0x03 ; 3 |
| 2160: 09 f4 brne .+2 ; 0x2164 <Menu+0xc4> |
| 2162: 02 c1 rjmp .+516 ; 0x2368 <Menu+0x2c8> |
| 2164: 04 30 cpi r16, 0x04 ; 4 |
| 2166: 09 f0 breq .+2 ; 0x216a <Menu+0xca> |
| 2168: 54 c3 rjmp .+1704 ; 0x2812 <Menu+0x772> |
| 216a: 4b c1 rjmp .+662 ; 0x2402 <Menu+0x362> |
| 216c: 08 30 cpi r16, 0x08 ; 8 |
| 216e: 09 f4 brne .+2 ; 0x2172 <Menu+0xd2> |
| 2170: 98 c2 rjmp .+1328 ; 0x26a2 <Menu+0x602> |
| 2172: 09 30 cpi r16, 0x09 ; 9 |
| 2174: 38 f4 brcc .+14 ; 0x2184 <Menu+0xe4> |
| 2176: 06 30 cpi r16, 0x06 ; 6 |
| 2178: 09 f4 brne .+2 ; 0x217c <Menu+0xdc> |
| 217a: 11 c2 rjmp .+1058 ; 0x259e <Menu+0x4fe> |
| 217c: 07 30 cpi r16, 0x07 ; 7 |
| 217e: 09 f0 breq .+2 ; 0x2182 <Menu+0xe2> |
| 2180: 48 c3 rjmp .+1680 ; 0x2812 <Menu+0x772> |
| 2182: 6c c2 rjmp .+1240 ; 0x265c <Menu+0x5bc> |
| 2184: 09 30 cpi r16, 0x09 ; 9 |
| 2186: 09 f4 brne .+2 ; 0x218a <Menu+0xea> |
| 2188: c9 c2 rjmp .+1426 ; 0x271c <Menu+0x67c> |
| 218a: 0a 30 cpi r16, 0x0A ; 10 |
| 218c: 09 f0 breq .+2 ; 0x2190 <Menu+0xf0> |
| 218e: 41 c3 rjmp .+1666 ; 0x2812 <Menu+0x772> |
| 2190: 03 c3 rjmp .+1542 ; 0x2798 <Menu+0x6f8> |
| 2192: 10 92 cc 01 sts 0x01CC, r1 |
| 2196: 8a e9 ldi r24, 0x9A ; 154 |
| 2198: 93 e0 ldi r25, 0x03 ; 3 |
| 219a: 9f 93 push r25 |
| 219c: 8f 93 push r24 |
| 219e: ff 92 push r15 |
| 21a0: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 21a4: 84 e1 ldi r24, 0x14 ; 20 |
| 21a6: 80 93 cc 01 sts 0x01CC, r24 |
| 21aa: 8c e3 ldi r24, 0x3C ; 60 |
| 21ac: 90 e0 ldi r25, 0x00 ; 0 |
| 21ae: 9f 93 push r25 |
| 21b0: 8f 93 push r24 |
| 21b2: 1f 92 push r1 |
| 21b4: 1f 92 push r1 |
| 21b6: 83 e9 ldi r24, 0x93 ; 147 |
| 21b8: 93 e0 ldi r25, 0x03 ; 3 |
| 21ba: 9f 93 push r25 |
| 21bc: 8f 93 push r24 |
| 21be: ff 92 push r15 |
| 21c0: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 21c4: 88 e2 ldi r24, 0x28 ; 40 |
| 21c6: 80 93 cc 01 sts 0x01CC, r24 |
| 21ca: 0e 94 f8 01 call 0x3f0 ; 0x3f0 <GetActiveParamSetNumber> |
| 21ce: 99 27 eor r25, r25 |
| 21d0: 9f 93 push r25 |
| 21d2: 8f 93 push r24 |
| 21d4: 86 e8 ldi r24, 0x86 ; 134 |
| 21d6: 93 e0 ldi r25, 0x03 ; 3 |
| 21d8: 9f 93 push r25 |
| 21da: 8f 93 push r24 |
| 21dc: ff 92 push r15 |
| 21de: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 21e2: 8c e3 ldi r24, 0x3C ; 60 |
| 21e4: 80 93 cc 01 sts 0x01CC, r24 |
| 21e8: 86 e7 ldi r24, 0x76 ; 118 |
| 21ea: 93 e0 ldi r25, 0x03 ; 3 |
| 21ec: 9f 93 push r25 |
| 21ee: 8f 93 push r24 |
| 21f0: ff 92 push r15 |
| 21f2: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 21f6: 8e c2 rjmp .+1308 ; 0x2714 <Menu+0x674> |
| 21f8: 80 91 75 05 lds r24, 0x0575 |
| 21fc: 80 ff sbrs r24, 0 |
| 21fe: 47 c0 rjmp .+142 ; 0x228e <Menu+0x1ee> |
| 2200: 10 92 cc 01 sts 0x01CC, r1 |
| 2204: 80 91 2f 02 lds r24, 0x022F |
| 2208: 90 91 30 02 lds r25, 0x0230 |
| 220c: 9f 93 push r25 |
| 220e: 8f 93 push r24 |
| 2210: 87 e6 ldi r24, 0x67 ; 103 |
| 2212: 93 e0 ldi r25, 0x03 ; 3 |
| 2214: 9f 93 push r25 |
| 2216: 8f 93 push r24 |
| 2218: 0f 93 push r16 |
| 221a: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 221e: 84 e1 ldi r24, 0x14 ; 20 |
| 2220: 80 93 cc 01 sts 0x01CC, r24 |
| 2224: 80 91 31 02 lds r24, 0x0231 |
| 2228: 90 91 32 02 lds r25, 0x0232 |
| 222c: 9f 93 push r25 |
| 222e: 8f 93 push r24 |
| 2230: 88 e5 ldi r24, 0x58 ; 88 |
| 2232: 93 e0 ldi r25, 0x03 ; 3 |
| 2234: 9f 93 push r25 |
| 2236: 8f 93 push r24 |
| 2238: 0f 93 push r16 |
| 223a: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 223e: 88 e2 ldi r24, 0x28 ; 40 |
| 2240: 80 93 cc 01 sts 0x01CC, r24 |
| 2244: 80 91 0a 01 lds r24, 0x010A |
| 2248: 90 91 0b 01 lds r25, 0x010B |
| 224c: 9f 93 push r25 |
| 224e: 8f 93 push r24 |
| 2250: 89 e4 ldi r24, 0x49 ; 73 |
| 2252: 93 e0 ldi r25, 0x03 ; 3 |
| 2254: 9f 93 push r25 |
| 2256: 8f 93 push r24 |
| 2258: 0f 93 push r16 |
| 225a: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 225e: 8c e3 ldi r24, 0x3C ; 60 |
| 2260: 80 93 cc 01 sts 0x01CC, r24 |
| 2264: 80 91 34 05 lds r24, 0x0534 |
| 2268: 99 27 eor r25, r25 |
| 226a: 9f 93 push r25 |
| 226c: 8f 93 push r24 |
| 226e: 8a e3 ldi r24, 0x3A ; 58 |
| 2270: 93 e0 ldi r25, 0x03 ; 3 |
| 2272: 9f 93 push r25 |
| 2274: 8f 93 push r24 |
| 2276: 0f 93 push r16 |
| 2278: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 227c: 8d b7 in r24, 0x3d ; 61 |
| 227e: 9e b7 in r25, 0x3e ; 62 |
| 2280: 44 96 adiw r24, 0x14 ; 20 |
| 2282: 0f b6 in r0, 0x3f ; 63 |
| 2284: f8 94 cli |
| 2286: 9e bf out 0x3e, r25 ; 62 |
| 2288: 0f be out 0x3f, r0 ; 63 |
| 228a: 8d bf out 0x3d, r24 ; 61 |
| 228c: c7 c2 rjmp .+1422 ; 0x281c <Menu+0x77c> |
| 228e: 84 e1 ldi r24, 0x14 ; 20 |
| 2290: 80 93 cc 01 sts 0x01CC, r24 |
| 2294: 83 e3 ldi r24, 0x33 ; 51 |
| 2296: 93 e0 ldi r25, 0x03 ; 3 |
| 2298: 9f 93 push r25 |
| 229a: 8f 93 push r24 |
| 229c: 0f 93 push r16 |
| 229e: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 22a2: 88 e2 ldi r24, 0x28 ; 40 |
| 22a4: 80 93 cc 01 sts 0x01CC, r24 |
| 22a8: 85 e2 ldi r24, 0x25 ; 37 |
| 22aa: 93 e0 ldi r25, 0x03 ; 3 |
| 22ac: 9f 93 push r25 |
| 22ae: 8f 93 push r24 |
| 22b0: 0f 93 push r16 |
| 22b2: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 22b6: 8d b7 in r24, 0x3d ; 61 |
| 22b8: 9e b7 in r25, 0x3e ; 62 |
| 22ba: 06 96 adiw r24, 0x06 ; 6 |
| 22bc: e2 cf rjmp .-60 ; 0x2282 <Menu+0x1e2> |
| 22be: 10 92 cc 01 sts 0x01CC, r1 |
| 22c2: 8b e1 ldi r24, 0x1B ; 27 |
| 22c4: 93 e0 ldi r25, 0x03 ; 3 |
| 22c6: 9f 93 push r25 |
| 22c8: 8f 93 push r24 |
| 22ca: ff 92 push r15 |
| 22cc: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 22d0: 84 e1 ldi r24, 0x14 ; 20 |
| 22d2: 80 93 cc 01 sts 0x01CC, r24 |
| 22d6: 60 91 e7 01 lds r22, 0x01E7 |
| 22da: 70 91 e8 01 lds r23, 0x01E8 |
| 22de: 80 91 e9 01 lds r24, 0x01E9 |
| 22e2: 90 91 ea 01 lds r25, 0x01EA |
| 22e6: 20 e0 ldi r18, 0x00 ; 0 |
| 22e8: 34 e0 ldi r19, 0x04 ; 4 |
| 22ea: 40 e0 ldi r20, 0x00 ; 0 |
| 22ec: 50 e0 ldi r21, 0x00 ; 0 |
| 22ee: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 22f2: 5f 93 push r21 |
| 22f4: 4f 93 push r20 |
| 22f6: 3f 93 push r19 |
| 22f8: 2f 93 push r18 |
| 22fa: 8c e0 ldi r24, 0x0C ; 12 |
| 22fc: 93 e0 ldi r25, 0x03 ; 3 |
| 22fe: 9f 93 push r25 |
| 2300: 8f 93 push r24 |
| 2302: ff 92 push r15 |
| 2304: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2308: 88 e2 ldi r24, 0x28 ; 40 |
| 230a: 80 93 cc 01 sts 0x01CC, r24 |
| 230e: 60 91 ef 01 lds r22, 0x01EF |
| 2312: 70 91 f0 01 lds r23, 0x01F0 |
| 2316: 80 91 f1 01 lds r24, 0x01F1 |
| 231a: 90 91 f2 01 lds r25, 0x01F2 |
| 231e: 20 e0 ldi r18, 0x00 ; 0 |
| 2320: 34 e0 ldi r19, 0x04 ; 4 |
| 2322: 40 e0 ldi r20, 0x00 ; 0 |
| 2324: 50 e0 ldi r21, 0x00 ; 0 |
| 2326: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 232a: 5f 93 push r21 |
| 232c: 4f 93 push r20 |
| 232e: 3f 93 push r19 |
| 2330: 2f 93 push r18 |
| 2332: 8d ef ldi r24, 0xFD ; 253 |
| 2334: 92 e0 ldi r25, 0x02 ; 2 |
| 2336: 9f 93 push r25 |
| 2338: 8f 93 push r24 |
| 233a: ff 92 push r15 |
| 233c: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2340: 8c e3 ldi r24, 0x3C ; 60 |
| 2342: 80 93 cc 01 sts 0x01CC, r24 |
| 2346: 80 91 17 02 lds r24, 0x0217 |
| 234a: 90 91 18 02 lds r25, 0x0218 |
| 234e: 9f 93 push r25 |
| 2350: 8f 93 push r24 |
| 2352: 8e ee ldi r24, 0xEE ; 238 |
| 2354: 92 e0 ldi r25, 0x02 ; 2 |
| 2356: 9f 93 push r25 |
| 2358: 8f 93 push r24 |
| 235a: ff 92 push r15 |
| 235c: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2360: 8d b7 in r24, 0x3d ; 61 |
| 2362: 9e b7 in r25, 0x3e ; 62 |
| 2364: 46 96 adiw r24, 0x16 ; 22 |
| 2366: 8d cf rjmp .-230 ; 0x2282 <Menu+0x1e2> |
| 2368: 10 92 cc 01 sts 0x01CC, r1 |
| 236c: 80 91 45 05 lds r24, 0x0545 |
| 2370: 90 91 46 05 lds r25, 0x0546 |
| 2374: 20 91 43 05 lds r18, 0x0543 |
| 2378: 30 91 44 05 lds r19, 0x0544 |
| 237c: 9f 93 push r25 |
| 237e: 8f 93 push r24 |
| 2380: 3f 93 push r19 |
| 2382: 2f 93 push r18 |
| 2384: 8e ed ldi r24, 0xDE ; 222 |
| 2386: 92 e0 ldi r25, 0x02 ; 2 |
| 2388: 9f 93 push r25 |
| 238a: 8f 93 push r24 |
| 238c: ff 92 push r15 |
| 238e: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2392: 84 e1 ldi r24, 0x14 ; 20 |
| 2394: 80 93 cc 01 sts 0x01CC, r24 |
| 2398: 80 91 49 05 lds r24, 0x0549 |
| 239c: 90 91 4a 05 lds r25, 0x054A |
| 23a0: 20 91 47 05 lds r18, 0x0547 |
| 23a4: 30 91 48 05 lds r19, 0x0548 |
| 23a8: 9f 93 push r25 |
| 23aa: 8f 93 push r24 |
| 23ac: 3f 93 push r19 |
| 23ae: 2f 93 push r18 |
| 23b0: 8e ec ldi r24, 0xCE ; 206 |
| 23b2: 92 e0 ldi r25, 0x02 ; 2 |
| 23b4: 9f 93 push r25 |
| 23b6: 8f 93 push r24 |
| 23b8: ff 92 push r15 |
| 23ba: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 23be: 88 e2 ldi r24, 0x28 ; 40 |
| 23c0: 80 93 cc 01 sts 0x01CC, r24 |
| 23c4: 80 91 4d 05 lds r24, 0x054D |
| 23c8: 90 91 4e 05 lds r25, 0x054E |
| 23cc: 20 91 4b 05 lds r18, 0x054B |
| 23d0: 30 91 4c 05 lds r19, 0x054C |
| 23d4: 9f 93 push r25 |
| 23d6: 8f 93 push r24 |
| 23d8: 3f 93 push r19 |
| 23da: 2f 93 push r18 |
| 23dc: 8e eb ldi r24, 0xBE ; 190 |
| 23de: 92 e0 ldi r25, 0x02 ; 2 |
| 23e0: 9f 93 push r25 |
| 23e2: 8f 93 push r24 |
| 23e4: ff 92 push r15 |
| 23e6: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 23ea: 8c e3 ldi r24, 0x3C ; 60 |
| 23ec: 80 93 cc 01 sts 0x01CC, r24 |
| 23f0: 80 91 4f 05 lds r24, 0x054F |
| 23f4: 90 91 50 05 lds r25, 0x0550 |
| 23f8: 9f 93 push r25 |
| 23fa: 8f 93 push r24 |
| 23fc: 8e ea ldi r24, 0xAE ; 174 |
| 23fe: 92 e0 ldi r25, 0x02 ; 2 |
| 2400: 6f c0 rjmp .+222 ; 0x24e0 <Menu+0x440> |
| 2402: 10 92 cc 01 sts 0x01CC, r1 |
| 2406: e0 91 6e 05 lds r30, 0x056E |
| 240a: ff 27 eor r31, r31 |
| 240c: ee 0f add r30, r30 |
| 240e: ff 1f adc r31, r31 |
| 2410: ef 5b subi r30, 0xBF ; 191 |
| 2412: fa 4f sbci r31, 0xFA ; 250 |
| 2414: 20 81 ld r18, Z |
| 2416: 31 81 ldd r19, Z+1 ; 0x01 |
| 2418: e0 91 6d 05 lds r30, 0x056D |
| 241c: ff 27 eor r31, r31 |
| 241e: ee 0f add r30, r30 |
| 2420: ff 1f adc r31, r31 |
| 2422: ef 5b subi r30, 0xBF ; 191 |
| 2424: fa 4f sbci r31, 0xFA ; 250 |
| 2426: 80 81 ld r24, Z |
| 2428: 91 81 ldd r25, Z+1 ; 0x01 |
| 242a: 3f 93 push r19 |
| 242c: 2f 93 push r18 |
| 242e: 9f 93 push r25 |
| 2430: 8f 93 push r24 |
| 2432: 8e e9 ldi r24, 0x9E ; 158 |
| 2434: 92 e0 ldi r25, 0x02 ; 2 |
| 2436: 9f 93 push r25 |
| 2438: 8f 93 push r24 |
| 243a: ff 92 push r15 |
| 243c: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2440: 84 e1 ldi r24, 0x14 ; 20 |
| 2442: 80 93 cc 01 sts 0x01CC, r24 |
| 2446: e0 91 70 05 lds r30, 0x0570 |
| 244a: ff 27 eor r31, r31 |
| 244c: ee 0f add r30, r30 |
| 244e: ff 1f adc r31, r31 |
| 2450: ef 5b subi r30, 0xBF ; 191 |
| 2452: fa 4f sbci r31, 0xFA ; 250 |
| 2454: 20 81 ld r18, Z |
| 2456: 31 81 ldd r19, Z+1 ; 0x01 |
| 2458: e0 91 6f 05 lds r30, 0x056F |
| 245c: ff 27 eor r31, r31 |
| 245e: ee 0f add r30, r30 |
| 2460: ff 1f adc r31, r31 |
| 2462: ef 5b subi r30, 0xBF ; 191 |
| 2464: fa 4f sbci r31, 0xFA ; 250 |
| 2466: 80 81 ld r24, Z |
| 2468: 91 81 ldd r25, Z+1 ; 0x01 |
| 246a: 3f 93 push r19 |
| 246c: 2f 93 push r18 |
| 246e: 9f 93 push r25 |
| 2470: 8f 93 push r24 |
| 2472: 8e e8 ldi r24, 0x8E ; 142 |
| 2474: 92 e0 ldi r25, 0x02 ; 2 |
| 2476: 9f 93 push r25 |
| 2478: 8f 93 push r24 |
| 247a: ff 92 push r15 |
| 247c: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2480: 88 e2 ldi r24, 0x28 ; 40 |
| 2482: 80 93 cc 01 sts 0x01CC, r24 |
| 2486: e0 91 72 05 lds r30, 0x0572 |
| 248a: ff 27 eor r31, r31 |
| 248c: ee 0f add r30, r30 |
| 248e: ff 1f adc r31, r31 |
| 2490: ef 5b subi r30, 0xBF ; 191 |
| 2492: fa 4f sbci r31, 0xFA ; 250 |
| 2494: 20 81 ld r18, Z |
| 2496: 31 81 ldd r19, Z+1 ; 0x01 |
| 2498: e0 91 71 05 lds r30, 0x0571 |
| 249c: ff 27 eor r31, r31 |
| 249e: ee 0f add r30, r30 |
| 24a0: ff 1f adc r31, r31 |
| 24a2: ef 5b subi r30, 0xBF ; 191 |
| 24a4: fa 4f sbci r31, 0xFA ; 250 |
| 24a6: 80 81 ld r24, Z |
| 24a8: 91 81 ldd r25, Z+1 ; 0x01 |
| 24aa: 3f 93 push r19 |
| 24ac: 2f 93 push r18 |
| 24ae: 9f 93 push r25 |
| 24b0: 8f 93 push r24 |
| 24b2: 8e e7 ldi r24, 0x7E ; 126 |
| 24b4: 92 e0 ldi r25, 0x02 ; 2 |
| 24b6: 9f 93 push r25 |
| 24b8: 8f 93 push r24 |
| 24ba: ff 92 push r15 |
| 24bc: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 24c0: 8c e3 ldi r24, 0x3C ; 60 |
| 24c2: 80 93 cc 01 sts 0x01CC, r24 |
| 24c6: e0 91 73 05 lds r30, 0x0573 |
| 24ca: ff 27 eor r31, r31 |
| 24cc: ee 0f add r30, r30 |
| 24ce: ff 1f adc r31, r31 |
| 24d0: ef 5b subi r30, 0xBF ; 191 |
| 24d2: fa 4f sbci r31, 0xFA ; 250 |
| 24d4: 80 81 ld r24, Z |
| 24d6: 91 81 ldd r25, Z+1 ; 0x01 |
| 24d8: 9f 93 push r25 |
| 24da: 8f 93 push r24 |
| 24dc: 8e e6 ldi r24, 0x6E ; 110 |
| 24de: 92 e0 ldi r25, 0x02 ; 2 |
| 24e0: 9f 93 push r25 |
| 24e2: 8f 93 push r24 |
| 24e4: ff 92 push r15 |
| 24e6: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 24ea: 8d b7 in r24, 0x3d ; 61 |
| 24ec: 9e b7 in r25, 0x3e ; 62 |
| 24ee: 4a 96 adiw r24, 0x1a ; 26 |
| 24f0: c8 ce rjmp .-624 ; 0x2282 <Menu+0x1e2> |
| 24f2: 10 92 cc 01 sts 0x01CC, r1 |
| 24f6: 80 e6 ldi r24, 0x60 ; 96 |
| 24f8: 92 e0 ldi r25, 0x02 ; 2 |
| 24fa: 9f 93 push r25 |
| 24fc: 8f 93 push r24 |
| 24fe: ff 92 push r15 |
| 2500: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2504: 84 e1 ldi r24, 0x14 ; 20 |
| 2506: 80 93 cc 01 sts 0x01CC, r24 |
| 250a: 20 91 d7 01 lds r18, 0x01D7 |
| 250e: 30 91 d8 01 lds r19, 0x01D8 |
| 2512: 80 91 b2 01 lds r24, 0x01B2 |
| 2516: 90 91 b3 01 lds r25, 0x01B3 |
| 251a: 60 91 be 01 lds r22, 0x01BE |
| 251e: 3f 93 push r19 |
| 2520: 2f 93 push r18 |
| 2522: 77 27 eor r23, r23 |
| 2524: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 2528: 7f 93 push r23 |
| 252a: 6f 93 push r22 |
| 252c: 81 e5 ldi r24, 0x51 ; 81 |
| 252e: 92 e0 ldi r25, 0x02 ; 2 |
| 2530: 9f 93 push r25 |
| 2532: 8f 93 push r24 |
| 2534: ff 92 push r15 |
| 2536: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 253a: 88 e2 ldi r24, 0x28 ; 40 |
| 253c: 80 93 cc 01 sts 0x01CC, r24 |
| 2540: 20 91 d9 01 lds r18, 0x01D9 |
| 2544: 30 91 da 01 lds r19, 0x01DA |
| 2548: 80 91 b4 01 lds r24, 0x01B4 |
| 254c: 90 91 b5 01 lds r25, 0x01B5 |
| 2550: 60 91 bf 01 lds r22, 0x01BF |
| 2554: 3f 93 push r19 |
| 2556: 2f 93 push r18 |
| 2558: 77 27 eor r23, r23 |
| 255a: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 255e: 7f 93 push r23 |
| 2560: 6f 93 push r22 |
| 2562: 82 e4 ldi r24, 0x42 ; 66 |
| 2564: 92 e0 ldi r25, 0x02 ; 2 |
| 2566: 9f 93 push r25 |
| 2568: 8f 93 push r24 |
| 256a: ff 92 push r15 |
| 256c: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2570: 8c e3 ldi r24, 0x3C ; 60 |
| 2572: 80 93 cc 01 sts 0x01CC, r24 |
| 2576: 20 91 db 01 lds r18, 0x01DB |
| 257a: 30 91 dc 01 lds r19, 0x01DC |
| 257e: 80 91 b6 01 lds r24, 0x01B6 |
| 2582: 90 91 b7 01 lds r25, 0x01B7 |
| 2586: 60 91 c0 01 lds r22, 0x01C0 |
| 258a: 3f 93 push r19 |
| 258c: 2f 93 push r18 |
| 258e: 77 27 eor r23, r23 |
| 2590: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 2594: 7f 93 push r23 |
| 2596: 6f 93 push r22 |
| 2598: 83 e3 ldi r24, 0x33 ; 51 |
| 259a: 92 e0 ldi r25, 0x02 ; 2 |
| 259c: 56 c0 rjmp .+172 ; 0x264a <Menu+0x5aa> |
| 259e: 10 92 cc 01 sts 0x01CC, r1 |
| 25a2: 86 e2 ldi r24, 0x26 ; 38 |
| 25a4: 92 e0 ldi r25, 0x02 ; 2 |
| 25a6: 9f 93 push r25 |
| 25a8: 8f 93 push r24 |
| 25aa: ff 92 push r15 |
| 25ac: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 25b0: 84 e1 ldi r24, 0x14 ; 20 |
| 25b2: 80 93 cc 01 sts 0x01CC, r24 |
| 25b6: 20 91 dd 01 lds r18, 0x01DD |
| 25ba: 30 91 de 01 lds r19, 0x01DE |
| 25be: 80 91 ba 01 lds r24, 0x01BA |
| 25c2: 90 91 bb 01 lds r25, 0x01BB |
| 25c6: 60 91 c1 01 lds r22, 0x01C1 |
| 25ca: 3f 93 push r19 |
| 25cc: 2f 93 push r18 |
| 25ce: 77 27 eor r23, r23 |
| 25d0: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 25d4: 7f 93 push r23 |
| 25d6: 6f 93 push r22 |
| 25d8: 87 e1 ldi r24, 0x17 ; 23 |
| 25da: 92 e0 ldi r25, 0x02 ; 2 |
| 25dc: 9f 93 push r25 |
| 25de: 8f 93 push r24 |
| 25e0: ff 92 push r15 |
| 25e2: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 25e6: 88 e2 ldi r24, 0x28 ; 40 |
| 25e8: 80 93 cc 01 sts 0x01CC, r24 |
| 25ec: 20 91 df 01 lds r18, 0x01DF |
| 25f0: 30 91 e0 01 lds r19, 0x01E0 |
| 25f4: 80 91 b8 01 lds r24, 0x01B8 |
| 25f8: 90 91 b9 01 lds r25, 0x01B9 |
| 25fc: 60 91 c2 01 lds r22, 0x01C2 |
| 2600: 3f 93 push r19 |
| 2602: 2f 93 push r18 |
| 2604: 77 27 eor r23, r23 |
| 2606: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 260a: 7f 93 push r23 |
| 260c: 6f 93 push r22 |
| 260e: 88 e0 ldi r24, 0x08 ; 8 |
| 2610: 92 e0 ldi r25, 0x02 ; 2 |
| 2612: 9f 93 push r25 |
| 2614: 8f 93 push r24 |
| 2616: ff 92 push r15 |
| 2618: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 261c: 8c e3 ldi r24, 0x3C ; 60 |
| 261e: 80 93 cc 01 sts 0x01CC, r24 |
| 2622: 60 91 e1 01 lds r22, 0x01E1 |
| 2626: 70 91 e2 01 lds r23, 0x01E2 |
| 262a: 80 91 e3 01 lds r24, 0x01E3 |
| 262e: 90 91 e4 01 lds r25, 0x01E4 |
| 2632: 00 91 29 05 lds r16, 0x0529 |
| 2636: 10 91 2a 05 lds r17, 0x052A |
| 263a: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 263e: 7f 93 push r23 |
| 2640: 6f 93 push r22 |
| 2642: 1f 93 push r17 |
| 2644: 0f 93 push r16 |
| 2646: 89 ef ldi r24, 0xF9 ; 249 |
| 2648: 91 e0 ldi r25, 0x01 ; 1 |
| 264a: 9f 93 push r25 |
| 264c: 8f 93 push r24 |
| 264e: ff 92 push r15 |
| 2650: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2654: 8d b7 in r24, 0x3d ; 61 |
| 2656: 9e b7 in r25, 0x3e ; 62 |
| 2658: 48 96 adiw r24, 0x18 ; 24 |
| 265a: 13 ce rjmp .-986 ; 0x2282 <Menu+0x1e2> |
| 265c: 84 e1 ldi r24, 0x14 ; 20 |
| 265e: 80 93 cc 01 sts 0x01CC, r24 |
| 2662: 80 91 04 01 lds r24, 0x0104 |
| 2666: 90 91 05 01 lds r25, 0x0105 |
| 266a: 9f 93 push r25 |
| 266c: 8f 93 push r24 |
| 266e: 8a ee ldi r24, 0xEA ; 234 |
| 2670: 91 e0 ldi r25, 0x01 ; 1 |
| 2672: 9f 93 push r25 |
| 2674: 8f 93 push r24 |
| 2676: ff 92 push r15 |
| 2678: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 267c: 88 e2 ldi r24, 0x28 ; 40 |
| 267e: 80 93 cc 01 sts 0x01CC, r24 |
| 2682: 80 91 27 02 lds r24, 0x0227 |
| 2686: 99 27 eor r25, r25 |
| 2688: 9f 93 push r25 |
| 268a: 8f 93 push r24 |
| 268c: 8b ed ldi r24, 0xDB ; 219 |
| 268e: 91 e0 ldi r25, 0x01 ; 1 |
| 2690: 9f 93 push r25 |
| 2692: 8f 93 push r24 |
| 2694: ff 92 push r15 |
| 2696: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 269a: 8d b7 in r24, 0x3d ; 61 |
| 269c: 9e b7 in r25, 0x3e ; 62 |
| 269e: 0a 96 adiw r24, 0x0a ; 10 |
| 26a0: f0 cd rjmp .-1056 ; 0x2282 <Menu+0x1e2> |
| 26a2: 10 92 cc 01 sts 0x01CC, r1 |
| 26a6: 8c ec ldi r24, 0xCC ; 204 |
| 26a8: 91 e0 ldi r25, 0x01 ; 1 |
| 26aa: 9f 93 push r25 |
| 26ac: 8f 93 push r24 |
| 26ae: ff 92 push r15 |
| 26b0: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 26b4: 84 e1 ldi r24, 0x14 ; 20 |
| 26b6: 80 93 cc 01 sts 0x01CC, r24 |
| 26ba: 80 91 1b 02 lds r24, 0x021B |
| 26be: 90 91 1c 02 lds r25, 0x021C |
| 26c2: 9f 93 push r25 |
| 26c4: 8f 93 push r24 |
| 26c6: 8d eb ldi r24, 0xBD ; 189 |
| 26c8: 91 e0 ldi r25, 0x01 ; 1 |
| 26ca: 9f 93 push r25 |
| 26cc: 8f 93 push r24 |
| 26ce: ff 92 push r15 |
| 26d0: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 26d4: 88 e2 ldi r24, 0x28 ; 40 |
| 26d6: 80 93 cc 01 sts 0x01CC, r24 |
| 26da: 80 91 17 02 lds r24, 0x0217 |
| 26de: 90 91 18 02 lds r25, 0x0218 |
| 26e2: 9f 93 push r25 |
| 26e4: 8f 93 push r24 |
| 26e6: 8e ea ldi r24, 0xAE ; 174 |
| 26e8: 91 e0 ldi r25, 0x01 ; 1 |
| 26ea: 9f 93 push r25 |
| 26ec: 8f 93 push r24 |
| 26ee: ff 92 push r15 |
| 26f0: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 26f4: 8c e3 ldi r24, 0x3C ; 60 |
| 26f6: 80 93 cc 01 sts 0x01CC, r24 |
| 26fa: 80 91 19 02 lds r24, 0x0219 |
| 26fe: 90 91 1a 02 lds r25, 0x021A |
| 2702: 9f 93 push r25 |
| 2704: 8f 93 push r24 |
| 2706: 8f e9 ldi r24, 0x9F ; 159 |
| 2708: 91 e0 ldi r25, 0x01 ; 1 |
| 270a: 9f 93 push r25 |
| 270c: 8f 93 push r24 |
| 270e: ff 92 push r15 |
| 2710: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2714: 8d b7 in r24, 0x3d ; 61 |
| 2716: 9e b7 in r25, 0x3e ; 62 |
| 2718: 42 96 adiw r24, 0x12 ; 18 |
| 271a: b3 cd rjmp .-1178 ; 0x2282 <Menu+0x1e2> |
| 271c: 10 92 cc 01 sts 0x01CC, r1 |
| 2720: 80 91 1f 02 lds r24, 0x021F |
| 2724: 90 91 20 02 lds r25, 0x0220 |
| 2728: 9f 93 push r25 |
| 272a: 8f 93 push r24 |
| 272c: 83 e9 ldi r24, 0x93 ; 147 |
| 272e: 91 e0 ldi r25, 0x01 ; 1 |
| 2730: 9f 93 push r25 |
| 2732: 8f 93 push r24 |
| 2734: ff 92 push r15 |
| 2736: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 273a: 84 e1 ldi r24, 0x14 ; 20 |
| 273c: 80 93 cc 01 sts 0x01CC, r24 |
| 2740: 80 91 21 02 lds r24, 0x0221 |
| 2744: 90 91 22 02 lds r25, 0x0222 |
| 2748: 9f 93 push r25 |
| 274a: 8f 93 push r24 |
| 274c: 87 e8 ldi r24, 0x87 ; 135 |
| 274e: 91 e0 ldi r25, 0x01 ; 1 |
| 2750: 9f 93 push r25 |
| 2752: 8f 93 push r24 |
| 2754: ff 92 push r15 |
| 2756: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 275a: 88 e2 ldi r24, 0x28 ; 40 |
| 275c: 80 93 cc 01 sts 0x01CC, r24 |
| 2760: 80 91 23 02 lds r24, 0x0223 |
| 2764: 90 91 24 02 lds r25, 0x0224 |
| 2768: 9f 93 push r25 |
| 276a: 8f 93 push r24 |
| 276c: 8b e7 ldi r24, 0x7B ; 123 |
| 276e: 91 e0 ldi r25, 0x01 ; 1 |
| 2770: 9f 93 push r25 |
| 2772: 8f 93 push r24 |
| 2774: ff 92 push r15 |
| 2776: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 277a: 8c e3 ldi r24, 0x3C ; 60 |
| 277c: 80 93 cc 01 sts 0x01CC, r24 |
| 2780: 80 91 25 02 lds r24, 0x0225 |
| 2784: 90 91 26 02 lds r25, 0x0226 |
| 2788: 9f 93 push r25 |
| 278a: 8f 93 push r24 |
| 278c: 8f e6 ldi r24, 0x6F ; 111 |
| 278e: 91 e0 ldi r25, 0x01 ; 1 |
| 2790: 9f 93 push r25 |
| 2792: 8f 93 push r24 |
| 2794: ff 92 push r15 |
| 2796: 70 cd rjmp .-1312 ; 0x2278 <Menu+0x1d8> |
| 2798: 10 92 cc 01 sts 0x01CC, r1 |
| 279c: 87 e6 ldi r24, 0x67 ; 103 |
| 279e: 91 e0 ldi r25, 0x01 ; 1 |
| 27a0: 9f 93 push r25 |
| 27a2: 8f 93 push r24 |
| 27a4: ff 92 push r15 |
| 27a6: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 27aa: 84 e1 ldi r24, 0x14 ; 20 |
| 27ac: 80 93 cc 01 sts 0x01CC, r24 |
| 27b0: 80 91 89 01 lds r24, 0x0189 |
| 27b4: 99 27 eor r25, r25 |
| 27b6: 9f 93 push r25 |
| 27b8: 8f 93 push r24 |
| 27ba: 89 e5 ldi r24, 0x59 ; 89 |
| 27bc: 91 e0 ldi r25, 0x01 ; 1 |
| 27be: 9f 93 push r25 |
| 27c0: 8f 93 push r24 |
| 27c2: ff 92 push r15 |
| 27c4: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 27c8: 88 e2 ldi r24, 0x28 ; 40 |
| 27ca: 80 93 cc 01 sts 0x01CC, r24 |
| 27ce: 80 91 ad 01 lds r24, 0x01AD |
| 27d2: 90 91 ae 01 lds r25, 0x01AE |
| 27d6: 9f 93 push r25 |
| 27d8: 8f 93 push r24 |
| 27da: 8b e4 ldi r24, 0x4B ; 75 |
| 27dc: 91 e0 ldi r25, 0x01 ; 1 |
| 27de: 9f 93 push r25 |
| 27e0: 8f 93 push r24 |
| 27e2: ff 92 push r15 |
| 27e4: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 27e8: 8c e3 ldi r24, 0x3C ; 60 |
| 27ea: 80 93 cc 01 sts 0x01CC, r24 |
| 27ee: 80 91 91 05 lds r24, 0x0591 |
| 27f2: 99 27 eor r25, r25 |
| 27f4: 9f 93 push r25 |
| 27f6: 8f 93 push r24 |
| 27f8: 80 91 90 05 lds r24, 0x0590 |
| 27fc: 99 27 eor r25, r25 |
| 27fe: 9f 93 push r25 |
| 2800: 8f 93 push r24 |
| 2802: 8d e3 ldi r24, 0x3D ; 61 |
| 2804: 91 e0 ldi r25, 0x01 ; 1 |
| 2806: 9f 93 push r25 |
| 2808: 8f 93 push r24 |
| 280a: ff 92 push r15 |
| 280c: 0e 94 c3 08 call 0x1186 ; 0x1186 <_printf_P> |
| 2810: 35 cd rjmp .-1430 ; 0x227c <Menu+0x1dc> |
| 2812: 01 50 subi r16, 0x01 ; 1 |
| 2814: 00 93 66 01 sts 0x0166, r16 |
| 2818: 10 92 ce 01 sts 0x01CE, r1 |
| 281c: 10 92 cd 01 sts 0x01CD, r1 |
| 2820: 1f 91 pop r17 |
| 2822: 0f 91 pop r16 |
| 2824: ff 90 pop r15 |
| 2826: 08 95 ret |
| 00002828 <i2c_init>: |
| 2828: 10 92 b9 00 sts 0x00B9, r1 |
| 282c: 8a e2 ldi r24, 0x2A ; 42 |
| 282e: 80 93 b8 00 sts 0x00B8, r24 |
| 2832: 08 95 ret |
| 00002834 <i2c_start>: |
| 2834: 85 ea ldi r24, 0xA5 ; 165 |
| 2836: 80 93 bc 00 sts 0x00BC, r24 |
| 283a: 80 e0 ldi r24, 0x00 ; 0 |
| 283c: 90 e0 ldi r25, 0x00 ; 0 |
| 283e: 08 95 ret |
| 00002840 <i2c_stop>: |
| 2840: 84 e9 ldi r24, 0x94 ; 148 |
| 2842: 80 93 bc 00 sts 0x00BC, r24 |
| 2846: 08 95 ret |
| 00002848 <i2c_write_byte>: |
| 2848: 10 92 b9 00 sts 0x00B9, r1 |
| 284c: 80 93 bb 00 sts 0x00BB, r24 |
| 2850: 85 e8 ldi r24, 0x85 ; 133 |
| 2852: 80 93 bc 00 sts 0x00BC, r24 |
| 2856: 80 e0 ldi r24, 0x00 ; 0 |
| 2858: 90 e0 ldi r25, 0x00 ; 0 |
| 285a: 08 95 ret |
| 0000285c <__vector_26>: |
| 285c: 1f 92 push r1 |
| 285e: 0f 92 push r0 |
| 2860: 0f b6 in r0, 0x3f ; 63 |
| 2862: 0f 92 push r0 |
| 2864: 11 24 eor r1, r1 |
| 2866: 8f 93 push r24 |
| 2868: 9f 93 push r25 |
| 286a: ef 93 push r30 |
| 286c: ff 93 push r31 |
| 286e: 80 91 cf 01 lds r24, 0x01CF |
| 2872: 8f 5f subi r24, 0xFF ; 255 |
| 2874: 80 93 cf 01 sts 0x01CF, r24 |
| 2878: 81 50 subi r24, 0x01 ; 1 |
| 287a: 83 30 cpi r24, 0x03 ; 3 |
| 287c: 09 f4 brne .+2 ; 0x2880 <__vector_26+0x24> |
| 287e: 42 c0 rjmp .+132 ; 0x2904 <__vector_26+0xa8> |
| 2880: 84 30 cpi r24, 0x04 ; 4 |
| 2882: 28 f4 brcc .+10 ; 0x288e <__vector_26+0x32> |
| 2884: 81 30 cpi r24, 0x01 ; 1 |
| 2886: a1 f0 breq .+40 ; 0x28b0 <__vector_26+0x54> |
| 2888: 82 30 cpi r24, 0x02 ; 2 |
| 288a: 70 f5 brcc .+92 ; 0x28e8 <__vector_26+0x8c> |
| 288c: 0c c0 rjmp .+24 ; 0x28a6 <__vector_26+0x4a> |
| 288e: 85 30 cpi r24, 0x05 ; 5 |
| 2890: 09 f4 brne .+2 ; 0x2894 <__vector_26+0x38> |
| 2892: 48 c0 rjmp .+144 ; 0x2924 <__vector_26+0xc8> |
| 2894: 85 30 cpi r24, 0x05 ; 5 |
| 2896: d8 f1 brcs .+118 ; 0x290e <__vector_26+0xb2> |
| 2898: 86 30 cpi r24, 0x06 ; 6 |
| 289a: 09 f4 brne .+2 ; 0x289e <__vector_26+0x42> |
| 289c: 4b c0 rjmp .+150 ; 0x2934 <__vector_26+0xd8> |
| 289e: 87 30 cpi r24, 0x07 ; 7 |
| 28a0: 09 f0 breq .+2 ; 0x28a4 <__vector_26+0x48> |
| 28a2: 71 c0 rjmp .+226 ; 0x2986 <__vector_26+0x12a> |
| 28a4: 5b c0 rjmp .+182 ; 0x295c <__vector_26+0x100> |
| 28a6: 80 91 d0 01 lds r24, 0x01D0 |
| 28aa: 88 0f add r24, r24 |
| 28ac: 8e 5a subi r24, 0xAE ; 174 |
| 28ae: 14 c0 rjmp .+40 ; 0x28d8 <__vector_26+0x7c> |
| 28b0: 80 91 d0 01 lds r24, 0x01D0 |
| 28b4: 8f 5f subi r24, 0xFF ; 255 |
| 28b6: 80 93 d0 01 sts 0x01D0, r24 |
| 28ba: 81 50 subi r24, 0x01 ; 1 |
| 28bc: 81 30 cpi r24, 0x01 ; 1 |
| 28be: 09 f4 brne .+2 ; 0x28c2 <__vector_26+0x66> |
| 28c0: 44 c0 rjmp .+136 ; 0x294a <__vector_26+0xee> |
| 28c2: 81 30 cpi r24, 0x01 ; 1 |
| 28c4: 38 f0 brcs .+14 ; 0x28d4 <__vector_26+0x78> |
| 28c6: 82 30 cpi r24, 0x02 ; 2 |
| 28c8: 09 f4 brne .+2 ; 0x28cc <__vector_26+0x70> |
| 28ca: 42 c0 rjmp .+132 ; 0x2950 <__vector_26+0xf4> |
| 28cc: 83 30 cpi r24, 0x03 ; 3 |
| 28ce: 09 f0 breq .+2 ; 0x28d2 <__vector_26+0x76> |
| 28d0: 5a c0 rjmp .+180 ; 0x2986 <__vector_26+0x12a> |
| 28d2: 41 c0 rjmp .+130 ; 0x2956 <__vector_26+0xfa> |
| 28d4: 80 91 96 02 lds r24, 0x0296 |
| 28d8: 10 92 b9 00 sts 0x00B9, r1 |
| 28dc: 80 93 bb 00 sts 0x00BB, r24 |
| 28e0: 85 e8 ldi r24, 0x85 ; 133 |
| 28e2: 80 93 bc 00 sts 0x00BC, r24 |
| 28e6: 4f c0 rjmp .+158 ; 0x2986 <__vector_26+0x12a> |
| 28e8: 84 e9 ldi r24, 0x94 ; 148 |
| 28ea: 80 93 bc 00 sts 0x00BC, r24 |
| 28ee: 80 91 d0 01 lds r24, 0x01D0 |
| 28f2: 84 30 cpi r24, 0x04 ; 4 |
| 28f4: 18 f4 brcc .+6 ; 0x28fc <__vector_26+0xa0> |
| 28f6: 10 92 cf 01 sts 0x01CF, r1 |
| 28fa: 02 c0 rjmp .+4 ; 0x2900 <__vector_26+0xa4> |
| 28fc: 10 92 d0 01 sts 0x01D0, r1 |
| 2900: 85 ea ldi r24, 0xA5 ; 165 |
| 2902: ef cf rjmp .-34 ; 0x28e2 <__vector_26+0x86> |
| 2904: 80 91 d1 01 lds r24, 0x01D1 |
| 2908: 88 0f add r24, r24 |
| 290a: 8d 5a subi r24, 0xAD ; 173 |
| 290c: e5 cf rjmp .-54 ; 0x28d8 <__vector_26+0x7c> |
| 290e: 80 91 d1 01 lds r24, 0x01D1 |
| 2912: 81 30 cpi r24, 0x01 ; 1 |
| 2914: d1 f0 breq .+52 ; 0x294a <__vector_26+0xee> |
| 2916: 81 30 cpi r24, 0x01 ; 1 |
| 2918: e8 f2 brcs .-70 ; 0x28d4 <__vector_26+0x78> |
| 291a: 82 30 cpi r24, 0x02 ; 2 |
| 291c: c9 f0 breq .+50 ; 0x2950 <__vector_26+0xf4> |
| 291e: 83 30 cpi r24, 0x03 ; 3 |
| 2920: 91 f5 brne .+100 ; 0x2986 <__vector_26+0x12a> |
| 2922: 19 c0 rjmp .+50 ; 0x2956 <__vector_26+0xfa> |
| 2924: 80 91 bb 00 lds r24, 0x00BB |
| 2928: e0 91 d1 01 lds r30, 0x01D1 |
| 292c: ff 27 eor r31, r31 |
| 292e: e7 5c subi r30, 0xC7 ; 199 |
| 2930: fa 4f sbci r31, 0xFA ; 250 |
| 2932: 80 83 st Z, r24 |
| 2934: 80 91 d1 01 lds r24, 0x01D1 |
| 2938: 81 30 cpi r24, 0x01 ; 1 |
| 293a: 39 f0 breq .+14 ; 0x294a <__vector_26+0xee> |
| 293c: 81 30 cpi r24, 0x01 ; 1 |
| 293e: 50 f2 brcs .-108 ; 0x28d4 <__vector_26+0x78> |
| 2940: 82 30 cpi r24, 0x02 ; 2 |
| 2942: 31 f0 breq .+12 ; 0x2950 <__vector_26+0xf4> |
| 2944: 83 30 cpi r24, 0x03 ; 3 |
| 2946: f9 f4 brne .+62 ; 0x2986 <__vector_26+0x12a> |
| 2948: 06 c0 rjmp .+12 ; 0x2956 <__vector_26+0xfa> |
| 294a: 80 91 97 02 lds r24, 0x0297 |
| 294e: c4 cf rjmp .-120 ; 0x28d8 <__vector_26+0x7c> |
| 2950: 80 91 9a 02 lds r24, 0x029A |
| 2954: c1 cf rjmp .-126 ; 0x28d8 <__vector_26+0x7c> |
| 2956: 80 91 a6 02 lds r24, 0x02A6 |
| 295a: be cf rjmp .-132 ; 0x28d8 <__vector_26+0x7c> |
| 295c: 80 91 d1 01 lds r24, 0x01D1 |
| 2960: 90 91 bb 00 lds r25, 0x00BB |
| 2964: e8 2f mov r30, r24 |
| 2966: ff 27 eor r31, r31 |
| 2968: e7 5c subi r30, 0xC7 ; 199 |
| 296a: fa 4f sbci r31, 0xFA ; 250 |
| 296c: 94 83 std Z+4, r25 ; 0x04 |
| 296e: 8f 5f subi r24, 0xFF ; 255 |
| 2970: 80 93 d1 01 sts 0x01D1, r24 |
| 2974: 84 30 cpi r24, 0x04 ; 4 |
| 2976: 10 f0 brcs .+4 ; 0x297c <__vector_26+0x120> |
| 2978: 10 92 d1 01 sts 0x01D1, r1 |
| 297c: 84 e9 ldi r24, 0x94 ; 148 |
| 297e: 80 93 bc 00 sts 0x00BC, r24 |
| 2982: 10 92 cf 01 sts 0x01CF, r1 |
| 2986: ff 91 pop r31 |
| 2988: ef 91 pop r30 |
| 298a: 9f 91 pop r25 |
| 298c: 8f 91 pop r24 |
| 298e: 0f 90 pop r0 |
| 2990: 0f be out 0x3f, r0 ; 63 |
| 2992: 0f 90 pop r0 |
| 2994: 1f 90 pop r1 |
| 2996: 18 95 reti |
| 00002998 <rc_sum_init>: |
| 2998: 83 ec ldi r24, 0xC3 ; 195 |
| 299a: 80 93 81 00 sts 0x0081, r24 |
| 299e: ef e6 ldi r30, 0x6F ; 111 |
| 29a0: f0 e0 ldi r31, 0x00 ; 0 |
| 29a2: 80 81 ld r24, Z |
| 29a4: 80 62 ori r24, 0x20 ; 32 |
| 29a6: 80 83 st Z, r24 |
| 29a8: 10 92 dc 01 sts 0x01DC, r1 |
| 29ac: 10 92 db 01 sts 0x01DB, r1 |
| 29b0: 10 92 da 01 sts 0x01DA, r1 |
| 29b4: 10 92 d9 01 sts 0x01D9, r1 |
| 29b8: 10 92 d8 01 sts 0x01D8, r1 |
| 29bc: 10 92 d7 01 sts 0x01D7, r1 |
| 29c0: 08 95 ret |
| 000029c2 <__vector_12>: |
| 29c2: 1f 92 push r1 |
| 29c4: 0f 92 push r0 |
| 29c6: 0f b6 in r0, 0x3f ; 63 |
| 29c8: 0f 92 push r0 |
| 29ca: 11 24 eor r1, r1 |
| 29cc: 0f 93 push r16 |
| 29ce: 1f 93 push r17 |
| 29d0: 2f 93 push r18 |
| 29d2: 3f 93 push r19 |
| 29d4: 4f 93 push r20 |
| 29d6: 5f 93 push r21 |
| 29d8: 6f 93 push r22 |
| 29da: 7f 93 push r23 |
| 29dc: 8f 93 push r24 |
| 29de: 9f 93 push r25 |
| 29e0: af 93 push r26 |
| 29e2: bf 93 push r27 |
| 29e4: cf 93 push r28 |
| 29e6: df 93 push r29 |
| 29e8: ef 93 push r30 |
| 29ea: ff 93 push r31 |
| 29ec: 20 91 86 00 lds r18, 0x0086 |
| 29f0: 30 91 87 00 lds r19, 0x0087 |
| 29f4: 80 91 d4 01 lds r24, 0x01D4 |
| 29f8: 90 91 d5 01 lds r25, 0x01D5 |
| 29fc: 28 1b sub r18, r24 |
| 29fe: 39 0b sbc r19, r25 |
| 2a00: 80 91 86 00 lds r24, 0x0086 |
| 2a04: 90 91 87 00 lds r25, 0x0087 |
| 2a08: 90 93 d5 01 sts 0x01D5, r25 |
| 2a0c: 80 93 d4 01 sts 0x01D4, r24 |
| 2a10: c9 01 movw r24, r18 |
| 2a12: 8d 5d subi r24, 0xDD ; 221 |
| 2a14: 95 40 sbci r25, 0x05 ; 5 |
| 2a16: 83 56 subi r24, 0x63 ; 99 |
| 2a18: 99 41 sbci r25, 0x19 ; 25 |
| 2a1a: 48 f4 brcc .+18 ; 0x2a2e <__vector_12+0x6c> |
| 2a1c: 81 e0 ldi r24, 0x01 ; 1 |
| 2a1e: 90 e0 ldi r25, 0x00 ; 0 |
| 2a20: 90 93 d3 01 sts 0x01D3, r25 |
| 2a24: 80 93 d2 01 sts 0x01D2, r24 |
| 2a28: 10 92 67 01 sts 0x0167, r1 |
| 2a2c: 54 c0 rjmp .+168 ; 0x2ad6 <__vector_12+0x114> |
| 2a2e: c0 91 d2 01 lds r28, 0x01D2 |
| 2a32: d0 91 d3 01 lds r29, 0x01D3 |
| 2a36: ca 30 cpi r28, 0x0A ; 10 |
| 2a38: d1 05 cpc r29, r1 |
| 2a3a: 0c f0 brlt .+2 ; 0x2a3e <__vector_12+0x7c> |
| 2a3c: 4c c0 rjmp .+152 ; 0x2ad6 <__vector_12+0x114> |
| 2a3e: c9 01 movw r24, r18 |
| 2a40: 8b 5f subi r24, 0xFB ; 251 |
| 2a42: 90 40 sbci r25, 0x00 ; 0 |
| 2a44: 84 5b subi r24, 0xB4 ; 180 |
| 2a46: 91 40 sbci r25, 0x01 ; 1 |
| 2a48: 08 f0 brcs .+2 ; 0x2a4c <__vector_12+0x8a> |
| 2a4a: 40 c0 rjmp .+128 ; 0x2acc <__vector_12+0x10a> |
| 2a4c: a9 01 movw r20, r18 |
| 2a4e: 42 5d subi r20, 0xD2 ; 210 |
| 2a50: 51 40 sbci r21, 0x01 ; 1 |
| 2a52: fe 01 movw r30, r28 |
| 2a54: ee 0f add r30, r30 |
| 2a56: ff 1f adc r31, r31 |
| 2a58: ef 5b subi r30, 0xBF ; 191 |
| 2a5a: fa 4f sbci r31, 0xFA ; 250 |
| 2a5c: 80 81 ld r24, Z |
| 2a5e: 91 81 ldd r25, Z+1 ; 0x01 |
| 2a60: fa 01 movw r30, r20 |
| 2a62: e8 1b sub r30, r24 |
| 2a64: f9 0b sbc r31, r25 |
| 2a66: cf 01 movw r24, r30 |
| 2a68: f7 ff sbrs r31, 7 |
| 2a6a: 03 c0 rjmp .+6 ; 0x2a72 <__vector_12+0xb0> |
| 2a6c: 90 95 com r25 |
| 2a6e: 81 95 neg r24 |
| 2a70: 9f 4f sbci r25, 0xFF ; 255 |
| 2a72: 06 97 sbiw r24, 0x06 ; 6 |
| 2a74: 4c f4 brge .+18 ; 0x2a88 <__vector_12+0xc6> |
| 2a76: 80 91 27 02 lds r24, 0x0227 |
| 2a7a: 88 3c cpi r24, 0xC8 ; 200 |
| 2a7c: 28 f4 brcc .+10 ; 0x2a88 <__vector_12+0xc6> |
| 2a7e: 80 91 27 02 lds r24, 0x0227 |
| 2a82: 86 5f subi r24, 0xF6 ; 246 |
| 2a84: 80 93 27 02 sts 0x0227, r24 |
| 2a88: fe 01 movw r30, r28 |
| 2a8a: ee 0f add r30, r30 |
| 2a8c: ff 1f adc r31, r31 |
| 2a8e: 8f 01 movw r16, r30 |
| 2a90: 0f 5b subi r16, 0xBF ; 191 |
| 2a92: 1a 4f sbci r17, 0xFA ; 250 |
| 2a94: d8 01 movw r26, r16 |
| 2a96: 2d 91 ld r18, X+ |
| 2a98: 3c 91 ld r19, X |
| 2a9a: c9 01 movw r24, r18 |
| 2a9c: 88 0f add r24, r24 |
| 2a9e: 99 1f adc r25, r25 |
| 2aa0: 82 0f add r24, r18 |
| 2aa2: 93 1f adc r25, r19 |
| 2aa4: 84 0f add r24, r20 |
| 2aa6: 95 1f adc r25, r21 |
| 2aa8: 64 e0 ldi r22, 0x04 ; 4 |
| 2aaa: 70 e0 ldi r23, 0x00 ; 0 |
| 2aac: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 2ab0: d8 01 movw r26, r16 |
| 2ab2: 8d 91 ld r24, X+ |
| 2ab4: 9c 91 ld r25, X |
| 2ab6: 11 97 sbiw r26, 0x01 ; 1 |
| 2ab8: 9b 01 movw r18, r22 |
| 2aba: 28 1b sub r18, r24 |
| 2abc: 39 0b sbc r19, r25 |
| 2abe: e9 5a subi r30, 0xA9 ; 169 |
| 2ac0: fa 4f sbci r31, 0xFA ; 250 |
| 2ac2: 31 83 std Z+1, r19 ; 0x01 |
| 2ac4: 20 83 st Z, r18 |
| 2ac6: 11 96 adiw r26, 0x01 ; 1 |
| 2ac8: 7c 93 st X, r23 |
| 2aca: 6e 93 st -X, r22 |
| 2acc: 21 96 adiw r28, 0x01 ; 1 |
| 2ace: d0 93 d3 01 sts 0x01D3, r29 |
| 2ad2: c0 93 d2 01 sts 0x01D2, r28 |
| 2ad6: ff 91 pop r31 |
| 2ad8: ef 91 pop r30 |
| 2ada: df 91 pop r29 |
| 2adc: cf 91 pop r28 |
| 2ade: bf 91 pop r27 |
| 2ae0: af 91 pop r26 |
| 2ae2: 9f 91 pop r25 |
| 2ae4: 8f 91 pop r24 |
| 2ae6: 7f 91 pop r23 |
| 2ae8: 6f 91 pop r22 |
| 2aea: 5f 91 pop r21 |
| 2aec: 4f 91 pop r20 |
| 2aee: 3f 91 pop r19 |
| 2af0: 2f 91 pop r18 |
| 2af2: 1f 91 pop r17 |
| 2af4: 0f 91 pop r16 |
| 2af6: 0f 90 pop r0 |
| 2af8: 0f be out 0x3f, r0 ; 63 |
| 2afa: 0f 90 pop r0 |
| 2afc: 1f 90 pop r1 |
| 2afe: 18 95 reti |
| 00002b00 <Mittelwert>: |
| 2b00: af 92 push r10 |
| 2b02: bf 92 push r11 |
| 2b04: cf 92 push r12 |
| 2b06: df 92 push r13 |
| 2b08: ef 92 push r14 |
| 2b0a: ff 92 push r15 |
| 2b0c: 0f 93 push r16 |
| 2b0e: 1f 93 push r17 |
| 2b10: 10 92 7a 00 sts 0x007A, r1 |
| 2b14: 80 91 be 01 lds r24, 0x01BE |
| 2b18: 88 23 and r24, r24 |
| 2b1a: 69 f0 breq .+26 ; 0x2b36 <Mittelwert+0x36> |
| 2b1c: 80 91 b2 01 lds r24, 0x01B2 |
| 2b20: 90 91 b3 01 lds r25, 0x01B3 |
| 2b24: 60 91 be 01 lds r22, 0x01BE |
| 2b28: 77 27 eor r23, r23 |
| 2b2a: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 2b2e: 70 93 aa 05 sts 0x05AA, r23 |
| 2b32: 60 93 a9 05 sts 0x05A9, r22 |
| 2b36: 80 91 bf 01 lds r24, 0x01BF |
| 2b3a: 88 23 and r24, r24 |
| 2b3c: 69 f0 breq .+26 ; 0x2b58 <Mittelwert+0x58> |
| 2b3e: 80 91 b4 01 lds r24, 0x01B4 |
| 2b42: 90 91 b5 01 lds r25, 0x01B5 |
| 2b46: 60 91 bf 01 lds r22, 0x01BF |
| 2b4a: 77 27 eor r23, r23 |
| 2b4c: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 2b50: 70 93 a8 05 sts 0x05A8, r23 |
| 2b54: 60 93 a7 05 sts 0x05A7, r22 |
| 2b58: 80 91 c0 01 lds r24, 0x01C0 |
| 2b5c: 88 23 and r24, r24 |
| 2b5e: 69 f0 breq .+26 ; 0x2b7a <Mittelwert+0x7a> |
| 2b60: 80 91 b6 01 lds r24, 0x01B6 |
| 2b64: 90 91 b7 01 lds r25, 0x01B7 |
| 2b68: 60 91 c0 01 lds r22, 0x01C0 |
| 2b6c: 77 27 eor r23, r23 |
| 2b6e: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 2b72: 70 93 b6 05 sts 0x05B6, r23 |
| 2b76: 60 93 b5 05 sts 0x05B5, r22 |
| 2b7a: 80 91 c1 01 lds r24, 0x01C1 |
| 2b7e: 88 23 and r24, r24 |
| 2b80: d9 f1 breq .+118 ; 0x2bf8 <Mittelwert+0xf8> |
| 2b82: e0 90 b2 05 lds r14, 0x05B2 |
| 2b86: f0 90 b3 05 lds r15, 0x05B3 |
| 2b8a: 60 91 ba 01 lds r22, 0x01BA |
| 2b8e: 70 91 bb 01 lds r23, 0x01BB |
| 2b92: 20 91 c1 01 lds r18, 0x01C1 |
| 2b96: 00 27 eor r16, r16 |
| 2b98: f7 fc sbrc r15, 7 |
| 2b9a: 00 95 com r16 |
| 2b9c: 10 2f mov r17, r16 |
| 2b9e: 57 01 movw r10, r14 |
| 2ba0: 68 01 movw r12, r16 |
| 2ba2: 43 e0 ldi r20, 0x03 ; 3 |
| 2ba4: aa 0c add r10, r10 |
| 2ba6: bb 1c adc r11, r11 |
| 2ba8: cc 1c adc r12, r12 |
| 2baa: dd 1c adc r13, r13 |
| 2bac: 4a 95 dec r20 |
| 2bae: d1 f7 brne .-12 ; 0x2ba4 <Mittelwert+0xa4> |
| 2bb0: ae 18 sub r10, r14 |
| 2bb2: bf 08 sbc r11, r15 |
| 2bb4: c0 0a sbc r12, r16 |
| 2bb6: d1 0a sbc r13, r17 |
| 2bb8: 88 27 eor r24, r24 |
| 2bba: 77 fd sbrc r23, 7 |
| 2bbc: 80 95 com r24 |
| 2bbe: 98 2f mov r25, r24 |
| 2bc0: 34 e0 ldi r19, 0x04 ; 4 |
| 2bc2: 66 0f add r22, r22 |
| 2bc4: 77 1f adc r23, r23 |
| 2bc6: 88 1f adc r24, r24 |
| 2bc8: 99 1f adc r25, r25 |
| 2bca: 3a 95 dec r19 |
| 2bcc: d1 f7 brne .-12 ; 0x2bc2 <Mittelwert+0xc2> |
| 2bce: 33 27 eor r19, r19 |
| 2bd0: 44 27 eor r20, r20 |
| 2bd2: 55 27 eor r21, r21 |
| 2bd4: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 2bd8: a2 0e add r10, r18 |
| 2bda: b3 1e adc r11, r19 |
| 2bdc: c4 1e adc r12, r20 |
| 2bde: d5 1e adc r13, r21 |
| 2be0: c6 01 movw r24, r12 |
| 2be2: b5 01 movw r22, r10 |
| 2be4: 28 e0 ldi r18, 0x08 ; 8 |
| 2be6: 30 e0 ldi r19, 0x00 ; 0 |
| 2be8: 40 e0 ldi r20, 0x00 ; 0 |
| 2bea: 50 e0 ldi r21, 0x00 ; 0 |
| 2bec: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 2bf0: 30 93 b3 05 sts 0x05B3, r19 |
| 2bf4: 20 93 b2 05 sts 0x05B2, r18 |
| 2bf8: 80 91 c2 01 lds r24, 0x01C2 |
| 2bfc: 88 23 and r24, r24 |
| 2bfe: d9 f1 breq .+118 ; 0x2c76 <Mittelwert+0x176> |
| 2c00: e0 90 bb 05 lds r14, 0x05BB |
| 2c04: f0 90 bc 05 lds r15, 0x05BC |
| 2c08: 60 91 b8 01 lds r22, 0x01B8 |
| 2c0c: 70 91 b9 01 lds r23, 0x01B9 |
| 2c10: 20 91 c2 01 lds r18, 0x01C2 |
| 2c14: 00 27 eor r16, r16 |
| 2c16: f7 fc sbrc r15, 7 |
| 2c18: 00 95 com r16 |
| 2c1a: 10 2f mov r17, r16 |
| 2c1c: 57 01 movw r10, r14 |
| 2c1e: 68 01 movw r12, r16 |
| 2c20: 83 e0 ldi r24, 0x03 ; 3 |
| 2c22: aa 0c add r10, r10 |
| 2c24: bb 1c adc r11, r11 |
| 2c26: cc 1c adc r12, r12 |
| 2c28: dd 1c adc r13, r13 |
| 2c2a: 8a 95 dec r24 |
| 2c2c: d1 f7 brne .-12 ; 0x2c22 <Mittelwert+0x122> |
| 2c2e: ae 18 sub r10, r14 |
| 2c30: bf 08 sbc r11, r15 |
| 2c32: c0 0a sbc r12, r16 |
| 2c34: d1 0a sbc r13, r17 |
| 2c36: 88 27 eor r24, r24 |
| 2c38: 77 fd sbrc r23, 7 |
| 2c3a: 80 95 com r24 |
| 2c3c: 98 2f mov r25, r24 |
| 2c3e: b4 e0 ldi r27, 0x04 ; 4 |
| 2c40: 66 0f add r22, r22 |
| 2c42: 77 1f adc r23, r23 |
| 2c44: 88 1f adc r24, r24 |
| 2c46: 99 1f adc r25, r25 |
| 2c48: ba 95 dec r27 |
| 2c4a: d1 f7 brne .-12 ; 0x2c40 <Mittelwert+0x140> |
| 2c4c: 33 27 eor r19, r19 |
| 2c4e: 44 27 eor r20, r20 |
| 2c50: 55 27 eor r21, r21 |
| 2c52: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 2c56: a2 0e add r10, r18 |
| 2c58: b3 1e adc r11, r19 |
| 2c5a: c4 1e adc r12, r20 |
| 2c5c: d5 1e adc r13, r21 |
| 2c5e: c6 01 movw r24, r12 |
| 2c60: b5 01 movw r22, r10 |
| 2c62: 28 e0 ldi r18, 0x08 ; 8 |
| 2c64: 30 e0 ldi r19, 0x00 ; 0 |
| 2c66: 40 e0 ldi r20, 0x00 ; 0 |
| 2c68: 50 e0 ldi r21, 0x00 ; 0 |
| 2c6a: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 2c6e: 30 93 bc 05 sts 0x05BC, r19 |
| 2c72: 20 93 bb 05 sts 0x05BB, r18 |
| 2c76: 80 91 c3 01 lds r24, 0x01C3 |
| 2c7a: 88 23 and r24, r24 |
| 2c7c: a1 f1 breq .+104 ; 0x2ce6 <Mittelwert+0x1e6> |
| 2c7e: e0 90 ac 05 lds r14, 0x05AC |
| 2c82: f0 90 ad 05 lds r15, 0x05AD |
| 2c86: 60 91 bc 01 lds r22, 0x01BC |
| 2c8a: 70 91 bd 01 lds r23, 0x01BD |
| 2c8e: 20 91 c3 01 lds r18, 0x01C3 |
| 2c92: 00 27 eor r16, r16 |
| 2c94: f7 fc sbrc r15, 7 |
| 2c96: 00 95 com r16 |
| 2c98: 10 2f mov r17, r16 |
| 2c9a: 57 01 movw r10, r14 |
| 2c9c: 68 01 movw r12, r16 |
| 2c9e: a3 e0 ldi r26, 0x03 ; 3 |
| 2ca0: aa 0c add r10, r10 |
| 2ca2: bb 1c adc r11, r11 |
| 2ca4: cc 1c adc r12, r12 |
| 2ca6: dd 1c adc r13, r13 |
| 2ca8: aa 95 dec r26 |
| 2caa: d1 f7 brne .-12 ; 0x2ca0 <Mittelwert+0x1a0> |
| 2cac: ae 18 sub r10, r14 |
| 2cae: bf 08 sbc r11, r15 |
| 2cb0: c0 0a sbc r12, r16 |
| 2cb2: d1 0a sbc r13, r17 |
| 2cb4: 88 27 eor r24, r24 |
| 2cb6: 77 fd sbrc r23, 7 |
| 2cb8: 80 95 com r24 |
| 2cba: 98 2f mov r25, r24 |
| 2cbc: 33 27 eor r19, r19 |
| 2cbe: 44 27 eor r20, r20 |
| 2cc0: 55 27 eor r21, r21 |
| 2cc2: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 2cc6: a2 0e add r10, r18 |
| 2cc8: b3 1e adc r11, r19 |
| 2cca: c4 1e adc r12, r20 |
| 2ccc: d5 1e adc r13, r21 |
| 2cce: c6 01 movw r24, r12 |
| 2cd0: b5 01 movw r22, r10 |
| 2cd2: 28 e0 ldi r18, 0x08 ; 8 |
| 2cd4: 30 e0 ldi r19, 0x00 ; 0 |
| 2cd6: 40 e0 ldi r20, 0x00 ; 0 |
| 2cd8: 50 e0 ldi r21, 0x00 ; 0 |
| 2cda: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 2cde: 30 93 ad 05 sts 0x05AD, r19 |
| 2ce2: 20 93 ac 05 sts 0x05AC, r18 |
| 2ce6: 10 92 b3 01 sts 0x01B3, r1 |
| 2cea: 10 92 b2 01 sts 0x01B2, r1 |
| 2cee: 10 92 be 01 sts 0x01BE, r1 |
| 2cf2: 10 92 b5 01 sts 0x01B5, r1 |
| 2cf6: 10 92 b4 01 sts 0x01B4, r1 |
| 2cfa: 10 92 bf 01 sts 0x01BF, r1 |
| 2cfe: 10 92 b7 01 sts 0x01B7, r1 |
| 2d02: 10 92 b6 01 sts 0x01B6, r1 |
| 2d06: 10 92 c0 01 sts 0x01C0, r1 |
| 2d0a: 10 92 b9 01 sts 0x01B9, r1 |
| 2d0e: 10 92 b8 01 sts 0x01B8, r1 |
| 2d12: 10 92 c2 01 sts 0x01C2, r1 |
| 2d16: 10 92 bb 01 sts 0x01BB, r1 |
| 2d1a: 10 92 ba 01 sts 0x01BA, r1 |
| 2d1e: 10 92 c1 01 sts 0x01C1, r1 |
| 2d22: 10 92 bd 01 sts 0x01BD, r1 |
| 2d26: 10 92 bc 01 sts 0x01BC, r1 |
| 2d2a: 10 92 c3 01 sts 0x01C3, r1 |
| 2d2e: 80 91 0b 02 lds r24, 0x020B |
| 2d32: 90 91 0c 02 lds r25, 0x020C |
| 2d36: a0 91 0d 02 lds r26, 0x020D |
| 2d3a: b0 91 0e 02 lds r27, 0x020E |
| 2d3e: 80 93 f7 01 sts 0x01F7, r24 |
| 2d42: 90 93 f8 01 sts 0x01F8, r25 |
| 2d46: a0 93 f9 01 sts 0x01F9, r26 |
| 2d4a: b0 93 fa 01 sts 0x01FA, r27 |
| 2d4e: 80 91 fb 01 lds r24, 0x01FB |
| 2d52: 90 91 fc 01 lds r25, 0x01FC |
| 2d56: a0 91 fd 01 lds r26, 0x01FD |
| 2d5a: b0 91 fe 01 lds r27, 0x01FE |
| 2d5e: 80 93 e7 01 sts 0x01E7, r24 |
| 2d62: 90 93 e8 01 sts 0x01E8, r25 |
| 2d66: a0 93 e9 01 sts 0x01E9, r26 |
| 2d6a: b0 93 ea 01 sts 0x01EA, r27 |
| 2d6e: 80 91 03 02 lds r24, 0x0203 |
| 2d72: 90 91 04 02 lds r25, 0x0204 |
| 2d76: a0 91 05 02 lds r26, 0x0205 |
| 2d7a: b0 91 06 02 lds r27, 0x0206 |
| 2d7e: 80 93 ef 01 sts 0x01EF, r24 |
| 2d82: 90 93 f0 01 sts 0x01F0, r25 |
| 2d86: a0 93 f1 01 sts 0x01F1, r26 |
| 2d8a: b0 93 f2 01 sts 0x01F2, r27 |
| 2d8e: 80 91 ff 01 lds r24, 0x01FF |
| 2d92: 90 91 00 02 lds r25, 0x0200 |
| 2d96: a0 91 01 02 lds r26, 0x0201 |
| 2d9a: b0 91 02 02 lds r27, 0x0202 |
| 2d9e: 80 93 eb 01 sts 0x01EB, r24 |
| 2da2: 90 93 ec 01 sts 0x01EC, r25 |
| 2da6: a0 93 ed 01 sts 0x01ED, r26 |
| 2daa: b0 93 ee 01 sts 0x01EE, r27 |
| 2dae: 80 91 07 02 lds r24, 0x0207 |
| 2db2: 90 91 08 02 lds r25, 0x0208 |
| 2db6: a0 91 09 02 lds r26, 0x0209 |
| 2dba: b0 91 0a 02 lds r27, 0x020A |
| 2dbe: 80 93 f3 01 sts 0x01F3, r24 |
| 2dc2: 90 93 f4 01 sts 0x01F4, r25 |
| 2dc6: a0 93 f5 01 sts 0x01F5, r26 |
| 2dca: b0 93 f6 01 sts 0x01F6, r27 |
| 2dce: 8f ee ldi r24, 0xEF ; 239 |
| 2dd0: 80 93 7a 00 sts 0x007A, r24 |
| 2dd4: 80 91 a9 05 lds r24, 0x05A9 |
| 2dd8: 90 91 aa 05 lds r25, 0x05AA |
| 2ddc: 89 3c cpi r24, 0xC9 ; 201 |
| 2dde: 91 05 cpc r25, r1 |
| 2de0: 7c f0 brlt .+30 ; 0x2e00 <Mittelwert+0x300> |
| 2de2: 20 91 a9 05 lds r18, 0x05A9 |
| 2de6: 30 91 aa 05 lds r19, 0x05AA |
| 2dea: 80 91 a9 05 lds r24, 0x05A9 |
| 2dee: 90 91 aa 05 lds r25, 0x05AA |
| 2df2: 88 0f add r24, r24 |
| 2df4: 99 1f adc r25, r25 |
| 2df6: 88 0f add r24, r24 |
| 2df8: 99 1f adc r25, r25 |
| 2dfa: 20 52 subi r18, 0x20 ; 32 |
| 2dfc: 33 40 sbci r19, 0x03 ; 3 |
| 2dfe: 15 c0 rjmp .+42 ; 0x2e2a <Mittelwert+0x32a> |
| 2e00: 80 91 a9 05 lds r24, 0x05A9 |
| 2e04: 90 91 aa 05 lds r25, 0x05AA |
| 2e08: 88 53 subi r24, 0x38 ; 56 |
| 2e0a: 9f 4f sbci r25, 0xFF ; 255 |
| 2e0c: a4 f4 brge .+40 ; 0x2e36 <Mittelwert+0x336> |
| 2e0e: 20 91 a9 05 lds r18, 0x05A9 |
| 2e12: 30 91 aa 05 lds r19, 0x05AA |
| 2e16: 80 91 a9 05 lds r24, 0x05A9 |
| 2e1a: 90 91 aa 05 lds r25, 0x05AA |
| 2e1e: 88 0f add r24, r24 |
| 2e20: 99 1f adc r25, r25 |
| 2e22: 88 0f add r24, r24 |
| 2e24: 99 1f adc r25, r25 |
| 2e26: 20 5e subi r18, 0xE0 ; 224 |
| 2e28: 3c 4f sbci r19, 0xFC ; 252 |
| 2e2a: 82 0f add r24, r18 |
| 2e2c: 93 1f adc r25, r19 |
| 2e2e: 90 93 aa 05 sts 0x05AA, r25 |
| 2e32: 80 93 a9 05 sts 0x05A9, r24 |
| 2e36: 80 91 a7 05 lds r24, 0x05A7 |
| 2e3a: 90 91 a8 05 lds r25, 0x05A8 |
| 2e3e: 89 3c cpi r24, 0xC9 ; 201 |
| 2e40: 91 05 cpc r25, r1 |
| 2e42: 7c f0 brlt .+30 ; 0x2e62 <Mittelwert+0x362> |
| 2e44: 20 91 a7 05 lds r18, 0x05A7 |
| 2e48: 30 91 a8 05 lds r19, 0x05A8 |
| 2e4c: 80 91 a7 05 lds r24, 0x05A7 |
| 2e50: 90 91 a8 05 lds r25, 0x05A8 |
| 2e54: 88 0f add r24, r24 |
| 2e56: 99 1f adc r25, r25 |
| 2e58: 88 0f add r24, r24 |
| 2e5a: 99 1f adc r25, r25 |
| 2e5c: 20 52 subi r18, 0x20 ; 32 |
| 2e5e: 33 40 sbci r19, 0x03 ; 3 |
| 2e60: 15 c0 rjmp .+42 ; 0x2e8c <Mittelwert+0x38c> |
| 2e62: 80 91 a7 05 lds r24, 0x05A7 |
| 2e66: 90 91 a8 05 lds r25, 0x05A8 |
| 2e6a: 88 53 subi r24, 0x38 ; 56 |
| 2e6c: 9f 4f sbci r25, 0xFF ; 255 |
| 2e6e: a4 f4 brge .+40 ; 0x2e98 <Mittelwert+0x398> |
| 2e70: 20 91 a7 05 lds r18, 0x05A7 |
| 2e74: 30 91 a8 05 lds r19, 0x05A8 |
| 2e78: 80 91 a7 05 lds r24, 0x05A7 |
| 2e7c: 90 91 a8 05 lds r25, 0x05A8 |
| 2e80: 88 0f add r24, r24 |
| 2e82: 99 1f adc r25, r25 |
| 2e84: 88 0f add r24, r24 |
| 2e86: 99 1f adc r25, r25 |
| 2e88: 20 5e subi r18, 0xE0 ; 224 |
| 2e8a: 3c 4f sbci r19, 0xFC ; 252 |
| 2e8c: 82 0f add r24, r18 |
| 2e8e: 93 1f adc r25, r19 |
| 2e90: 90 93 a8 05 sts 0x05A8, r25 |
| 2e94: 80 93 a7 05 sts 0x05A7, r24 |
| 2e98: 20 91 1f 02 lds r18, 0x021F |
| 2e9c: 30 91 20 02 lds r19, 0x0220 |
| 2ea0: 80 91 71 05 lds r24, 0x0571 |
| 2ea4: e8 2f mov r30, r24 |
| 2ea6: ff 27 eor r31, r31 |
| 2ea8: ee 0f add r30, r30 |
| 2eaa: ff 1f adc r31, r31 |
| 2eac: ef 5b subi r30, 0xBF ; 191 |
| 2eae: fa 4f sbci r31, 0xFA ; 250 |
| 2eb0: 80 81 ld r24, Z |
| 2eb2: 91 81 ldd r25, Z+1 ; 0x01 |
| 2eb4: 82 59 subi r24, 0x92 ; 146 |
| 2eb6: 9f 4f sbci r25, 0xFF ; 255 |
| 2eb8: 28 17 cp r18, r24 |
| 2eba: 39 07 cpc r19, r25 |
| 2ebc: 1c f4 brge .+6 ; 0x2ec4 <Mittelwert+0x3c4> |
| 2ebe: 2f 5f subi r18, 0xFF ; 255 |
| 2ec0: 3f 4f sbci r19, 0xFF ; 255 |
| 2ec2: 0c c0 rjmp .+24 ; 0x2edc <Mittelwert+0x3dc> |
| 2ec4: 80 81 ld r24, Z |
| 2ec6: 91 81 ldd r25, Z+1 ; 0x01 |
| 2ec8: 82 59 subi r24, 0x92 ; 146 |
| 2eca: 9f 4f sbci r25, 0xFF ; 255 |
| 2ecc: 82 17 cp r24, r18 |
| 2ece: 93 07 cpc r25, r19 |
| 2ed0: 4c f4 brge .+18 ; 0x2ee4 <Mittelwert+0x3e4> |
| 2ed2: 21 15 cp r18, r1 |
| 2ed4: 31 05 cpc r19, r1 |
| 2ed6: 31 f0 breq .+12 ; 0x2ee4 <Mittelwert+0x3e4> |
| 2ed8: 21 50 subi r18, 0x01 ; 1 |
| 2eda: 30 40 sbci r19, 0x00 ; 0 |
| 2edc: 30 93 20 02 sts 0x0220, r19 |
| 2ee0: 20 93 1f 02 sts 0x021F, r18 |
| 2ee4: 20 91 21 02 lds r18, 0x0221 |
| 2ee8: 30 91 22 02 lds r19, 0x0222 |
| 2eec: 80 91 72 05 lds r24, 0x0572 |
| 2ef0: e8 2f mov r30, r24 |
| 2ef2: ff 27 eor r31, r31 |
| 2ef4: ee 0f add r30, r30 |
| 2ef6: ff 1f adc r31, r31 |
| 2ef8: ef 5b subi r30, 0xBF ; 191 |
| 2efa: fa 4f sbci r31, 0xFA ; 250 |
| 2efc: 80 81 ld r24, Z |
| 2efe: 91 81 ldd r25, Z+1 ; 0x01 |
| 2f00: 82 59 subi r24, 0x92 ; 146 |
| 2f02: 9f 4f sbci r25, 0xFF ; 255 |
| 2f04: 28 17 cp r18, r24 |
| 2f06: 39 07 cpc r19, r25 |
| 2f08: 1c f4 brge .+6 ; 0x2f10 <Mittelwert+0x410> |
| 2f0a: 2f 5f subi r18, 0xFF ; 255 |
| 2f0c: 3f 4f sbci r19, 0xFF ; 255 |
| 2f0e: 0c c0 rjmp .+24 ; 0x2f28 <Mittelwert+0x428> |
| 2f10: 80 81 ld r24, Z |
| 2f12: 91 81 ldd r25, Z+1 ; 0x01 |
| 2f14: 82 59 subi r24, 0x92 ; 146 |
| 2f16: 9f 4f sbci r25, 0xFF ; 255 |
| 2f18: 82 17 cp r24, r18 |
| 2f1a: 93 07 cpc r25, r19 |
| 2f1c: 4c f4 brge .+18 ; 0x2f30 <Mittelwert+0x430> |
| 2f1e: 21 15 cp r18, r1 |
| 2f20: 31 05 cpc r19, r1 |
| 2f22: 31 f0 breq .+12 ; 0x2f30 <Mittelwert+0x430> |
| 2f24: 21 50 subi r18, 0x01 ; 1 |
| 2f26: 30 40 sbci r19, 0x00 ; 0 |
| 2f28: 30 93 22 02 sts 0x0222, r19 |
| 2f2c: 20 93 21 02 sts 0x0221, r18 |
| 2f30: 20 91 23 02 lds r18, 0x0223 |
| 2f34: 30 91 24 02 lds r19, 0x0224 |
| 2f38: 80 91 73 05 lds r24, 0x0573 |
| 2f3c: e8 2f mov r30, r24 |
| 2f3e: ff 27 eor r31, r31 |
| 2f40: ee 0f add r30, r30 |
| 2f42: ff 1f adc r31, r31 |
| 2f44: ef 5b subi r30, 0xBF ; 191 |
| 2f46: fa 4f sbci r31, 0xFA ; 250 |
| 2f48: 80 81 ld r24, Z |
| 2f4a: 91 81 ldd r25, Z+1 ; 0x01 |
| 2f4c: 82 59 subi r24, 0x92 ; 146 |
| 2f4e: 9f 4f sbci r25, 0xFF ; 255 |
| 2f50: 28 17 cp r18, r24 |
| 2f52: 39 07 cpc r19, r25 |
| 2f54: 1c f4 brge .+6 ; 0x2f5c <Mittelwert+0x45c> |
| 2f56: 2f 5f subi r18, 0xFF ; 255 |
| 2f58: 3f 4f sbci r19, 0xFF ; 255 |
| 2f5a: 0c c0 rjmp .+24 ; 0x2f74 <Mittelwert+0x474> |
| 2f5c: 80 81 ld r24, Z |
| 2f5e: 91 81 ldd r25, Z+1 ; 0x01 |
| 2f60: 82 59 subi r24, 0x92 ; 146 |
| 2f62: 9f 4f sbci r25, 0xFF ; 255 |
| 2f64: 82 17 cp r24, r18 |
| 2f66: 93 07 cpc r25, r19 |
| 2f68: 4c f4 brge .+18 ; 0x2f7c <Mittelwert+0x47c> |
| 2f6a: 21 15 cp r18, r1 |
| 2f6c: 31 05 cpc r19, r1 |
| 2f6e: 31 f0 breq .+12 ; 0x2f7c <Mittelwert+0x47c> |
| 2f70: 21 50 subi r18, 0x01 ; 1 |
| 2f72: 30 40 sbci r19, 0x00 ; 0 |
| 2f74: 30 93 24 02 sts 0x0224, r19 |
| 2f78: 20 93 23 02 sts 0x0223, r18 |
| 2f7c: 20 91 25 02 lds r18, 0x0225 |
| 2f80: 30 91 26 02 lds r19, 0x0226 |
| 2f84: 80 91 74 05 lds r24, 0x0574 |
| 2f88: e8 2f mov r30, r24 |
| 2f8a: ff 27 eor r31, r31 |
| 2f8c: ee 0f add r30, r30 |
| 2f8e: ff 1f adc r31, r31 |
| 2f90: ef 5b subi r30, 0xBF ; 191 |
| 2f92: fa 4f sbci r31, 0xFA ; 250 |
| 2f94: 80 81 ld r24, Z |
| 2f96: 91 81 ldd r25, Z+1 ; 0x01 |
| 2f98: 82 59 subi r24, 0x92 ; 146 |
| 2f9a: 9f 4f sbci r25, 0xFF ; 255 |
| 2f9c: 28 17 cp r18, r24 |
| 2f9e: 39 07 cpc r19, r25 |
| 2fa0: 1c f4 brge .+6 ; 0x2fa8 <Mittelwert+0x4a8> |
| 2fa2: 2f 5f subi r18, 0xFF ; 255 |
| 2fa4: 3f 4f sbci r19, 0xFF ; 255 |
| 2fa6: 0c c0 rjmp .+24 ; 0x2fc0 <Mittelwert+0x4c0> |
| 2fa8: 80 81 ld r24, Z |
| 2faa: 91 81 ldd r25, Z+1 ; 0x01 |
| 2fac: 82 59 subi r24, 0x92 ; 146 |
| 2fae: 9f 4f sbci r25, 0xFF ; 255 |
| 2fb0: 82 17 cp r24, r18 |
| 2fb2: 93 07 cpc r25, r19 |
| 2fb4: 4c f4 brge .+18 ; 0x2fc8 <Mittelwert+0x4c8> |
| 2fb6: 21 15 cp r18, r1 |
| 2fb8: 31 05 cpc r19, r1 |
| 2fba: 31 f0 breq .+12 ; 0x2fc8 <Mittelwert+0x4c8> |
| 2fbc: 21 50 subi r18, 0x01 ; 1 |
| 2fbe: 30 40 sbci r19, 0x00 ; 0 |
| 2fc0: 30 93 26 02 sts 0x0226, r19 |
| 2fc4: 20 93 25 02 sts 0x0225, r18 |
| 2fc8: 80 91 1f 02 lds r24, 0x021F |
| 2fcc: 90 91 20 02 lds r25, 0x0220 |
| 2fd0: 97 ff sbrs r25, 7 |
| 2fd2: 05 c0 rjmp .+10 ; 0x2fde <Mittelwert+0x4de> |
| 2fd4: 10 92 20 02 sts 0x0220, r1 |
| 2fd8: 10 92 1f 02 sts 0x021F, r1 |
| 2fdc: 0a c0 rjmp .+20 ; 0x2ff2 <Mittelwert+0x4f2> |
| 2fde: 8f 3f cpi r24, 0xFF ; 255 |
| 2fe0: 91 05 cpc r25, r1 |
| 2fe2: 39 f0 breq .+14 ; 0x2ff2 <Mittelwert+0x4f2> |
| 2fe4: 34 f0 brlt .+12 ; 0x2ff2 <Mittelwert+0x4f2> |
| 2fe6: 8f ef ldi r24, 0xFF ; 255 |
| 2fe8: 90 e0 ldi r25, 0x00 ; 0 |
| 2fea: 90 93 20 02 sts 0x0220, r25 |
| 2fee: 80 93 1f 02 sts 0x021F, r24 |
| 2ff2: 80 91 21 02 lds r24, 0x0221 |
| 2ff6: 90 91 22 02 lds r25, 0x0222 |
| 2ffa: 97 ff sbrs r25, 7 |
| 2ffc: 05 c0 rjmp .+10 ; 0x3008 <Mittelwert+0x508> |
| 2ffe: 10 92 22 02 sts 0x0222, r1 |
| 3002: 10 92 21 02 sts 0x0221, r1 |
| 3006: 0a c0 rjmp .+20 ; 0x301c <Mittelwert+0x51c> |
| 3008: 8f 3f cpi r24, 0xFF ; 255 |
| 300a: 91 05 cpc r25, r1 |
| 300c: 39 f0 breq .+14 ; 0x301c <Mittelwert+0x51c> |
| 300e: 34 f0 brlt .+12 ; 0x301c <Mittelwert+0x51c> |
| 3010: 8f ef ldi r24, 0xFF ; 255 |
| 3012: 90 e0 ldi r25, 0x00 ; 0 |
| 3014: 90 93 22 02 sts 0x0222, r25 |
| 3018: 80 93 21 02 sts 0x0221, r24 |
| 301c: 80 91 23 02 lds r24, 0x0223 |
| 3020: 90 91 24 02 lds r25, 0x0224 |
| 3024: 97 ff sbrs r25, 7 |
| 3026: 05 c0 rjmp .+10 ; 0x3032 <Mittelwert+0x532> |
| 3028: 10 92 24 02 sts 0x0224, r1 |
| 302c: 10 92 23 02 sts 0x0223, r1 |
| 3030: 0a c0 rjmp .+20 ; 0x3046 <Mittelwert+0x546> |
| 3032: 8f 3f cpi r24, 0xFF ; 255 |
| 3034: 91 05 cpc r25, r1 |
| 3036: 39 f0 breq .+14 ; 0x3046 <Mittelwert+0x546> |
| 3038: 34 f0 brlt .+12 ; 0x3046 <Mittelwert+0x546> |
| 303a: 8f ef ldi r24, 0xFF ; 255 |
| 303c: 90 e0 ldi r25, 0x00 ; 0 |
| 303e: 90 93 24 02 sts 0x0224, r25 |
| 3042: 80 93 23 02 sts 0x0223, r24 |
| 3046: 80 91 25 02 lds r24, 0x0225 |
| 304a: 90 91 26 02 lds r25, 0x0226 |
| 304e: 97 ff sbrs r25, 7 |
| 3050: 05 c0 rjmp .+10 ; 0x305c <Mittelwert+0x55c> |
| 3052: 10 92 26 02 sts 0x0226, r1 |
| 3056: 10 92 25 02 sts 0x0225, r1 |
| 305a: 0a c0 rjmp .+20 ; 0x3070 <Mittelwert+0x570> |
| 305c: 8f 3f cpi r24, 0xFF ; 255 |
| 305e: 91 05 cpc r25, r1 |
| 3060: 39 f0 breq .+14 ; 0x3070 <Mittelwert+0x570> |
| 3062: 34 f0 brlt .+12 ; 0x3070 <Mittelwert+0x570> |
| 3064: 8f ef ldi r24, 0xFF ; 255 |
| 3066: 90 e0 ldi r25, 0x00 ; 0 |
| 3068: 90 93 26 02 sts 0x0226, r25 |
| 306c: 80 93 25 02 sts 0x0225, r24 |
| 3070: 1f 91 pop r17 |
| 3072: 0f 91 pop r16 |
| 3074: ff 90 pop r15 |
| 3076: ef 90 pop r14 |
| 3078: df 90 pop r13 |
| 307a: cf 90 pop r12 |
| 307c: bf 90 pop r11 |
| 307e: af 90 pop r10 |
| 3080: 08 95 ret |
| 00003082 <CalibrierMittelwert>: |
| 3082: 10 92 7a 00 sts 0x007A, r1 |
| 3086: 80 91 be 01 lds r24, 0x01BE |
| 308a: 88 23 and r24, r24 |
| 308c: 69 f0 breq .+26 ; 0x30a8 <CalibrierMittelwert+0x26> |
| 308e: 80 91 b2 01 lds r24, 0x01B2 |
| 3092: 90 91 b3 01 lds r25, 0x01B3 |
| 3096: 60 91 be 01 lds r22, 0x01BE |
| 309a: 77 27 eor r23, r23 |
| 309c: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 30a0: 70 93 aa 05 sts 0x05AA, r23 |
| 30a4: 60 93 a9 05 sts 0x05A9, r22 |
| 30a8: 80 91 bf 01 lds r24, 0x01BF |
| 30ac: 88 23 and r24, r24 |
| 30ae: 69 f0 breq .+26 ; 0x30ca <CalibrierMittelwert+0x48> |
| 30b0: 80 91 b4 01 lds r24, 0x01B4 |
| 30b4: 90 91 b5 01 lds r25, 0x01B5 |
| 30b8: 60 91 bf 01 lds r22, 0x01BF |
| 30bc: 77 27 eor r23, r23 |
| 30be: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 30c2: 70 93 a8 05 sts 0x05A8, r23 |
| 30c6: 60 93 a7 05 sts 0x05A7, r22 |
| 30ca: 80 91 c0 01 lds r24, 0x01C0 |
| 30ce: 88 23 and r24, r24 |
| 30d0: 69 f0 breq .+26 ; 0x30ec <CalibrierMittelwert+0x6a> |
| 30d2: 80 91 b6 01 lds r24, 0x01B6 |
| 30d6: 90 91 b7 01 lds r25, 0x01B7 |
| 30da: 60 91 c0 01 lds r22, 0x01C0 |
| 30de: 77 27 eor r23, r23 |
| 30e0: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 30e4: 70 93 b6 05 sts 0x05B6, r23 |
| 30e8: 60 93 b5 05 sts 0x05B5, r22 |
| 30ec: 80 91 c1 01 lds r24, 0x01C1 |
| 30f0: 88 23 and r24, r24 |
| 30f2: d1 f0 breq .+52 ; 0x3128 <CalibrierMittelwert+0xa6> |
| 30f4: 60 91 ba 01 lds r22, 0x01BA |
| 30f8: 70 91 bb 01 lds r23, 0x01BB |
| 30fc: 20 91 c1 01 lds r18, 0x01C1 |
| 3100: 88 27 eor r24, r24 |
| 3102: 77 fd sbrc r23, 7 |
| 3104: 80 95 com r24 |
| 3106: 98 2f mov r25, r24 |
| 3108: 34 e0 ldi r19, 0x04 ; 4 |
| 310a: 66 0f add r22, r22 |
| 310c: 77 1f adc r23, r23 |
| 310e: 88 1f adc r24, r24 |
| 3110: 99 1f adc r25, r25 |
| 3112: 3a 95 dec r19 |
| 3114: d1 f7 brne .-12 ; 0x310a <CalibrierMittelwert+0x88> |
| 3116: 33 27 eor r19, r19 |
| 3118: 44 27 eor r20, r20 |
| 311a: 55 27 eor r21, r21 |
| 311c: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 3120: 30 93 b3 05 sts 0x05B3, r19 |
| 3124: 20 93 b2 05 sts 0x05B2, r18 |
| 3128: 80 91 c2 01 lds r24, 0x01C2 |
| 312c: 88 23 and r24, r24 |
| 312e: d1 f0 breq .+52 ; 0x3164 <CalibrierMittelwert+0xe2> |
| 3130: 60 91 b8 01 lds r22, 0x01B8 |
| 3134: 70 91 b9 01 lds r23, 0x01B9 |
| 3138: 20 91 c2 01 lds r18, 0x01C2 |
| 313c: 88 27 eor r24, r24 |
| 313e: 77 fd sbrc r23, 7 |
| 3140: 80 95 com r24 |
| 3142: 98 2f mov r25, r24 |
| 3144: b4 e0 ldi r27, 0x04 ; 4 |
| 3146: 66 0f add r22, r22 |
| 3148: 77 1f adc r23, r23 |
| 314a: 88 1f adc r24, r24 |
| 314c: 99 1f adc r25, r25 |
| 314e: ba 95 dec r27 |
| 3150: d1 f7 brne .-12 ; 0x3146 <CalibrierMittelwert+0xc4> |
| 3152: 33 27 eor r19, r19 |
| 3154: 44 27 eor r20, r20 |
| 3156: 55 27 eor r21, r21 |
| 3158: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 315c: 30 93 bc 05 sts 0x05BC, r19 |
| 3160: 20 93 bb 05 sts 0x05BB, r18 |
| 3164: 80 91 c3 01 lds r24, 0x01C3 |
| 3168: 88 23 and r24, r24 |
| 316a: 99 f0 breq .+38 ; 0x3192 <CalibrierMittelwert+0x110> |
| 316c: 60 91 bc 01 lds r22, 0x01BC |
| 3170: 70 91 bd 01 lds r23, 0x01BD |
| 3174: 20 91 c3 01 lds r18, 0x01C3 |
| 3178: 88 27 eor r24, r24 |
| 317a: 77 fd sbrc r23, 7 |
| 317c: 80 95 com r24 |
| 317e: 98 2f mov r25, r24 |
| 3180: 33 27 eor r19, r19 |
| 3182: 44 27 eor r20, r20 |
| 3184: 55 27 eor r21, r21 |
| 3186: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 318a: 30 93 ad 05 sts 0x05AD, r19 |
| 318e: 20 93 ac 05 sts 0x05AC, r18 |
| 3192: 10 92 b3 01 sts 0x01B3, r1 |
| 3196: 10 92 b2 01 sts 0x01B2, r1 |
| 319a: 10 92 be 01 sts 0x01BE, r1 |
| 319e: 10 92 b5 01 sts 0x01B5, r1 |
| 31a2: 10 92 b4 01 sts 0x01B4, r1 |
| 31a6: 10 92 bf 01 sts 0x01BF, r1 |
| 31aa: 10 92 b7 01 sts 0x01B7, r1 |
| 31ae: 10 92 b6 01 sts 0x01B6, r1 |
| 31b2: 10 92 c0 01 sts 0x01C0, r1 |
| 31b6: 10 92 b9 01 sts 0x01B9, r1 |
| 31ba: 10 92 b8 01 sts 0x01B8, r1 |
| 31be: 10 92 c2 01 sts 0x01C2, r1 |
| 31c2: 10 92 bb 01 sts 0x01BB, r1 |
| 31c6: 10 92 ba 01 sts 0x01BA, r1 |
| 31ca: 10 92 c1 01 sts 0x01C1, r1 |
| 31ce: 10 92 bd 01 sts 0x01BD, r1 |
| 31d2: 10 92 bc 01 sts 0x01BC, r1 |
| 31d6: 10 92 c3 01 sts 0x01C3, r1 |
| 31da: 8f ee ldi r24, 0xEF ; 239 |
| 31dc: 80 93 7a 00 sts 0x007A, r24 |
| 31e0: 20 91 1f 02 lds r18, 0x021F |
| 31e4: 30 91 20 02 lds r19, 0x0220 |
| 31e8: 80 91 71 05 lds r24, 0x0571 |
| 31ec: e8 2f mov r30, r24 |
| 31ee: ff 27 eor r31, r31 |
| 31f0: ee 0f add r30, r30 |
| 31f2: ff 1f adc r31, r31 |
| 31f4: ef 5b subi r30, 0xBF ; 191 |
| 31f6: fa 4f sbci r31, 0xFA ; 250 |
| 31f8: 80 81 ld r24, Z |
| 31fa: 91 81 ldd r25, Z+1 ; 0x01 |
| 31fc: 82 59 subi r24, 0x92 ; 146 |
| 31fe: 9f 4f sbci r25, 0xFF ; 255 |
| 3200: 28 17 cp r18, r24 |
| 3202: 39 07 cpc r19, r25 |
| 3204: 1c f4 brge .+6 ; 0x320c <CalibrierMittelwert+0x18a> |
| 3206: 2f 5f subi r18, 0xFF ; 255 |
| 3208: 3f 4f sbci r19, 0xFF ; 255 |
| 320a: 0c c0 rjmp .+24 ; 0x3224 <CalibrierMittelwert+0x1a2> |
| 320c: 80 81 ld r24, Z |
| 320e: 91 81 ldd r25, Z+1 ; 0x01 |
| 3210: 82 59 subi r24, 0x92 ; 146 |
| 3212: 9f 4f sbci r25, 0xFF ; 255 |
| 3214: 82 17 cp r24, r18 |
| 3216: 93 07 cpc r25, r19 |
| 3218: 4c f4 brge .+18 ; 0x322c <CalibrierMittelwert+0x1aa> |
| 321a: 21 15 cp r18, r1 |
| 321c: 31 05 cpc r19, r1 |
| 321e: 31 f0 breq .+12 ; 0x322c <CalibrierMittelwert+0x1aa> |
| 3220: 21 50 subi r18, 0x01 ; 1 |
| 3222: 30 40 sbci r19, 0x00 ; 0 |
| 3224: 30 93 20 02 sts 0x0220, r19 |
| 3228: 20 93 1f 02 sts 0x021F, r18 |
| 322c: 20 91 21 02 lds r18, 0x0221 |
| 3230: 30 91 22 02 lds r19, 0x0222 |
| 3234: 80 91 72 05 lds r24, 0x0572 |
| 3238: e8 2f mov r30, r24 |
| 323a: ff 27 eor r31, r31 |
| 323c: ee 0f add r30, r30 |
| 323e: ff 1f adc r31, r31 |
| 3240: ef 5b subi r30, 0xBF ; 191 |
| 3242: fa 4f sbci r31, 0xFA ; 250 |
| 3244: 80 81 ld r24, Z |
| 3246: 91 81 ldd r25, Z+1 ; 0x01 |
| 3248: 82 59 subi r24, 0x92 ; 146 |
| 324a: 9f 4f sbci r25, 0xFF ; 255 |
| 324c: 28 17 cp r18, r24 |
| 324e: 39 07 cpc r19, r25 |
| 3250: 1c f4 brge .+6 ; 0x3258 <CalibrierMittelwert+0x1d6> |
| 3252: 2f 5f subi r18, 0xFF ; 255 |
| 3254: 3f 4f sbci r19, 0xFF ; 255 |
| 3256: 0c c0 rjmp .+24 ; 0x3270 <CalibrierMittelwert+0x1ee> |
| 3258: 80 81 ld r24, Z |
| 325a: 91 81 ldd r25, Z+1 ; 0x01 |
| 325c: 82 59 subi r24, 0x92 ; 146 |
| 325e: 9f 4f sbci r25, 0xFF ; 255 |
| 3260: 82 17 cp r24, r18 |
| 3262: 93 07 cpc r25, r19 |
| 3264: 4c f4 brge .+18 ; 0x3278 <CalibrierMittelwert+0x1f6> |
| 3266: 21 15 cp r18, r1 |
| 3268: 31 05 cpc r19, r1 |
| 326a: 31 f0 breq .+12 ; 0x3278 <CalibrierMittelwert+0x1f6> |
| 326c: 21 50 subi r18, 0x01 ; 1 |
| 326e: 30 40 sbci r19, 0x00 ; 0 |
| 3270: 30 93 22 02 sts 0x0222, r19 |
| 3274: 20 93 21 02 sts 0x0221, r18 |
| 3278: 20 91 23 02 lds r18, 0x0223 |
| 327c: 30 91 24 02 lds r19, 0x0224 |
| 3280: 80 91 73 05 lds r24, 0x0573 |
| 3284: e8 2f mov r30, r24 |
| 3286: ff 27 eor r31, r31 |
| 3288: ee 0f add r30, r30 |
| 328a: ff 1f adc r31, r31 |
| 328c: ef 5b subi r30, 0xBF ; 191 |
| 328e: fa 4f sbci r31, 0xFA ; 250 |
| 3290: 80 81 ld r24, Z |
| 3292: 91 81 ldd r25, Z+1 ; 0x01 |
| 3294: 82 59 subi r24, 0x92 ; 146 |
| 3296: 9f 4f sbci r25, 0xFF ; 255 |
| 3298: 28 17 cp r18, r24 |
| 329a: 39 07 cpc r19, r25 |
| 329c: 1c f4 brge .+6 ; 0x32a4 <CalibrierMittelwert+0x222> |
| 329e: 2f 5f subi r18, 0xFF ; 255 |
| 32a0: 3f 4f sbci r19, 0xFF ; 255 |
| 32a2: 0c c0 rjmp .+24 ; 0x32bc <CalibrierMittelwert+0x23a> |
| 32a4: 80 81 ld r24, Z |
| 32a6: 91 81 ldd r25, Z+1 ; 0x01 |
| 32a8: 82 59 subi r24, 0x92 ; 146 |
| 32aa: 9f 4f sbci r25, 0xFF ; 255 |
| 32ac: 82 17 cp r24, r18 |
| 32ae: 93 07 cpc r25, r19 |
| 32b0: 4c f4 brge .+18 ; 0x32c4 <CalibrierMittelwert+0x242> |
| 32b2: 21 15 cp r18, r1 |
| 32b4: 31 05 cpc r19, r1 |
| 32b6: 31 f0 breq .+12 ; 0x32c4 <CalibrierMittelwert+0x242> |
| 32b8: 21 50 subi r18, 0x01 ; 1 |
| 32ba: 30 40 sbci r19, 0x00 ; 0 |
| 32bc: 30 93 24 02 sts 0x0224, r19 |
| 32c0: 20 93 23 02 sts 0x0223, r18 |
| 32c4: 20 91 25 02 lds r18, 0x0225 |
| 32c8: 30 91 26 02 lds r19, 0x0226 |
| 32cc: 80 91 74 05 lds r24, 0x0574 |
| 32d0: e8 2f mov r30, r24 |
| 32d2: ff 27 eor r31, r31 |
| 32d4: ee 0f add r30, r30 |
| 32d6: ff 1f adc r31, r31 |
| 32d8: ef 5b subi r30, 0xBF ; 191 |
| 32da: fa 4f sbci r31, 0xFA ; 250 |
| 32dc: 80 81 ld r24, Z |
| 32de: 91 81 ldd r25, Z+1 ; 0x01 |
| 32e0: 82 59 subi r24, 0x92 ; 146 |
| 32e2: 9f 4f sbci r25, 0xFF ; 255 |
| 32e4: 28 17 cp r18, r24 |
| 32e6: 39 07 cpc r19, r25 |
| 32e8: 1c f4 brge .+6 ; 0x32f0 <CalibrierMittelwert+0x26e> |
| 32ea: 2f 5f subi r18, 0xFF ; 255 |
| 32ec: 3f 4f sbci r19, 0xFF ; 255 |
| 32ee: 0c c0 rjmp .+24 ; 0x3308 <CalibrierMittelwert+0x286> |
| 32f0: 80 81 ld r24, Z |
| 32f2: 91 81 ldd r25, Z+1 ; 0x01 |
| 32f4: 82 59 subi r24, 0x92 ; 146 |
| 32f6: 9f 4f sbci r25, 0xFF ; 255 |
| 32f8: 82 17 cp r24, r18 |
| 32fa: 93 07 cpc r25, r19 |
| 32fc: 4c f4 brge .+18 ; 0x3310 <CalibrierMittelwert+0x28e> |
| 32fe: 21 15 cp r18, r1 |
| 3300: 31 05 cpc r19, r1 |
| 3302: 31 f0 breq .+12 ; 0x3310 <CalibrierMittelwert+0x28e> |
| 3304: 21 50 subi r18, 0x01 ; 1 |
| 3306: 30 40 sbci r19, 0x00 ; 0 |
| 3308: 30 93 26 02 sts 0x0226, r19 |
| 330c: 20 93 25 02 sts 0x0225, r18 |
| 3310: 80 91 1f 02 lds r24, 0x021F |
| 3314: 90 91 20 02 lds r25, 0x0220 |
| 3318: 97 ff sbrs r25, 7 |
| 331a: 05 c0 rjmp .+10 ; 0x3326 <CalibrierMittelwert+0x2a4> |
| 331c: 10 92 20 02 sts 0x0220, r1 |
| 3320: 10 92 1f 02 sts 0x021F, r1 |
| 3324: 0a c0 rjmp .+20 ; 0x333a <CalibrierMittelwert+0x2b8> |
| 3326: 8f 3f cpi r24, 0xFF ; 255 |
| 3328: 91 05 cpc r25, r1 |
| 332a: 39 f0 breq .+14 ; 0x333a <CalibrierMittelwert+0x2b8> |
| 332c: 34 f0 brlt .+12 ; 0x333a <CalibrierMittelwert+0x2b8> |
| 332e: 8f ef ldi r24, 0xFF ; 255 |
| 3330: 90 e0 ldi r25, 0x00 ; 0 |
| 3332: 90 93 20 02 sts 0x0220, r25 |
| 3336: 80 93 1f 02 sts 0x021F, r24 |
| 333a: 80 91 21 02 lds r24, 0x0221 |
| 333e: 90 91 22 02 lds r25, 0x0222 |
| 3342: 97 ff sbrs r25, 7 |
| 3344: 05 c0 rjmp .+10 ; 0x3350 <CalibrierMittelwert+0x2ce> |
| 3346: 10 92 22 02 sts 0x0222, r1 |
| 334a: 10 92 21 02 sts 0x0221, r1 |
| 334e: 0a c0 rjmp .+20 ; 0x3364 <CalibrierMittelwert+0x2e2> |
| 3350: 8f 3f cpi r24, 0xFF ; 255 |
| 3352: 91 05 cpc r25, r1 |
| 3354: 39 f0 breq .+14 ; 0x3364 <CalibrierMittelwert+0x2e2> |
| 3356: 34 f0 brlt .+12 ; 0x3364 <CalibrierMittelwert+0x2e2> |
| 3358: 8f ef ldi r24, 0xFF ; 255 |
| 335a: 90 e0 ldi r25, 0x00 ; 0 |
| 335c: 90 93 22 02 sts 0x0222, r25 |
| 3360: 80 93 21 02 sts 0x0221, r24 |
| 3364: 80 91 23 02 lds r24, 0x0223 |
| 3368: 90 91 24 02 lds r25, 0x0224 |
| 336c: 97 ff sbrs r25, 7 |
| 336e: 05 c0 rjmp .+10 ; 0x337a <CalibrierMittelwert+0x2f8> |
| 3370: 10 92 24 02 sts 0x0224, r1 |
| 3374: 10 92 23 02 sts 0x0223, r1 |
| 3378: 0a c0 rjmp .+20 ; 0x338e <CalibrierMittelwert+0x30c> |
| 337a: 8f 3f cpi r24, 0xFF ; 255 |
| 337c: 91 05 cpc r25, r1 |
| 337e: 39 f0 breq .+14 ; 0x338e <CalibrierMittelwert+0x30c> |
| 3380: 34 f0 brlt .+12 ; 0x338e <CalibrierMittelwert+0x30c> |
| 3382: 8f ef ldi r24, 0xFF ; 255 |
| 3384: 90 e0 ldi r25, 0x00 ; 0 |
| 3386: 90 93 24 02 sts 0x0224, r25 |
| 338a: 80 93 23 02 sts 0x0223, r24 |
| 338e: 80 91 25 02 lds r24, 0x0225 |
| 3392: 90 91 26 02 lds r25, 0x0226 |
| 3396: 97 ff sbrs r25, 7 |
| 3398: 05 c0 rjmp .+10 ; 0x33a4 <CalibrierMittelwert+0x322> |
| 339a: 10 92 26 02 sts 0x0226, r1 |
| 339e: 10 92 25 02 sts 0x0225, r1 |
| 33a2: 08 95 ret |
| 33a4: 8f 3f cpi r24, 0xFF ; 255 |
| 33a6: 91 05 cpc r25, r1 |
| 33a8: 39 f0 breq .+14 ; 0x33b8 <CalibrierMittelwert+0x336> |
| 33aa: 34 f0 brlt .+12 ; 0x33b8 <CalibrierMittelwert+0x336> |
| 33ac: 8f ef ldi r24, 0xFF ; 255 |
| 33ae: 90 e0 ldi r25, 0x00 ; 0 |
| 33b0: 90 93 26 02 sts 0x0226, r25 |
| 33b4: 80 93 25 02 sts 0x0225, r24 |
| 33b8: 08 95 ret |
| 000033ba <ParameterZuordnung>: |
| 33ba: 1f 93 push r17 |
| 33bc: 80 91 78 05 lds r24, 0x0578 |
| 33c0: 8b 3f cpi r24, 0xFB ; 251 |
| 33c2: 98 f0 brcs .+38 ; 0x33ea <ParameterZuordnung+0x30> |
| 33c4: 8b 3f cpi r24, 0xFB ; 251 |
| 33c6: 19 f4 brne .+6 ; 0x33ce <ParameterZuordnung+0x14> |
| 33c8: 80 91 1f 02 lds r24, 0x021F |
| 33cc: 0e c0 rjmp .+28 ; 0x33ea <ParameterZuordnung+0x30> |
| 33ce: 8c 3f cpi r24, 0xFC ; 252 |
| 33d0: 19 f4 brne .+6 ; 0x33d8 <ParameterZuordnung+0x1e> |
| 33d2: 80 91 21 02 lds r24, 0x0221 |
| 33d6: 09 c0 rjmp .+18 ; 0x33ea <ParameterZuordnung+0x30> |
| 33d8: 8d 3f cpi r24, 0xFD ; 253 |
| 33da: 19 f4 brne .+6 ; 0x33e2 <ParameterZuordnung+0x28> |
| 33dc: 80 91 23 02 lds r24, 0x0223 |
| 33e0: 04 c0 rjmp .+8 ; 0x33ea <ParameterZuordnung+0x30> |
| 33e2: 8e 3f cpi r24, 0xFE ; 254 |
| 33e4: 21 f4 brne .+8 ; 0x33ee <ParameterZuordnung+0x34> |
| 33e6: 80 91 25 02 lds r24, 0x0225 |
| 33ea: 80 93 81 01 sts 0x0181, r24 |
| 33ee: 80 91 81 01 lds r24, 0x0181 |
| 33f2: 88 23 and r24, r24 |
| 33f4: 19 f4 brne .+6 ; 0x33fc <ParameterZuordnung+0x42> |
| 33f6: 10 92 81 01 sts 0x0181, r1 |
| 33fa: 04 c0 rjmp .+8 ; 0x3404 <ParameterZuordnung+0x4a> |
| 33fc: 8f 3f cpi r24, 0xFF ; 255 |
| 33fe: 11 f4 brne .+4 ; 0x3404 <ParameterZuordnung+0x4a> |
| 3400: 80 93 81 01 sts 0x0181, r24 |
| 3404: 80 91 77 05 lds r24, 0x0577 |
| 3408: 8b 3f cpi r24, 0xFB ; 251 |
| 340a: 98 f0 brcs .+38 ; 0x3432 <ParameterZuordnung+0x78> |
| 340c: 8b 3f cpi r24, 0xFB ; 251 |
| 340e: 19 f4 brne .+6 ; 0x3416 <ParameterZuordnung+0x5c> |
| 3410: 80 91 1f 02 lds r24, 0x021F |
| 3414: 0e c0 rjmp .+28 ; 0x3432 <ParameterZuordnung+0x78> |
| 3416: 8c 3f cpi r24, 0xFC ; 252 |
| 3418: 19 f4 brne .+6 ; 0x3420 <ParameterZuordnung+0x66> |
| 341a: 80 91 21 02 lds r24, 0x0221 |
| 341e: 09 c0 rjmp .+18 ; 0x3432 <ParameterZuordnung+0x78> |
| 3420: 8d 3f cpi r24, 0xFD ; 253 |
| 3422: 19 f4 brne .+6 ; 0x342a <ParameterZuordnung+0x70> |
| 3424: 80 91 23 02 lds r24, 0x0223 |
| 3428: 04 c0 rjmp .+8 ; 0x3432 <ParameterZuordnung+0x78> |
| 342a: 8e 3f cpi r24, 0xFE ; 254 |
| 342c: 21 f4 brne .+8 ; 0x3436 <ParameterZuordnung+0x7c> |
| 342e: 80 91 25 02 lds r24, 0x0225 |
| 3432: 80 93 80 01 sts 0x0180, r24 |
| 3436: 80 91 80 01 lds r24, 0x0180 |
| 343a: 88 23 and r24, r24 |
| 343c: 19 f4 brne .+6 ; 0x3444 <ParameterZuordnung+0x8a> |
| 343e: 10 92 80 01 sts 0x0180, r1 |
| 3442: 05 c0 rjmp .+10 ; 0x344e <ParameterZuordnung+0x94> |
| 3444: 84 36 cpi r24, 0x64 ; 100 |
| 3446: 18 f0 brcs .+6 ; 0x344e <ParameterZuordnung+0x94> |
| 3448: 84 e6 ldi r24, 0x64 ; 100 |
| 344a: 80 93 80 01 sts 0x0180, r24 |
| 344e: 80 91 79 05 lds r24, 0x0579 |
| 3452: 8b 3f cpi r24, 0xFB ; 251 |
| 3454: 98 f0 brcs .+38 ; 0x347c <ParameterZuordnung+0xc2> |
| 3456: 8b 3f cpi r24, 0xFB ; 251 |
| 3458: 19 f4 brne .+6 ; 0x3460 <ParameterZuordnung+0xa6> |
| 345a: 80 91 1f 02 lds r24, 0x021F |
| 345e: 0e c0 rjmp .+28 ; 0x347c <ParameterZuordnung+0xc2> |
| 3460: 8c 3f cpi r24, 0xFC ; 252 |
| 3462: 19 f4 brne .+6 ; 0x346a <ParameterZuordnung+0xb0> |
| 3464: 80 91 21 02 lds r24, 0x0221 |
| 3468: 09 c0 rjmp .+18 ; 0x347c <ParameterZuordnung+0xc2> |
| 346a: 8d 3f cpi r24, 0xFD ; 253 |
| 346c: 19 f4 brne .+6 ; 0x3474 <ParameterZuordnung+0xba> |
| 346e: 80 91 23 02 lds r24, 0x0223 |
| 3472: 04 c0 rjmp .+8 ; 0x347c <ParameterZuordnung+0xc2> |
| 3474: 8e 3f cpi r24, 0xFE ; 254 |
| 3476: 21 f4 brne .+8 ; 0x3480 <ParameterZuordnung+0xc6> |
| 3478: 80 91 25 02 lds r24, 0x0225 |
| 347c: 80 93 82 01 sts 0x0182, r24 |
| 3480: 80 91 82 01 lds r24, 0x0182 |
| 3484: 88 23 and r24, r24 |
| 3486: 19 f4 brne .+6 ; 0x348e <ParameterZuordnung+0xd4> |
| 3488: 10 92 82 01 sts 0x0182, r1 |
| 348c: 05 c0 rjmp .+10 ; 0x3498 <ParameterZuordnung+0xde> |
| 348e: 84 36 cpi r24, 0x64 ; 100 |
| 3490: 18 f0 brcs .+6 ; 0x3498 <ParameterZuordnung+0xde> |
| 3492: 84 e6 ldi r24, 0x64 ; 100 |
| 3494: 80 93 82 01 sts 0x0182, r24 |
| 3498: 80 91 7b 05 lds r24, 0x057B |
| 349c: 8b 3f cpi r24, 0xFB ; 251 |
| 349e: 98 f0 brcs .+38 ; 0x34c6 <ParameterZuordnung+0x10c> |
| 34a0: 8b 3f cpi r24, 0xFB ; 251 |
| 34a2: 19 f4 brne .+6 ; 0x34aa <ParameterZuordnung+0xf0> |
| 34a4: 80 91 1f 02 lds r24, 0x021F |
| 34a8: 0e c0 rjmp .+28 ; 0x34c6 <ParameterZuordnung+0x10c> |
| 34aa: 8c 3f cpi r24, 0xFC ; 252 |
| 34ac: 19 f4 brne .+6 ; 0x34b4 <ParameterZuordnung+0xfa> |
| 34ae: 80 91 21 02 lds r24, 0x0221 |
| 34b2: 09 c0 rjmp .+18 ; 0x34c6 <ParameterZuordnung+0x10c> |
| 34b4: 8d 3f cpi r24, 0xFD ; 253 |
| 34b6: 19 f4 brne .+6 ; 0x34be <ParameterZuordnung+0x104> |
| 34b8: 80 91 23 02 lds r24, 0x0223 |
| 34bc: 04 c0 rjmp .+8 ; 0x34c6 <ParameterZuordnung+0x10c> |
| 34be: 8e 3f cpi r24, 0xFE ; 254 |
| 34c0: 21 f4 brne .+8 ; 0x34ca <ParameterZuordnung+0x110> |
| 34c2: 80 91 25 02 lds r24, 0x0225 |
| 34c6: 80 93 83 01 sts 0x0183, r24 |
| 34ca: 80 91 83 01 lds r24, 0x0183 |
| 34ce: 88 23 and r24, r24 |
| 34d0: 19 f4 brne .+6 ; 0x34d8 <ParameterZuordnung+0x11e> |
| 34d2: 10 92 83 01 sts 0x0183, r1 |
| 34d6: 04 c0 rjmp .+8 ; 0x34e0 <ParameterZuordnung+0x126> |
| 34d8: 8f 3f cpi r24, 0xFF ; 255 |
| 34da: 11 f4 brne .+4 ; 0x34e0 <ParameterZuordnung+0x126> |
| 34dc: 80 93 83 01 sts 0x0183, r24 |
| 34e0: 80 91 82 05 lds r24, 0x0582 |
| 34e4: 8b 3f cpi r24, 0xFB ; 251 |
| 34e6: 98 f0 brcs .+38 ; 0x350e <ParameterZuordnung+0x154> |
| 34e8: 8b 3f cpi r24, 0xFB ; 251 |
| 34ea: 19 f4 brne .+6 ; 0x34f2 <ParameterZuordnung+0x138> |
| 34ec: 80 91 1f 02 lds r24, 0x021F |
| 34f0: 0e c0 rjmp .+28 ; 0x350e <ParameterZuordnung+0x154> |
| 34f2: 8c 3f cpi r24, 0xFC ; 252 |
| 34f4: 19 f4 brne .+6 ; 0x34fc <ParameterZuordnung+0x142> |
| 34f6: 80 91 21 02 lds r24, 0x0221 |
| 34fa: 09 c0 rjmp .+18 ; 0x350e <ParameterZuordnung+0x154> |
| 34fc: 8d 3f cpi r24, 0xFD ; 253 |
| 34fe: 19 f4 brne .+6 ; 0x3506 <ParameterZuordnung+0x14c> |
| 3500: 80 91 23 02 lds r24, 0x0223 |
| 3504: 04 c0 rjmp .+8 ; 0x350e <ParameterZuordnung+0x154> |
| 3506: 8e 3f cpi r24, 0xFE ; 254 |
| 3508: 21 f4 brne .+8 ; 0x3512 <ParameterZuordnung+0x158> |
| 350a: 80 91 25 02 lds r24, 0x0225 |
| 350e: 80 93 84 01 sts 0x0184, r24 |
| 3512: 80 91 84 01 lds r24, 0x0184 |
| 3516: 88 23 and r24, r24 |
| 3518: 19 f4 brne .+6 ; 0x3520 <ParameterZuordnung+0x166> |
| 351a: 10 92 84 01 sts 0x0184, r1 |
| 351e: 04 c0 rjmp .+8 ; 0x3528 <ParameterZuordnung+0x16e> |
| 3520: 8f 3f cpi r24, 0xFF ; 255 |
| 3522: 11 f4 brne .+4 ; 0x3528 <ParameterZuordnung+0x16e> |
| 3524: 80 93 84 01 sts 0x0184, r24 |
| 3528: 80 91 83 05 lds r24, 0x0583 |
| 352c: 8b 3f cpi r24, 0xFB ; 251 |
| 352e: 98 f0 brcs .+38 ; 0x3556 <ParameterZuordnung+0x19c> |
| 3530: 8b 3f cpi r24, 0xFB ; 251 |
| 3532: 19 f4 brne .+6 ; 0x353a <ParameterZuordnung+0x180> |
| 3534: 80 91 1f 02 lds r24, 0x021F |
| 3538: 0e c0 rjmp .+28 ; 0x3556 <ParameterZuordnung+0x19c> |
| 353a: 8c 3f cpi r24, 0xFC ; 252 |
| 353c: 19 f4 brne .+6 ; 0x3544 <ParameterZuordnung+0x18a> |
| 353e: 80 91 21 02 lds r24, 0x0221 |
| 3542: 09 c0 rjmp .+18 ; 0x3556 <ParameterZuordnung+0x19c> |
| 3544: 8d 3f cpi r24, 0xFD ; 253 |
| 3546: 19 f4 brne .+6 ; 0x354e <ParameterZuordnung+0x194> |
| 3548: 80 91 23 02 lds r24, 0x0223 |
| 354c: 04 c0 rjmp .+8 ; 0x3556 <ParameterZuordnung+0x19c> |
| 354e: 8e 3f cpi r24, 0xFE ; 254 |
| 3550: 21 f4 brne .+8 ; 0x355a <ParameterZuordnung+0x1a0> |
| 3552: 80 91 25 02 lds r24, 0x0225 |
| 3556: 80 93 85 01 sts 0x0185, r24 |
| 355a: 80 91 85 01 lds r24, 0x0185 |
| 355e: 8b 30 cpi r24, 0x0B ; 11 |
| 3560: 10 f4 brcc .+4 ; 0x3566 <ParameterZuordnung+0x1ac> |
| 3562: 8a e0 ldi r24, 0x0A ; 10 |
| 3564: 02 c0 rjmp .+4 ; 0x356a <ParameterZuordnung+0x1b0> |
| 3566: 8f 3f cpi r24, 0xFF ; 255 |
| 3568: 11 f4 brne .+4 ; 0x356e <ParameterZuordnung+0x1b4> |
| 356a: 80 93 85 01 sts 0x0185, r24 |
| 356e: 80 91 84 05 lds r24, 0x0584 |
| 3572: 8b 3f cpi r24, 0xFB ; 251 |
| 3574: 98 f0 brcs .+38 ; 0x359c <ParameterZuordnung+0x1e2> |
| 3576: 8b 3f cpi r24, 0xFB ; 251 |
| 3578: 19 f4 brne .+6 ; 0x3580 <ParameterZuordnung+0x1c6> |
| 357a: 80 91 1f 02 lds r24, 0x021F |
| 357e: 0e c0 rjmp .+28 ; 0x359c <ParameterZuordnung+0x1e2> |
| 3580: 8c 3f cpi r24, 0xFC ; 252 |
| 3582: 19 f4 brne .+6 ; 0x358a <ParameterZuordnung+0x1d0> |
| 3584: 80 91 21 02 lds r24, 0x0221 |
| 3588: 09 c0 rjmp .+18 ; 0x359c <ParameterZuordnung+0x1e2> |
| 358a: 8d 3f cpi r24, 0xFD ; 253 |
| 358c: 19 f4 brne .+6 ; 0x3594 <ParameterZuordnung+0x1da> |
| 358e: 80 91 23 02 lds r24, 0x0223 |
| 3592: 04 c0 rjmp .+8 ; 0x359c <ParameterZuordnung+0x1e2> |
| 3594: 8e 3f cpi r24, 0xFE ; 254 |
| 3596: 21 f4 brne .+8 ; 0x35a0 <ParameterZuordnung+0x1e6> |
| 3598: 80 91 25 02 lds r24, 0x0225 |
| 359c: 80 93 86 01 sts 0x0186, r24 |
| 35a0: 80 91 86 01 lds r24, 0x0186 |
| 35a4: 88 23 and r24, r24 |
| 35a6: 19 f4 brne .+6 ; 0x35ae <ParameterZuordnung+0x1f4> |
| 35a8: 10 92 86 01 sts 0x0186, r1 |
| 35ac: 04 c0 rjmp .+8 ; 0x35b6 <ParameterZuordnung+0x1fc> |
| 35ae: 8f 3f cpi r24, 0xFF ; 255 |
| 35b0: 11 f4 brne .+4 ; 0x35b6 <ParameterZuordnung+0x1fc> |
| 35b2: 80 93 86 01 sts 0x0186, r24 |
| 35b6: 80 91 89 05 lds r24, 0x0589 |
| 35ba: 8b 3f cpi r24, 0xFB ; 251 |
| 35bc: 98 f0 brcs .+38 ; 0x35e4 <ParameterZuordnung+0x22a> |
| 35be: 8b 3f cpi r24, 0xFB ; 251 |
| 35c0: 19 f4 brne .+6 ; 0x35c8 <ParameterZuordnung+0x20e> |
| 35c2: 80 91 1f 02 lds r24, 0x021F |
| 35c6: 0e c0 rjmp .+28 ; 0x35e4 <ParameterZuordnung+0x22a> |
| 35c8: 8c 3f cpi r24, 0xFC ; 252 |
| 35ca: 19 f4 brne .+6 ; 0x35d2 <ParameterZuordnung+0x218> |
| 35cc: 80 91 21 02 lds r24, 0x0221 |
| 35d0: 09 c0 rjmp .+18 ; 0x35e4 <ParameterZuordnung+0x22a> |
| 35d2: 8d 3f cpi r24, 0xFD ; 253 |
| 35d4: 19 f4 brne .+6 ; 0x35dc <ParameterZuordnung+0x222> |
| 35d6: 80 91 23 02 lds r24, 0x0223 |
| 35da: 04 c0 rjmp .+8 ; 0x35e4 <ParameterZuordnung+0x22a> |
| 35dc: 8e 3f cpi r24, 0xFE ; 254 |
| 35de: 21 f4 brne .+8 ; 0x35e8 <ParameterZuordnung+0x22e> |
| 35e0: 80 91 25 02 lds r24, 0x0225 |
| 35e4: 80 93 88 01 sts 0x0188, r24 |
| 35e8: 80 91 88 01 lds r24, 0x0188 |
| 35ec: 88 23 and r24, r24 |
| 35ee: 19 f4 brne .+6 ; 0x35f6 <ParameterZuordnung+0x23c> |
| 35f0: 10 92 88 01 sts 0x0188, r1 |
| 35f4: 04 c0 rjmp .+8 ; 0x35fe <ParameterZuordnung+0x244> |
| 35f6: 8f 3f cpi r24, 0xFF ; 255 |
| 35f8: 11 f4 brne .+4 ; 0x35fe <ParameterZuordnung+0x244> |
| 35fa: 80 93 88 01 sts 0x0188, r24 |
| 35fe: 80 91 8a 05 lds r24, 0x058A |
| 3602: 8b 3f cpi r24, 0xFB ; 251 |
| 3604: 98 f0 brcs .+38 ; 0x362c <ParameterZuordnung+0x272> |
| 3606: 8b 3f cpi r24, 0xFB ; 251 |
| 3608: 19 f4 brne .+6 ; 0x3610 <ParameterZuordnung+0x256> |
| 360a: 80 91 1f 02 lds r24, 0x021F |
| 360e: 0e c0 rjmp .+28 ; 0x362c <ParameterZuordnung+0x272> |
| 3610: 8c 3f cpi r24, 0xFC ; 252 |
| 3612: 19 f4 brne .+6 ; 0x361a <ParameterZuordnung+0x260> |
| 3614: 80 91 21 02 lds r24, 0x0221 |
| 3618: 09 c0 rjmp .+18 ; 0x362c <ParameterZuordnung+0x272> |
| 361a: 8d 3f cpi r24, 0xFD ; 253 |
| 361c: 19 f4 brne .+6 ; 0x3624 <ParameterZuordnung+0x26a> |
| 361e: 80 91 23 02 lds r24, 0x0223 |
| 3622: 04 c0 rjmp .+8 ; 0x362c <ParameterZuordnung+0x272> |
| 3624: 8e 3f cpi r24, 0xFE ; 254 |
| 3626: 21 f4 brne .+8 ; 0x3630 <ParameterZuordnung+0x276> |
| 3628: 80 91 25 02 lds r24, 0x0225 |
| 362c: 80 93 33 02 sts 0x0233, r24 |
| 3630: 80 91 33 02 lds r24, 0x0233 |
| 3634: 88 23 and r24, r24 |
| 3636: 19 f4 brne .+6 ; 0x363e <ParameterZuordnung+0x284> |
| 3638: 10 92 33 02 sts 0x0233, r1 |
| 363c: 04 c0 rjmp .+8 ; 0x3646 <ParameterZuordnung+0x28c> |
| 363e: 8f 3f cpi r24, 0xFF ; 255 |
| 3640: 11 f4 brne .+4 ; 0x3646 <ParameterZuordnung+0x28c> |
| 3642: 80 93 33 02 sts 0x0233, r24 |
| 3646: 80 91 8b 05 lds r24, 0x058B |
| 364a: 8b 3f cpi r24, 0xFB ; 251 |
| 364c: 98 f0 brcs .+38 ; 0x3674 <ParameterZuordnung+0x2ba> |
| 364e: 8b 3f cpi r24, 0xFB ; 251 |
| 3650: 19 f4 brne .+6 ; 0x3658 <ParameterZuordnung+0x29e> |
| 3652: 80 91 1f 02 lds r24, 0x021F |
| 3656: 0e c0 rjmp .+28 ; 0x3674 <ParameterZuordnung+0x2ba> |
| 3658: 8c 3f cpi r24, 0xFC ; 252 |
| 365a: 19 f4 brne .+6 ; 0x3662 <ParameterZuordnung+0x2a8> |
| 365c: 80 91 21 02 lds r24, 0x0221 |
| 3660: 09 c0 rjmp .+18 ; 0x3674 <ParameterZuordnung+0x2ba> |
| 3662: 8d 3f cpi r24, 0xFD ; 253 |
| 3664: 19 f4 brne .+6 ; 0x366c <ParameterZuordnung+0x2b2> |
| 3666: 80 91 23 02 lds r24, 0x0223 |
| 366a: 04 c0 rjmp .+8 ; 0x3674 <ParameterZuordnung+0x2ba> |
| 366c: 8e 3f cpi r24, 0xFE ; 254 |
| 366e: 21 f4 brne .+8 ; 0x3678 <ParameterZuordnung+0x2be> |
| 3670: 80 91 25 02 lds r24, 0x0225 |
| 3674: 80 93 34 02 sts 0x0234, r24 |
| 3678: 80 91 34 02 lds r24, 0x0234 |
| 367c: 88 23 and r24, r24 |
| 367e: 19 f4 brne .+6 ; 0x3686 <ParameterZuordnung+0x2cc> |
| 3680: 10 92 34 02 sts 0x0234, r1 |
| 3684: 04 c0 rjmp .+8 ; 0x368e <ParameterZuordnung+0x2d4> |
| 3686: 8f 3f cpi r24, 0xFF ; 255 |
| 3688: 11 f4 brne .+4 ; 0x368e <ParameterZuordnung+0x2d4> |
| 368a: 80 93 34 02 sts 0x0234, r24 |
| 368e: 80 91 8c 05 lds r24, 0x058C |
| 3692: 8b 3f cpi r24, 0xFB ; 251 |
| 3694: 98 f0 brcs .+38 ; 0x36bc <ParameterZuordnung+0x302> |
| 3696: 8b 3f cpi r24, 0xFB ; 251 |
| 3698: 19 f4 brne .+6 ; 0x36a0 <ParameterZuordnung+0x2e6> |
| 369a: 80 91 1f 02 lds r24, 0x021F |
| 369e: 0e c0 rjmp .+28 ; 0x36bc <ParameterZuordnung+0x302> |
| 36a0: 8c 3f cpi r24, 0xFC ; 252 |
| 36a2: 19 f4 brne .+6 ; 0x36aa <ParameterZuordnung+0x2f0> |
| 36a4: 80 91 21 02 lds r24, 0x0221 |
| 36a8: 09 c0 rjmp .+18 ; 0x36bc <ParameterZuordnung+0x302> |
| 36aa: 8d 3f cpi r24, 0xFD ; 253 |
| 36ac: 19 f4 brne .+6 ; 0x36b4 <ParameterZuordnung+0x2fa> |
| 36ae: 80 91 23 02 lds r24, 0x0223 |
| 36b2: 04 c0 rjmp .+8 ; 0x36bc <ParameterZuordnung+0x302> |
| 36b4: 8e 3f cpi r24, 0xFE ; 254 |
| 36b6: 21 f4 brne .+8 ; 0x36c0 <ParameterZuordnung+0x306> |
| 36b8: 80 91 25 02 lds r24, 0x0225 |
| 36bc: 80 93 35 02 sts 0x0235, r24 |
| 36c0: 80 91 35 02 lds r24, 0x0235 |
| 36c4: 88 23 and r24, r24 |
| 36c6: 19 f4 brne .+6 ; 0x36ce <ParameterZuordnung+0x314> |
| 36c8: 10 92 35 02 sts 0x0235, r1 |
| 36cc: 04 c0 rjmp .+8 ; 0x36d6 <ParameterZuordnung+0x31c> |
| 36ce: 8f 3f cpi r24, 0xFF ; 255 |
| 36d0: 11 f4 brne .+4 ; 0x36d6 <ParameterZuordnung+0x31c> |
| 36d2: 80 93 35 02 sts 0x0235, r24 |
| 36d6: 80 91 8d 05 lds r24, 0x058D |
| 36da: 8b 3f cpi r24, 0xFB ; 251 |
| 36dc: 98 f0 brcs .+38 ; 0x3704 <ParameterZuordnung+0x34a> |
| 36de: 8b 3f cpi r24, 0xFB ; 251 |
| 36e0: 19 f4 brne .+6 ; 0x36e8 <ParameterZuordnung+0x32e> |
| 36e2: 80 91 1f 02 lds r24, 0x021F |
| 36e6: 0e c0 rjmp .+28 ; 0x3704 <ParameterZuordnung+0x34a> |
| 36e8: 8c 3f cpi r24, 0xFC ; 252 |
| 36ea: 19 f4 brne .+6 ; 0x36f2 <ParameterZuordnung+0x338> |
| 36ec: 80 91 21 02 lds r24, 0x0221 |
| 36f0: 09 c0 rjmp .+18 ; 0x3704 <ParameterZuordnung+0x34a> |
| 36f2: 8d 3f cpi r24, 0xFD ; 253 |
| 36f4: 19 f4 brne .+6 ; 0x36fc <ParameterZuordnung+0x342> |
| 36f6: 80 91 23 02 lds r24, 0x0223 |
| 36fa: 04 c0 rjmp .+8 ; 0x3704 <ParameterZuordnung+0x34a> |
| 36fc: 8e 3f cpi r24, 0xFE ; 254 |
| 36fe: 21 f4 brne .+8 ; 0x3708 <ParameterZuordnung+0x34e> |
| 3700: 80 91 25 02 lds r24, 0x0225 |
| 3704: 80 93 36 02 sts 0x0236, r24 |
| 3708: 80 91 36 02 lds r24, 0x0236 |
| 370c: 88 23 and r24, r24 |
| 370e: 19 f4 brne .+6 ; 0x3716 <ParameterZuordnung+0x35c> |
| 3710: 10 92 36 02 sts 0x0236, r1 |
| 3714: 04 c0 rjmp .+8 ; 0x371e <ParameterZuordnung+0x364> |
| 3716: 8f 3f cpi r24, 0xFF ; 255 |
| 3718: 11 f4 brne .+4 ; 0x371e <ParameterZuordnung+0x364> |
| 371a: 80 93 36 02 sts 0x0236, r24 |
| 371e: 90 91 8e 05 lds r25, 0x058E |
| 3722: 9b 3f cpi r25, 0xFB ; 251 |
| 3724: b0 f0 brcs .+44 ; 0x3752 <ParameterZuordnung+0x398> |
| 3726: 9b 3f cpi r25, 0xFB ; 251 |
| 3728: 19 f4 brne .+6 ; 0x3730 <ParameterZuordnung+0x376> |
| 372a: 80 91 1f 02 lds r24, 0x021F |
| 372e: 04 c0 rjmp .+8 ; 0x3738 <ParameterZuordnung+0x37e> |
| 3730: 9c 3f cpi r25, 0xFC ; 252 |
| 3732: 29 f4 brne .+10 ; 0x373e <ParameterZuordnung+0x384> |
| 3734: 80 91 21 02 lds r24, 0x0221 |
| 3738: 80 93 89 01 sts 0x0189, r24 |
| 373c: 0c c0 rjmp .+24 ; 0x3756 <ParameterZuordnung+0x39c> |
| 373e: 9d 3f cpi r25, 0xFD ; 253 |
| 3740: 19 f4 brne .+6 ; 0x3748 <ParameterZuordnung+0x38e> |
| 3742: 80 91 23 02 lds r24, 0x0223 |
| 3746: f8 cf rjmp .-16 ; 0x3738 <ParameterZuordnung+0x37e> |
| 3748: 9e 3f cpi r25, 0xFE ; 254 |
| 374a: 29 f4 brne .+10 ; 0x3756 <ParameterZuordnung+0x39c> |
| 374c: 80 91 25 02 lds r24, 0x0225 |
| 3750: f3 cf rjmp .-26 ; 0x3738 <ParameterZuordnung+0x37e> |
| 3752: 90 93 89 01 sts 0x0189, r25 |
| 3756: 80 91 89 01 lds r24, 0x0189 |
| 375a: 88 23 and r24, r24 |
| 375c: 19 f4 brne .+6 ; 0x3764 <ParameterZuordnung+0x3aa> |
| 375e: 10 92 89 01 sts 0x0189, r1 |
| 3762: 04 c0 rjmp .+8 ; 0x376c <ParameterZuordnung+0x3b2> |
| 3764: 8f 3f cpi r24, 0xFF ; 255 |
| 3766: 11 f4 brne .+4 ; 0x376c <ParameterZuordnung+0x3b2> |
| 3768: 80 93 89 01 sts 0x0189, r24 |
| 376c: 9b 3f cpi r25, 0xFB ; 251 |
| 376e: b0 f0 brcs .+44 ; 0x379c <ParameterZuordnung+0x3e2> |
| 3770: 9b 3f cpi r25, 0xFB ; 251 |
| 3772: 19 f4 brne .+6 ; 0x377a <ParameterZuordnung+0x3c0> |
| 3774: 80 91 1f 02 lds r24, 0x021F |
| 3778: 04 c0 rjmp .+8 ; 0x3782 <ParameterZuordnung+0x3c8> |
| 377a: 9c 3f cpi r25, 0xFC ; 252 |
| 377c: 29 f4 brne .+10 ; 0x3788 <ParameterZuordnung+0x3ce> |
| 377e: 80 91 21 02 lds r24, 0x0221 |
| 3782: 80 93 89 01 sts 0x0189, r24 |
| 3786: 0c c0 rjmp .+24 ; 0x37a0 <ParameterZuordnung+0x3e6> |
| 3788: 9d 3f cpi r25, 0xFD ; 253 |
| 378a: 19 f4 brne .+6 ; 0x3792 <ParameterZuordnung+0x3d8> |
| 378c: 80 91 23 02 lds r24, 0x0223 |
| 3790: f8 cf rjmp .-16 ; 0x3782 <ParameterZuordnung+0x3c8> |
| 3792: 9e 3f cpi r25, 0xFE ; 254 |
| 3794: 29 f4 brne .+10 ; 0x37a0 <ParameterZuordnung+0x3e6> |
| 3796: 80 91 25 02 lds r24, 0x0225 |
| 379a: f3 cf rjmp .-26 ; 0x3782 <ParameterZuordnung+0x3c8> |
| 379c: 90 93 89 01 sts 0x0189, r25 |
| 37a0: 80 91 89 01 lds r24, 0x0189 |
| 37a4: 88 23 and r24, r24 |
| 37a6: 19 f4 brne .+6 ; 0x37ae <ParameterZuordnung+0x3f4> |
| 37a8: 10 92 89 01 sts 0x0189, r1 |
| 37ac: 04 c0 rjmp .+8 ; 0x37b6 <ParameterZuordnung+0x3fc> |
| 37ae: 8f 3f cpi r24, 0xFF ; 255 |
| 37b0: 11 f4 brne .+4 ; 0x37b6 <ParameterZuordnung+0x3fc> |
| 37b2: 80 93 89 01 sts 0x0189, r24 |
| 37b6: 9b 3f cpi r25, 0xFB ; 251 |
| 37b8: b0 f0 brcs .+44 ; 0x37e6 <ParameterZuordnung+0x42c> |
| 37ba: 9b 3f cpi r25, 0xFB ; 251 |
| 37bc: 19 f4 brne .+6 ; 0x37c4 <ParameterZuordnung+0x40a> |
| 37be: 80 91 1f 02 lds r24, 0x021F |
| 37c2: 04 c0 rjmp .+8 ; 0x37cc <ParameterZuordnung+0x412> |
| 37c4: 9c 3f cpi r25, 0xFC ; 252 |
| 37c6: 29 f4 brne .+10 ; 0x37d2 <ParameterZuordnung+0x418> |
| 37c8: 80 91 21 02 lds r24, 0x0221 |
| 37cc: 80 93 89 01 sts 0x0189, r24 |
| 37d0: 0c c0 rjmp .+24 ; 0x37ea <ParameterZuordnung+0x430> |
| 37d2: 9d 3f cpi r25, 0xFD ; 253 |
| 37d4: 19 f4 brne .+6 ; 0x37dc <ParameterZuordnung+0x422> |
| 37d6: 80 91 23 02 lds r24, 0x0223 |
| 37da: f8 cf rjmp .-16 ; 0x37cc <ParameterZuordnung+0x412> |
| 37dc: 9e 3f cpi r25, 0xFE ; 254 |
| 37de: 29 f4 brne .+10 ; 0x37ea <ParameterZuordnung+0x430> |
| 37e0: 80 91 25 02 lds r24, 0x0225 |
| 37e4: f3 cf rjmp .-26 ; 0x37cc <ParameterZuordnung+0x412> |
| 37e6: 90 93 89 01 sts 0x0189, r25 |
| 37ea: 80 91 89 01 lds r24, 0x0189 |
| 37ee: 88 23 and r24, r24 |
| 37f0: 19 f4 brne .+6 ; 0x37f8 <ParameterZuordnung+0x43e> |
| 37f2: 10 92 89 01 sts 0x0189, r1 |
| 37f6: 04 c0 rjmp .+8 ; 0x3800 <ParameterZuordnung+0x446> |
| 37f8: 8f 3f cpi r24, 0xFF ; 255 |
| 37fa: 11 f4 brne .+4 ; 0x3800 <ParameterZuordnung+0x446> |
| 37fc: 80 93 89 01 sts 0x0189, r24 |
| 3800: 10 91 88 01 lds r17, 0x0188 |
| 3804: 61 2f mov r22, r17 |
| 3806: 77 27 eor r23, r23 |
| 3808: 67 fd sbrc r22, 7 |
| 380a: 70 95 com r23 |
| 380c: 87 2f mov r24, r23 |
| 380e: 97 2f mov r25, r23 |
| 3810: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 3814: 17 ff sbrs r17, 7 |
| 3816: 06 c0 rjmp .+12 ; 0x3824 <ParameterZuordnung+0x46a> |
| 3818: 20 e0 ldi r18, 0x00 ; 0 |
| 381a: 30 e0 ldi r19, 0x00 ; 0 |
| 381c: 40 e8 ldi r20, 0x80 ; 128 |
| 381e: 53 e4 ldi r21, 0x43 ; 67 |
| 3820: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 3824: 27 e1 ldi r18, 0x17 ; 23 |
| 3826: 37 eb ldi r19, 0xB7 ; 183 |
| 3828: 41 ed ldi r20, 0xD1 ; 209 |
| 382a: 58 e3 ldi r21, 0x38 ; 56 |
| 382c: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 3830: 60 93 7c 01 sts 0x017C, r22 |
| 3834: 70 93 7d 01 sts 0x017D, r23 |
| 3838: 80 93 7e 01 sts 0x017E, r24 |
| 383c: 90 93 7f 01 sts 0x017F, r25 |
| 3840: 80 91 80 05 lds r24, 0x0580 |
| 3844: 80 93 b4 05 sts 0x05B4, r24 |
| 3848: 80 91 7f 05 lds r24, 0x057F |
| 384c: 80 93 ab 05 sts 0x05AB, r24 |
| 3850: 1f 91 pop r17 |
| 3852: 08 95 ret |
| 00003854 <DefaultKonstanten2>: |
| 3854: 81 e0 ldi r24, 0x01 ; 1 |
| 3856: 80 93 6d 05 sts 0x056D, r24 |
| 385a: 42 e0 ldi r20, 0x02 ; 2 |
| 385c: 40 93 6e 05 sts 0x056E, r20 |
| 3860: 83 e0 ldi r24, 0x03 ; 3 |
| 3862: 80 93 6f 05 sts 0x056F, r24 |
| 3866: 24 e0 ldi r18, 0x04 ; 4 |
| 3868: 20 93 70 05 sts 0x0570, r18 |
| 386c: 35 e0 ldi r19, 0x05 ; 5 |
| 386e: 30 93 71 05 sts 0x0571, r19 |
| 3872: 86 e0 ldi r24, 0x06 ; 6 |
| 3874: 80 93 72 05 sts 0x0572, r24 |
| 3878: 87 e0 ldi r24, 0x07 ; 7 |
| 387a: 80 93 73 05 sts 0x0573, r24 |
| 387e: 10 92 75 05 sts 0x0575, r1 |
| 3882: 8e e1 ldi r24, 0x1E ; 30 |
| 3884: 80 93 76 05 sts 0x0576, r24 |
| 3888: 8b ef ldi r24, 0xFB ; 251 |
| 388a: 80 93 78 05 sts 0x0578, r24 |
| 388e: 8a e0 ldi r24, 0x0A ; 10 |
| 3890: 80 93 79 05 sts 0x0579, r24 |
| 3894: 92 e3 ldi r25, 0x32 ; 50 |
| 3896: 90 93 77 05 sts 0x0577, r25 |
| 389a: 90 93 7b 05 sts 0x057B, r25 |
| 389e: 40 93 7a 05 sts 0x057A, r20 |
| 38a2: 20 93 7c 05 sts 0x057C, r18 |
| 38a6: 10 92 7d 05 sts 0x057D, r1 |
| 38aa: 80 e1 ldi r24, 0x10 ; 16 |
| 38ac: 80 93 7e 05 sts 0x057E, r24 |
| 38b0: 8f e0 ldi r24, 0x0F ; 15 |
| 38b2: 80 93 7f 05 sts 0x057F, r24 |
| 38b6: 8a ef ldi r24, 0xFA ; 250 |
| 38b8: 80 93 80 05 sts 0x0580, r24 |
| 38bc: 8a e1 ldi r24, 0x1A ; 26 |
| 38be: 80 93 81 05 sts 0x0581, r24 |
| 38c2: 80 e8 ldi r24, 0x80 ; 128 |
| 38c4: 80 93 82 05 sts 0x0582, r24 |
| 38c8: 8f ea ldi r24, 0xAF ; 175 |
| 38ca: 80 93 83 05 sts 0x0583, r24 |
| 38ce: 80 93 84 05 sts 0x0584, r24 |
| 38d2: 8a e5 ldi r24, 0x5A ; 90 |
| 38d4: 80 93 85 05 sts 0x0585, r24 |
| 38d8: 83 e2 ldi r24, 0x23 ; 35 |
| 38da: 80 93 86 05 sts 0x0586, r24 |
| 38de: 84 e1 ldi r24, 0x14 ; 20 |
| 38e0: 80 93 87 05 sts 0x0587, r24 |
| 38e4: 10 92 88 05 sts 0x0588, r1 |
| 38e8: 30 93 89 05 sts 0x0589, r19 |
| 38ec: 10 92 8a 05 sts 0x058A, r1 |
| 38f0: 10 92 8b 05 sts 0x058B, r1 |
| 38f4: 10 92 8c 05 sts 0x058C, r1 |
| 38f8: 10 92 8d 05 sts 0x058D, r1 |
| 38fc: 84 e6 ldi r24, 0x64 ; 100 |
| 38fe: 80 93 8e 05 sts 0x058E, r24 |
| 3902: 88 e2 ldi r24, 0x28 ; 40 |
| 3904: 80 93 8f 05 sts 0x058F, r24 |
| 3908: 10 92 93 05 sts 0x0593, r1 |
| 390c: 90 93 90 05 sts 0x0590, r25 |
| 3910: 86 e9 ldi r24, 0x96 ; 150 |
| 3912: 80 93 91 05 sts 0x0591, r24 |
| 3916: 30 93 92 05 sts 0x0592, r19 |
| 391a: ab e9 ldi r26, 0x9B ; 155 |
| 391c: b5 e0 ldi r27, 0x05 ; 5 |
| 391e: e8 e6 ldi r30, 0x68 ; 104 |
| 3920: f1 e0 ldi r31, 0x01 ; 1 |
| 3922: 8c e0 ldi r24, 0x0C ; 12 |
| 3924: 01 90 ld r0, Z+ |
| 3926: 0d 92 st X+, r0 |
| 3928: 81 50 subi r24, 0x01 ; 1 |
| 392a: e1 f7 brne .-8 ; 0x3924 <DefaultKonstanten2+0xd0> |
| 392c: 08 95 ret |
| 0000392e <DefaultKonstanten1>: |
| 392e: 81 e0 ldi r24, 0x01 ; 1 |
| 3930: 80 93 6d 05 sts 0x056D, r24 |
| 3934: 52 e0 ldi r21, 0x02 ; 2 |
| 3936: 50 93 6e 05 sts 0x056E, r21 |
| 393a: 83 e0 ldi r24, 0x03 ; 3 |
| 393c: 80 93 6f 05 sts 0x056F, r24 |
| 3940: 44 e0 ldi r20, 0x04 ; 4 |
| 3942: 40 93 70 05 sts 0x0570, r20 |
| 3946: 35 e0 ldi r19, 0x05 ; 5 |
| 3948: 30 93 71 05 sts 0x0571, r19 |
| 394c: 86 e0 ldi r24, 0x06 ; 6 |
| 394e: 80 93 72 05 sts 0x0572, r24 |
| 3952: 87 e0 ldi r24, 0x07 ; 7 |
| 3954: 80 93 73 05 sts 0x0573, r24 |
| 3958: 28 e0 ldi r18, 0x08 ; 8 |
| 395a: 20 93 74 05 sts 0x0574, r18 |
| 395e: 10 92 75 05 sts 0x0575, r1 |
| 3962: 9e e1 ldi r25, 0x1E ; 30 |
| 3964: 90 93 76 05 sts 0x0576, r25 |
| 3968: 8b ef ldi r24, 0xFB ; 251 |
| 396a: 80 93 78 05 sts 0x0578, r24 |
| 396e: 8a e0 ldi r24, 0x0A ; 10 |
| 3970: 80 93 79 05 sts 0x0579, r24 |
| 3974: 86 e4 ldi r24, 0x46 ; 70 |
| 3976: 80 93 77 05 sts 0x0577, r24 |
| 397a: 90 93 7b 05 sts 0x057B, r25 |
| 397e: 50 93 7a 05 sts 0x057A, r21 |
| 3982: 40 93 7c 05 sts 0x057C, r20 |
| 3986: 20 93 7d 05 sts 0x057D, r18 |
| 398a: 80 e1 ldi r24, 0x10 ; 16 |
| 398c: 80 93 7e 05 sts 0x057E, r24 |
| 3990: 8f e0 ldi r24, 0x0F ; 15 |
| 3992: 80 93 7f 05 sts 0x057F, r24 |
| 3996: 8a ef ldi r24, 0xFA ; 250 |
| 3998: 80 93 80 05 sts 0x0580, r24 |
| 399c: 8a e1 ldi r24, 0x1A ; 26 |
| 399e: 80 93 81 05 sts 0x0581, r24 |
| 39a2: 80 e8 ldi r24, 0x80 ; 128 |
| 39a4: 80 93 82 05 sts 0x0582, r24 |
| 39a8: 88 e7 ldi r24, 0x78 ; 120 |
| 39aa: 80 93 83 05 sts 0x0583, r24 |
| 39ae: 96 e9 ldi r25, 0x96 ; 150 |
| 39b0: 90 93 84 05 sts 0x0584, r25 |
| 39b4: 8a e5 ldi r24, 0x5A ; 90 |
| 39b6: 80 93 85 05 sts 0x0585, r24 |
| 39ba: 83 e2 ldi r24, 0x23 ; 35 |
| 39bc: 80 93 86 05 sts 0x0586, r24 |
| 39c0: 84 e1 ldi r24, 0x14 ; 20 |
| 39c2: 80 93 87 05 sts 0x0587, r24 |
| 39c6: 10 92 88 05 sts 0x0588, r1 |
| 39ca: 30 93 89 05 sts 0x0589, r19 |
| 39ce: 10 92 8a 05 sts 0x058A, r1 |
| 39d2: 10 92 8b 05 sts 0x058B, r1 |
| 39d6: 10 92 8c 05 sts 0x058C, r1 |
| 39da: 10 92 8d 05 sts 0x058D, r1 |
| 39de: 84 e6 ldi r24, 0x64 ; 100 |
| 39e0: 80 93 8e 05 sts 0x058E, r24 |
| 39e4: 88 e2 ldi r24, 0x28 ; 40 |
| 39e6: 80 93 8f 05 sts 0x058F, r24 |
| 39ea: 10 92 93 05 sts 0x0593, r1 |
| 39ee: 82 e3 ldi r24, 0x32 ; 50 |
| 39f0: 80 93 90 05 sts 0x0590, r24 |
| 39f4: 90 93 91 05 sts 0x0591, r25 |
| 39f8: 30 93 92 05 sts 0x0592, r19 |
| 39fc: ab e9 ldi r26, 0x9B ; 155 |
| 39fe: b5 e0 ldi r27, 0x05 ; 5 |
| 3a00: e0 e7 ldi r30, 0x70 ; 112 |
| 3a02: f1 e0 ldi r31, 0x01 ; 1 |
| 3a04: 8c e0 ldi r24, 0x0C ; 12 |
| 3a06: 01 90 ld r0, Z+ |
| 3a08: 0d 92 st X+, r0 |
| 3a0a: 81 50 subi r24, 0x01 ; 1 |
| 3a0c: e1 f7 brne .-8 ; 0x3a06 <DefaultKonstanten1+0xd8> |
| 3a0e: 08 95 ret |
| 00003a10 <SendMotorData>: |
| 3a10: 80 91 2e 02 lds r24, 0x022E |
| 3a14: 88 23 and r24, r24 |
| 3a16: 01 f5 brne .+64 ; 0x3a58 <SendMotorData+0x48> |
| 3a18: 10 92 97 02 sts 0x0297, r1 |
| 3a1c: 10 92 96 02 sts 0x0296, r1 |
| 3a20: 10 92 9a 02 sts 0x029A, r1 |
| 3a24: 10 92 a6 02 sts 0x02A6, r1 |
| 3a28: 80 91 98 01 lds r24, 0x0198 |
| 3a2c: 88 23 and r24, r24 |
| 3a2e: 11 f0 breq .+4 ; 0x3a34 <SendMotorData+0x24> |
| 3a30: 80 93 96 02 sts 0x0296, r24 |
| 3a34: 80 91 99 01 lds r24, 0x0199 |
| 3a38: 88 23 and r24, r24 |
| 3a3a: 11 f0 breq .+4 ; 0x3a40 <SendMotorData+0x30> |
| 3a3c: 80 93 97 02 sts 0x0297, r24 |
| 3a40: 80 91 9a 01 lds r24, 0x019A |
| 3a44: 88 23 and r24, r24 |
| 3a46: 11 f0 breq .+4 ; 0x3a4c <SendMotorData+0x3c> |
| 3a48: 80 93 a6 02 sts 0x02A6, r24 |
| 3a4c: 80 91 9b 01 lds r24, 0x019B |
| 3a50: 88 23 and r24, r24 |
| 3a52: 11 f0 breq .+4 ; 0x3a58 <SendMotorData+0x48> |
| 3a54: 80 93 9a 02 sts 0x029A, r24 |
| 3a58: 80 91 96 02 lds r24, 0x0296 |
| 3a5c: 99 27 eor r25, r25 |
| 3a5e: 90 93 03 05 sts 0x0503, r25 |
| 3a62: 80 93 02 05 sts 0x0502, r24 |
| 3a66: 80 91 97 02 lds r24, 0x0297 |
| 3a6a: 99 27 eor r25, r25 |
| 3a6c: 90 93 05 05 sts 0x0505, r25 |
| 3a70: 80 93 04 05 sts 0x0504, r24 |
| 3a74: 80 91 a6 02 lds r24, 0x02A6 |
| 3a78: 99 27 eor r25, r25 |
| 3a7a: 90 93 07 05 sts 0x0507, r25 |
| 3a7e: 80 93 06 05 sts 0x0506, r24 |
| 3a82: 80 91 9a 02 lds r24, 0x029A |
| 3a86: 99 27 eor r25, r25 |
| 3a88: 90 93 09 05 sts 0x0509, r25 |
| 3a8c: 80 93 08 05 sts 0x0508, r24 |
| 3a90: 10 92 cf 01 sts 0x01CF, r1 |
| 3a94: 10 92 d0 01 sts 0x01D0, r1 |
| 3a98: 0e 94 1a 14 call 0x2834 ; 0x2834 <i2c_start> |
| 3a9c: 08 95 ret |
| 00003a9e <SetNeutral>: |
| 3a9e: cf 93 push r28 |
| 3aa0: df 93 push r29 |
| 3aa2: 10 92 de 01 sts 0x01DE, r1 |
| 3aa6: 10 92 dd 01 sts 0x01DD, r1 |
| 3aaa: 10 92 e0 01 sts 0x01E0, r1 |
| 3aae: 10 92 df 01 sts 0x01DF, r1 |
| 3ab2: 80 e0 ldi r24, 0x00 ; 0 |
| 3ab4: 90 e0 ldi r25, 0x00 ; 0 |
| 3ab6: a0 e0 ldi r26, 0x00 ; 0 |
| 3ab8: b0 e0 ldi r27, 0x00 ; 0 |
| 3aba: 80 93 e1 01 sts 0x01E1, r24 |
| 3abe: 90 93 e2 01 sts 0x01E2, r25 |
| 3ac2: a0 93 e3 01 sts 0x01E3, r26 |
| 3ac6: b0 93 e4 01 sts 0x01E4, r27 |
| 3aca: 10 92 d8 01 sts 0x01D8, r1 |
| 3ace: 10 92 d7 01 sts 0x01D7, r1 |
| 3ad2: 10 92 da 01 sts 0x01DA, r1 |
| 3ad6: 10 92 d9 01 sts 0x01D9, r1 |
| 3ada: 10 92 dc 01 sts 0x01DC, r1 |
| 3ade: 10 92 db 01 sts 0x01DB, r1 |
| 3ae2: 0e 94 41 18 call 0x3082 ; 0x3082 <CalibrierMittelwert> |
| 3ae6: 85 e0 ldi r24, 0x05 ; 5 |
| 3ae8: 90 e0 ldi r25, 0x00 ; 0 |
| 3aea: 0e 94 fb 0b call 0x17f6 ; 0x17f6 <SetDelay> |
| 3aee: ec 01 movw r28, r24 |
| 3af0: ce 01 movw r24, r28 |
| 3af2: 0e 94 04 0c call 0x1808 ; 0x1808 <CheckDelay> |
| 3af6: 88 23 and r24, r24 |
| 3af8: d9 f3 breq .-10 ; 0x3af0 <SetNeutral+0x52> |
| 3afa: 0e 94 41 18 call 0x3082 ; 0x3082 <CalibrierMittelwert> |
| 3afe: 80 91 75 05 lds r24, 0x0575 |
| 3b02: 80 ff sbrs r24, 0 |
| 3b04: 10 c0 rjmp .+32 ; 0x3b26 <SetNeutral+0x88> |
| 3b06: 80 91 0a 01 lds r24, 0x010A |
| 3b0a: 90 91 0b 01 lds r25, 0x010B |
| 3b0e: 87 5b subi r24, 0xB7 ; 183 |
| 3b10: 93 40 sbci r25, 0x03 ; 3 |
| 3b12: 38 f4 brcc .+14 ; 0x3b22 <SetNeutral+0x84> |
| 3b14: 80 91 0a 01 lds r24, 0x010A |
| 3b18: 90 91 0b 01 lds r25, 0x010B |
| 3b1c: 8e 5e subi r24, 0xEE ; 238 |
| 3b1e: 92 40 sbci r25, 0x02 ; 2 |
| 3b20: 10 f4 brcc .+4 ; 0x3b26 <SetNeutral+0x88> |
| 3b22: 0e 94 20 10 call 0x2040 ; 0x2040 <SucheLuftruckOffset> |
| 3b26: 80 91 a9 05 lds r24, 0x05A9 |
| 3b2a: 90 91 aa 05 lds r25, 0x05AA |
| 3b2e: 97 ff sbrs r25, 7 |
| 3b30: 03 c0 rjmp .+6 ; 0x3b38 <SetNeutral+0x9a> |
| 3b32: 90 95 com r25 |
| 3b34: 81 95 neg r24 |
| 3b36: 9f 4f sbci r25, 0xFF ; 255 |
| 3b38: 90 93 d8 01 sts 0x01D8, r25 |
| 3b3c: 80 93 d7 01 sts 0x01D7, r24 |
| 3b40: 80 91 a7 05 lds r24, 0x05A7 |
| 3b44: 90 91 a8 05 lds r25, 0x05A8 |
| 3b48: 97 ff sbrs r25, 7 |
| 3b4a: 03 c0 rjmp .+6 ; 0x3b52 <SetNeutral+0xb4> |
| 3b4c: 90 95 com r25 |
| 3b4e: 81 95 neg r24 |
| 3b50: 9f 4f sbci r25, 0xFF ; 255 |
| 3b52: 90 93 da 01 sts 0x01DA, r25 |
| 3b56: 80 93 d9 01 sts 0x01D9, r24 |
| 3b5a: 80 91 b5 05 lds r24, 0x05B5 |
| 3b5e: 90 91 b6 05 lds r25, 0x05B6 |
| 3b62: 97 ff sbrs r25, 7 |
| 3b64: 03 c0 rjmp .+6 ; 0x3b6c <SetNeutral+0xce> |
| 3b66: 90 95 com r25 |
| 3b68: 81 95 neg r24 |
| 3b6a: 9f 4f sbci r25, 0xFF ; 255 |
| 3b6c: 90 93 dc 01 sts 0x01DC, r25 |
| 3b70: 80 93 db 01 sts 0x01DB, r24 |
| 3b74: 80 91 bb 05 lds r24, 0x05BB |
| 3b78: 90 91 bc 05 lds r25, 0x05BC |
| 3b7c: 97 ff sbrs r25, 7 |
| 3b7e: 03 c0 rjmp .+6 ; 0x3b86 <SetNeutral+0xe8> |
| 3b80: 90 95 com r25 |
| 3b82: 81 95 neg r24 |
| 3b84: 9f 4f sbci r25, 0xFF ; 255 |
| 3b86: 60 e1 ldi r22, 0x10 ; 16 |
| 3b88: 70 e0 ldi r23, 0x00 ; 0 |
| 3b8a: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 3b8e: 70 93 e0 01 sts 0x01E0, r23 |
| 3b92: 60 93 df 01 sts 0x01DF, r22 |
| 3b96: 80 91 b2 05 lds r24, 0x05B2 |
| 3b9a: 90 91 b3 05 lds r25, 0x05B3 |
| 3b9e: 97 ff sbrs r25, 7 |
| 3ba0: 03 c0 rjmp .+6 ; 0x3ba8 <SetNeutral+0x10a> |
| 3ba2: 90 95 com r25 |
| 3ba4: 81 95 neg r24 |
| 3ba6: 9f 4f sbci r25, 0xFF ; 255 |
| 3ba8: 60 e1 ldi r22, 0x10 ; 16 |
| 3baa: 70 e0 ldi r23, 0x00 ; 0 |
| 3bac: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 3bb0: 70 93 de 01 sts 0x01DE, r23 |
| 3bb4: 60 93 dd 01 sts 0x01DD, r22 |
| 3bb8: 60 91 29 05 lds r22, 0x0529 |
| 3bbc: 70 91 2a 05 lds r23, 0x052A |
| 3bc0: 88 27 eor r24, r24 |
| 3bc2: 77 fd sbrc r23, 7 |
| 3bc4: 80 95 com r24 |
| 3bc6: 98 2f mov r25, r24 |
| 3bc8: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 3bcc: 60 93 e1 01 sts 0x01E1, r22 |
| 3bd0: 70 93 e2 01 sts 0x01E2, r23 |
| 3bd4: 80 93 e3 01 sts 0x01E3, r24 |
| 3bd8: 90 93 e4 01 sts 0x01E4, r25 |
| 3bdc: 10 92 fb 01 sts 0x01FB, r1 |
| 3be0: 10 92 fc 01 sts 0x01FC, r1 |
| 3be4: 10 92 fd 01 sts 0x01FD, r1 |
| 3be8: 10 92 fe 01 sts 0x01FE, r1 |
| 3bec: 10 92 ff 01 sts 0x01FF, r1 |
| 3bf0: 10 92 00 02 sts 0x0200, r1 |
| 3bf4: 10 92 01 02 sts 0x0201, r1 |
| 3bf8: 10 92 02 02 sts 0x0202, r1 |
| 3bfc: 10 92 03 02 sts 0x0203, r1 |
| 3c00: 10 92 04 02 sts 0x0204, r1 |
| 3c04: 10 92 05 02 sts 0x0205, r1 |
| 3c08: 10 92 06 02 sts 0x0206, r1 |
| 3c0c: 10 92 07 02 sts 0x0207, r1 |
| 3c10: 10 92 08 02 sts 0x0208, r1 |
| 3c14: 10 92 09 02 sts 0x0209, r1 |
| 3c18: 10 92 0a 02 sts 0x020A, r1 |
| 3c1c: 10 92 0b 02 sts 0x020B, r1 |
| 3c20: 10 92 0c 02 sts 0x020C, r1 |
| 3c24: 10 92 0d 02 sts 0x020D, r1 |
| 3c28: 10 92 0e 02 sts 0x020E, r1 |
| 3c2c: 10 92 aa 05 sts 0x05AA, r1 |
| 3c30: 10 92 a9 05 sts 0x05A9, r1 |
| 3c34: 10 92 a8 05 sts 0x05A8, r1 |
| 3c38: 10 92 a7 05 sts 0x05A7, r1 |
| 3c3c: 10 92 b6 05 sts 0x05B6, r1 |
| 3c40: 10 92 b5 05 sts 0x05B5, r1 |
| 3c44: 80 91 06 01 lds r24, 0x0106 |
| 3c48: 90 91 07 01 lds r25, 0x0107 |
| 3c4c: a0 91 08 01 lds r26, 0x0108 |
| 3c50: b0 91 09 01 lds r27, 0x0109 |
| 3c54: 90 93 2c 05 sts 0x052C, r25 |
| 3c58: 80 93 2b 05 sts 0x052B, r24 |
| 3c5c: 10 92 c5 01 sts 0x01C5, r1 |
| 3c60: 10 92 c4 01 sts 0x01C4, r1 |
| 3c64: 10 92 13 02 sts 0x0213, r1 |
| 3c68: 10 92 14 02 sts 0x0214, r1 |
| 3c6c: 10 92 15 02 sts 0x0215, r1 |
| 3c70: 10 92 16 02 sts 0x0216, r1 |
| 3c74: 80 91 17 02 lds r24, 0x0217 |
| 3c78: 90 91 18 02 lds r25, 0x0218 |
| 3c7c: 90 93 1a 02 sts 0x021A, r25 |
| 3c80: 80 93 19 02 sts 0x0219, r24 |
| 3c84: 82 e3 ldi r24, 0x32 ; 50 |
| 3c86: 90 e0 ldi r25, 0x00 ; 0 |
| 3c88: 90 93 ac 01 sts 0x01AC, r25 |
| 3c8c: 80 93 ab 01 sts 0x01AB, r24 |
| 3c90: df 91 pop r29 |
| 3c92: cf 91 pop r28 |
| 3c94: 08 95 ret |
| 00003c96 <Piep>: |
| 3c96: 1f 93 push r17 |
| 3c98: 18 2f mov r17, r24 |
| 3c9a: 0e c0 rjmp .+28 ; 0x3cb8 <Piep+0x22> |
| 3c9c: 80 91 2e 02 lds r24, 0x022E |
| 3ca0: 88 23 and r24, r24 |
| 3ca2: 61 f4 brne .+24 ; 0x3cbc <Piep+0x26> |
| 3ca4: 84 e6 ldi r24, 0x64 ; 100 |
| 3ca6: 90 e0 ldi r25, 0x00 ; 0 |
| 3ca8: 90 93 ac 01 sts 0x01AC, r25 |
| 3cac: 80 93 ab 01 sts 0x01AB, r24 |
| 3cb0: 8a ef ldi r24, 0xFA ; 250 |
| 3cb2: 90 e0 ldi r25, 0x00 ; 0 |
| 3cb4: 0e 94 e4 0c call 0x19c8 ; 0x19c8 <Delay_ms> |
| 3cb8: 11 50 subi r17, 0x01 ; 1 |
| 3cba: 80 f7 brcc .-32 ; 0x3c9c <Piep+0x6> |
| 3cbc: 1f 91 pop r17 |
| 3cbe: 08 95 ret |
| 00003cc0 <MotorRegler>: |
| 3cc0: 2f 92 push r2 |
| 3cc2: 3f 92 push r3 |
| 3cc4: 4f 92 push r4 |
| 3cc6: 5f 92 push r5 |
| 3cc8: 6f 92 push r6 |
| 3cca: 7f 92 push r7 |
| 3ccc: 8f 92 push r8 |
| 3cce: 9f 92 push r9 |
| 3cd0: af 92 push r10 |
| 3cd2: bf 92 push r11 |
| 3cd4: cf 92 push r12 |
| 3cd6: df 92 push r13 |
| 3cd8: ef 92 push r14 |
| 3cda: ff 92 push r15 |
| 3cdc: 0f 93 push r16 |
| 3cde: 1f 93 push r17 |
| 3ce0: cf 93 push r28 |
| 3ce2: df 93 push r29 |
| 3ce4: cd b7 in r28, 0x3d ; 61 |
| 3ce6: de b7 in r29, 0x3e ; 62 |
| 3ce8: 24 97 sbiw r28, 0x04 ; 4 |
| 3cea: 0f b6 in r0, 0x3f ; 63 |
| 3cec: f8 94 cli |
| 3cee: de bf out 0x3e, r29 ; 62 |
| 3cf0: 0f be out 0x3f, r0 ; 63 |
| 3cf2: cd bf out 0x3d, r28 ; 61 |
| 3cf4: 0e 94 80 15 call 0x2b00 ; 0x2b00 <Mittelwert> |
| 3cf8: 29 9a sbi 0x05, 1 ; 5 |
| 3cfa: e0 91 6f 05 lds r30, 0x056F |
| 3cfe: ae 2f mov r26, r30 |
| 3d00: bb 27 eor r27, r27 |
| 3d02: aa 0f add r26, r26 |
| 3d04: bb 1f adc r27, r27 |
| 3d06: af 5b subi r26, 0xBF ; 191 |
| 3d08: ba 4f sbci r27, 0xFA ; 250 |
| 3d0a: 0d 90 ld r0, X+ |
| 3d0c: bc 91 ld r27, X |
| 3d0e: a0 2d mov r26, r0 |
| 3d10: 9d 01 movw r18, r26 |
| 3d12: 28 58 subi r18, 0x88 ; 136 |
| 3d14: 3f 4f sbci r19, 0xFF ; 255 |
| 3d16: 3a 83 std Y+2, r19 ; 0x02 |
| 3d18: 29 83 std Y+1, r18 ; 0x01 |
| 3d1a: 37 ff sbrs r19, 7 |
| 3d1c: 02 c0 rjmp .+4 ; 0x3d22 <MotorRegler+0x62> |
| 3d1e: 1a 82 std Y+2, r1 ; 0x02 |
| 3d20: 19 82 std Y+1, r1 ; 0x01 |
| 3d22: 80 91 27 02 lds r24, 0x0227 |
| 3d26: 84 36 cpi r24, 0x64 ; 100 |
| 3d28: 08 f0 brcs .+2 ; 0x3d2c <MotorRegler+0x6c> |
| 3d2a: 4a c0 rjmp .+148 ; 0x3dc0 <MotorRegler+0x100> |
| 3d2c: 80 91 01 01 lds r24, 0x0101 |
| 3d30: 88 23 and r24, r24 |
| 3d32: 31 f4 brne .+12 ; 0x3d40 <MotorRegler+0x80> |
| 3d34: 84 ef ldi r24, 0xF4 ; 244 |
| 3d36: 91 e0 ldi r25, 0x01 ; 1 |
| 3d38: 90 93 ac 01 sts 0x01AC, r25 |
| 3d3c: 80 93 ab 01 sts 0x01AB, r24 |
| 3d40: 80 91 42 02 lds r24, 0x0242 |
| 3d44: 90 91 43 02 lds r25, 0x0243 |
| 3d48: 00 97 sbiw r24, 0x00 ; 0 |
| 3d4a: 31 f0 breq .+12 ; 0x3d58 <MotorRegler+0x98> |
| 3d4c: 01 97 sbiw r24, 0x01 ; 1 |
| 3d4e: 90 93 43 02 sts 0x0243, r25 |
| 3d52: 80 93 42 02 sts 0x0242, r24 |
| 3d56: 04 c0 rjmp .+8 ; 0x3d60 <MotorRegler+0xa0> |
| 3d58: 10 92 2e 02 sts 0x022E, r1 |
| 3d5c: 10 92 1d 02 sts 0x021D, r1 |
| 3d60: 28 9a sbi 0x05, 0 ; 5 |
| 3d62: 80 91 3d 02 lds r24, 0x023D |
| 3d66: 90 91 3e 02 lds r25, 0x023E |
| 3d6a: 81 5d subi r24, 0xD1 ; 209 |
| 3d6c: 97 40 sbci r25, 0x07 ; 7 |
| 3d6e: 28 f1 brcs .+74 ; 0x3dba <MotorRegler+0xfa> |
| 3d70: 80 91 86 05 lds r24, 0x0586 |
| 3d74: 48 2f mov r20, r24 |
| 3d76: 55 27 eor r21, r21 |
| 3d78: 5a 83 std Y+2, r21 ; 0x02 |
| 3d7a: 49 83 std Y+1, r20 ; 0x01 |
| 3d7c: 81 e0 ldi r24, 0x01 ; 1 |
| 3d7e: 80 93 1d 02 sts 0x021D, r24 |
| 3d82: e0 91 6d 05 lds r30, 0x056D |
| 3d86: ff 27 eor r31, r31 |
| 3d88: ee 0f add r30, r30 |
| 3d8a: ff 1f adc r31, r31 |
| 3d8c: ef 5b subi r30, 0xBF ; 191 |
| 3d8e: fa 4f sbci r31, 0xFA ; 250 |
| 3d90: 11 82 std Z+1, r1 ; 0x01 |
| 3d92: 10 82 st Z, r1 |
| 3d94: e0 91 6e 05 lds r30, 0x056E |
| 3d98: ff 27 eor r31, r31 |
| 3d9a: ee 0f add r30, r30 |
| 3d9c: ff 1f adc r31, r31 |
| 3d9e: ef 5b subi r30, 0xBF ; 191 |
| 3da0: fa 4f sbci r31, 0xFA ; 250 |
| 3da2: 11 82 std Z+1, r1 ; 0x01 |
| 3da4: 10 82 st Z, r1 |
| 3da6: e0 91 70 05 lds r30, 0x0570 |
| 3daa: ff 27 eor r31, r31 |
| 3dac: ee 0f add r30, r30 |
| 3dae: ff 1f adc r31, r31 |
| 3db0: ef 5b subi r30, 0xBF ; 191 |
| 3db2: fa 4f sbci r31, 0xFA ; 250 |
| 3db4: 11 82 std Z+1, r1 ; 0x01 |
| 3db6: 10 82 st Z, r1 |
| 3db8: ce c1 rjmp .+924 ; 0x4156 <MotorRegler+0x496> |
| 3dba: 10 92 2e 02 sts 0x022E, r1 |
| 3dbe: cb c1 rjmp .+918 ; 0x4156 <MotorRegler+0x496> |
| 3dc0: 80 91 27 02 lds r24, 0x0227 |
| 3dc4: 8d 38 cpi r24, 0x8D ; 141 |
| 3dc6: 08 f4 brcc .+2 ; 0x3dca <MotorRegler+0x10a> |
| 3dc8: c6 c1 rjmp .+908 ; 0x4156 <MotorRegler+0x496> |
| 3dca: 10 92 1d 02 sts 0x021D, r1 |
| 3dce: 80 91 87 05 lds r24, 0x0587 |
| 3dd2: 22 e3 ldi r18, 0x32 ; 50 |
| 3dd4: 82 9f mul r24, r18 |
| 3dd6: c0 01 movw r24, r0 |
| 3dd8: 11 24 eor r1, r1 |
| 3dda: 90 93 43 02 sts 0x0243, r25 |
| 3dde: 80 93 42 02 sts 0x0242, r24 |
| 3de2: 69 81 ldd r22, Y+1 ; 0x01 |
| 3de4: 7a 81 ldd r23, Y+2 ; 0x02 |
| 3de6: 69 32 cpi r22, 0x29 ; 41 |
| 3de8: 71 05 cpc r23, r1 |
| 3dea: 6c f0 brlt .+26 ; 0x3e06 <MotorRegler+0x146> |
| 3dec: 80 91 3d 02 lds r24, 0x023D |
| 3df0: 90 91 3e 02 lds r25, 0x023E |
| 3df4: 7f ef ldi r23, 0xFF ; 255 |
| 3df6: 8f 3f cpi r24, 0xFF ; 255 |
| 3df8: 97 07 cpc r25, r23 |
| 3dfa: 81 f1 breq .+96 ; 0x3e5c <MotorRegler+0x19c> |
| 3dfc: 01 96 adiw r24, 0x01 ; 1 |
| 3dfe: 90 93 3e 02 sts 0x023E, r25 |
| 3e02: 80 93 3d 02 sts 0x023D, r24 |
| 3e06: 80 91 3d 02 lds r24, 0x023D |
| 3e0a: 90 91 3e 02 lds r25, 0x023E |
| 3e0e: 88 3c cpi r24, 0xC8 ; 200 |
| 3e10: 91 05 cpc r25, r1 |
| 3e12: 20 f0 brcs .+8 ; 0x3e1c <MotorRegler+0x15c> |
| 3e14: 89 81 ldd r24, Y+1 ; 0x01 |
| 3e16: 9a 81 ldd r25, Y+2 ; 0x02 |
| 3e18: 88 97 sbiw r24, 0x28 ; 40 |
| 3e1a: 04 f5 brge .+64 ; 0x3e5c <MotorRegler+0x19c> |
| 3e1c: 10 92 58 02 sts 0x0258, r1 |
| 3e20: 10 92 59 02 sts 0x0259, r1 |
| 3e24: 10 92 5a 02 sts 0x025A, r1 |
| 3e28: 10 92 5b 02 sts 0x025B, r1 |
| 3e2c: 10 92 54 02 sts 0x0254, r1 |
| 3e30: 10 92 55 02 sts 0x0255, r1 |
| 3e34: 10 92 56 02 sts 0x0256, r1 |
| 3e38: 10 92 57 02 sts 0x0257, r1 |
| 3e3c: 10 92 0b 02 sts 0x020B, r1 |
| 3e40: 10 92 0c 02 sts 0x020C, r1 |
| 3e44: 10 92 0d 02 sts 0x020D, r1 |
| 3e48: 10 92 0e 02 sts 0x020E, r1 |
| 3e4c: 10 92 0f 02 sts 0x020F, r1 |
| 3e50: 10 92 10 02 sts 0x0210, r1 |
| 3e54: 10 92 11 02 sts 0x0211, r1 |
| 3e58: 10 92 12 02 sts 0x0212, r1 |
| 3e5c: e9 81 ldd r30, Y+1 ; 0x01 |
| 3e5e: fa 81 ldd r31, Y+2 ; 0x02 |
| 3e60: e9 3c cpi r30, 0xC9 ; 201 |
| 3e62: f1 05 cpc r31, r1 |
| 3e64: 0c f4 brge .+2 ; 0x3e68 <MotorRegler+0x1a8> |
| 3e66: d6 c0 rjmp .+428 ; 0x4014 <MotorRegler+0x354> |
| 3e68: 80 91 2e 02 lds r24, 0x022E |
| 3e6c: 88 23 and r24, r24 |
| 3e6e: 09 f0 breq .+2 ; 0x3e72 <MotorRegler+0x1b2> |
| 3e70: 72 c1 rjmp .+740 ; 0x4156 <MotorRegler+0x496> |
| 3e72: e0 91 70 05 lds r30, 0x0570 |
| 3e76: ff 27 eor r31, r31 |
| 3e78: ee 0f add r30, r30 |
| 3e7a: ff 1f adc r31, r31 |
| 3e7c: ef 5b subi r30, 0xBF ; 191 |
| 3e7e: fa 4f sbci r31, 0xFA ; 250 |
| 3e80: 80 81 ld r24, Z |
| 3e82: 91 81 ldd r25, Z+1 ; 0x01 |
| 3e84: 8c 34 cpi r24, 0x4C ; 76 |
| 3e86: 91 05 cpc r25, r1 |
| 3e88: 0c f4 brge .+2 ; 0x3e8c <MotorRegler+0x1cc> |
| 3e8a: c1 c0 rjmp .+386 ; 0x400e <MotorRegler+0x34e> |
| 3e8c: 80 91 41 02 lds r24, 0x0241 |
| 3e90: 8f 5f subi r24, 0xFF ; 255 |
| 3e92: 80 93 41 02 sts 0x0241, r24 |
| 3e96: 89 3c cpi r24, 0xC9 ; 201 |
| 3e98: 08 f4 brcc .+2 ; 0x3e9c <MotorRegler+0x1dc> |
| 3e9a: 5d c1 rjmp .+698 ; 0x4156 <MotorRegler+0x496> |
| 3e9c: 29 98 cbi 0x05, 1 ; 5 |
| 3e9e: 0e 94 4f 1d call 0x3a9e ; 0x3a9e <SetNeutral> |
| 3ea2: 10 92 2e 02 sts 0x022E, r1 |
| 3ea6: 10 92 41 02 sts 0x0241, r1 |
| 3eaa: 10 92 3e 02 sts 0x023E, r1 |
| 3eae: 10 92 3d 02 sts 0x023D, r1 |
| 3eb2: 80 91 6d 05 lds r24, 0x056D |
| 3eb6: 28 2f mov r18, r24 |
| 3eb8: 33 27 eor r19, r19 |
| 3eba: f9 01 movw r30, r18 |
| 3ebc: ee 0f add r30, r30 |
| 3ebe: ff 1f adc r31, r31 |
| 3ec0: ef 5b subi r30, 0xBF ; 191 |
| 3ec2: fa 4f sbci r31, 0xFA ; 250 |
| 3ec4: 80 81 ld r24, Z |
| 3ec6: 91 81 ldd r25, Z+1 ; 0x01 |
| 3ec8: 87 34 cpi r24, 0x47 ; 71 |
| 3eca: 91 05 cpc r25, r1 |
| 3ecc: 9c f4 brge .+38 ; 0x3ef4 <MotorRegler+0x234> |
| 3ece: e0 91 6e 05 lds r30, 0x056E |
| 3ed2: ff 27 eor r31, r31 |
| 3ed4: ee 0f add r30, r30 |
| 3ed6: ff 1f adc r31, r31 |
| 3ed8: ef 5b subi r30, 0xBF ; 191 |
| 3eda: fa 4f sbci r31, 0xFA ; 250 |
| 3edc: 01 90 ld r0, Z+ |
| 3ede: f0 81 ld r31, Z |
| 3ee0: e0 2d mov r30, r0 |
| 3ee2: f7 ff sbrs r31, 7 |
| 3ee4: 03 c0 rjmp .+6 ; 0x3eec <MotorRegler+0x22c> |
| 3ee6: f0 95 com r31 |
| 3ee8: e1 95 neg r30 |
| 3eea: ff 4f sbci r31, 0xFF ; 255 |
| 3eec: e7 34 cpi r30, 0x47 ; 71 |
| 3eee: f1 05 cpc r31, r1 |
| 3ef0: 0c f4 brge .+2 ; 0x3ef4 <MotorRegler+0x234> |
| 3ef2: 6c c0 rjmp .+216 ; 0x3fcc <MotorRegler+0x30c> |
| 3ef4: 80 91 6e 05 lds r24, 0x056E |
| 3ef8: 68 2f mov r22, r24 |
| 3efa: 77 27 eor r23, r23 |
| 3efc: db 01 movw r26, r22 |
| 3efe: aa 0f add r26, r26 |
| 3f00: bb 1f adc r27, r27 |
| 3f02: af 5b subi r26, 0xBF ; 191 |
| 3f04: ba 4f sbci r27, 0xFA ; 250 |
| 3f06: 8d 91 ld r24, X+ |
| 3f08: 9c 91 ld r25, X |
| 3f0a: 11 97 sbiw r26, 0x01 ; 1 |
| 3f0c: 87 34 cpi r24, 0x47 ; 71 |
| 3f0e: 91 05 cpc r25, r1 |
| 3f10: 3c f0 brlt .+14 ; 0x3f20 <MotorRegler+0x260> |
| 3f12: f9 01 movw r30, r18 |
| 3f14: ee 0f add r30, r30 |
| 3f16: ff 1f adc r31, r31 |
| 3f18: ef 5b subi r30, 0xBF ; 191 |
| 3f1a: fa 4f sbci r31, 0xFA ; 250 |
| 3f1c: 80 81 ld r24, Z |
| 3f1e: 91 81 ldd r25, Z+1 ; 0x01 |
| 3f20: 8d 91 ld r24, X+ |
| 3f22: 9c 91 ld r25, X |
| 3f24: 87 34 cpi r24, 0x47 ; 71 |
| 3f26: 91 05 cpc r25, r1 |
| 3f28: 64 f0 brlt .+24 ; 0x3f42 <MotorRegler+0x282> |
| 3f2a: f9 01 movw r30, r18 |
| 3f2c: ee 0f add r30, r30 |
| 3f2e: ff 1f adc r31, r31 |
| 3f30: ef 5b subi r30, 0xBF ; 191 |
| 3f32: fa 4f sbci r31, 0xFA ; 250 |
| 3f34: 80 81 ld r24, Z |
| 3f36: 91 81 ldd r25, Z+1 ; 0x01 |
| 3f38: 87 34 cpi r24, 0x47 ; 71 |
| 3f3a: 91 05 cpc r25, r1 |
| 3f3c: 14 f0 brlt .+4 ; 0x3f42 <MotorRegler+0x282> |
| 3f3e: 42 e0 ldi r20, 0x02 ; 2 |
| 3f40: 01 c0 rjmp .+2 ; 0x3f44 <MotorRegler+0x284> |
| 3f42: 41 e0 ldi r20, 0x01 ; 1 |
| 3f44: fb 01 movw r30, r22 |
| 3f46: ee 0f add r30, r30 |
| 3f48: ff 1f adc r31, r31 |
| 3f4a: ef 5b subi r30, 0xBF ; 191 |
| 3f4c: fa 4f sbci r31, 0xFA ; 250 |
| 3f4e: 80 81 ld r24, Z |
| 3f50: 91 81 ldd r25, Z+1 ; 0x01 |
| 3f52: 86 34 cpi r24, 0x46 ; 70 |
| 3f54: 91 05 cpc r25, r1 |
| 3f56: 5c f4 brge .+22 ; 0x3f6e <MotorRegler+0x2ae> |
| 3f58: f9 01 movw r30, r18 |
| 3f5a: ee 0f add r30, r30 |
| 3f5c: ff 1f adc r31, r31 |
| 3f5e: ef 5b subi r30, 0xBF ; 191 |
| 3f60: fa 4f sbci r31, 0xFA ; 250 |
| 3f62: 80 81 ld r24, Z |
| 3f64: 91 81 ldd r25, Z+1 ; 0x01 |
| 3f66: 87 34 cpi r24, 0x47 ; 71 |
| 3f68: 91 05 cpc r25, r1 |
| 3f6a: 0c f0 brlt .+2 ; 0x3f6e <MotorRegler+0x2ae> |
| 3f6c: 43 e0 ldi r20, 0x03 ; 3 |
| 3f6e: fb 01 movw r30, r22 |
| 3f70: ee 0f add r30, r30 |
| 3f72: ff 1f adc r31, r31 |
| 3f74: ef 5b subi r30, 0xBF ; 191 |
| 3f76: fa 4f sbci r31, 0xFA ; 250 |
| 3f78: 80 81 ld r24, Z |
| 3f7a: 91 81 ldd r25, Z+1 ; 0x01 |
| 3f7c: 8a 5b subi r24, 0xBA ; 186 |
| 3f7e: 9f 4f sbci r25, 0xFF ; 255 |
| 3f80: 5c f4 brge .+22 ; 0x3f98 <MotorRegler+0x2d8> |
| 3f82: f9 01 movw r30, r18 |
| 3f84: ee 0f add r30, r30 |
| 3f86: ff 1f adc r31, r31 |
| 3f88: ef 5b subi r30, 0xBF ; 191 |
| 3f8a: fa 4f sbci r31, 0xFA ; 250 |
| 3f8c: 80 81 ld r24, Z |
| 3f8e: 91 81 ldd r25, Z+1 ; 0x01 |
| 3f90: 87 34 cpi r24, 0x47 ; 71 |
| 3f92: 91 05 cpc r25, r1 |
| 3f94: 0c f0 brlt .+2 ; 0x3f98 <MotorRegler+0x2d8> |
| 3f96: 44 e0 ldi r20, 0x04 ; 4 |
| 3f98: 66 0f add r22, r22 |
| 3f9a: 77 1f adc r23, r23 |
| 3f9c: 6f 5b subi r22, 0xBF ; 191 |
| 3f9e: 7a 4f sbci r23, 0xFA ; 250 |
| 3fa0: fb 01 movw r30, r22 |
| 3fa2: 80 81 ld r24, Z |
| 3fa4: 91 81 ldd r25, Z+1 ; 0x01 |
| 3fa6: 8a 5b subi r24, 0xBA ; 186 |
| 3fa8: 9f 4f sbci r25, 0xFF ; 255 |
| 3faa: 5c f4 brge .+22 ; 0x3fc2 <MotorRegler+0x302> |
| 3fac: 22 0f add r18, r18 |
| 3fae: 33 1f adc r19, r19 |
| 3fb0: 2f 5b subi r18, 0xBF ; 191 |
| 3fb2: 3a 4f sbci r19, 0xFA ; 250 |
| 3fb4: f9 01 movw r30, r18 |
| 3fb6: 80 81 ld r24, Z |
| 3fb8: 91 81 ldd r25, Z+1 ; 0x01 |
| 3fba: 86 34 cpi r24, 0x46 ; 70 |
| 3fbc: 91 05 cpc r25, r1 |
| 3fbe: 0c f4 brge .+2 ; 0x3fc2 <MotorRegler+0x302> |
| 3fc0: 45 e0 ldi r20, 0x05 ; 5 |
| 3fc2: a2 e0 ldi r26, 0x02 ; 2 |
| 3fc4: b0 e0 ldi r27, 0x00 ; 0 |
| 3fc6: 04 2e mov r0, r20 |
| 3fc8: 0e 94 2b 2d call 0x5a56 ; 0x5a56 <__eeprom_write_byte_1F2021> |
| 3fcc: 0e 94 f8 01 call 0x3f0 ; 0x3f0 <GetActiveParamSetNumber> |
| 3fd0: 4a e3 ldi r20, 0x3A ; 58 |
| 3fd2: 6d e6 ldi r22, 0x6D ; 109 |
| 3fd4: 75 e0 ldi r23, 0x05 ; 5 |
| 3fd6: 0e 94 17 02 call 0x42e ; 0x42e <ReadParameterSet> |
| 3fda: 0e 94 f8 01 call 0x3f0 ; 0x3f0 <GetActiveParamSetNumber> |
| 3fde: 0e 94 4b 1e call 0x3c96 ; 0x3c96 <Piep> |
| 3fe2: 80 91 75 05 lds r24, 0x0575 |
| 3fe6: 80 ff sbrs r24, 0 |
| 3fe8: b6 c0 rjmp .+364 ; 0x4156 <MotorRegler+0x496> |
| 3fea: 80 91 0a 01 lds r24, 0x010A |
| 3fee: 90 91 0b 01 lds r25, 0x010B |
| 3ff2: 87 5b subi r24, 0xB7 ; 183 |
| 3ff4: 93 40 sbci r25, 0x03 ; 3 |
| 3ff6: 40 f4 brcc .+16 ; 0x4008 <MotorRegler+0x348> |
| 3ff8: 80 91 0a 01 lds r24, 0x010A |
| 3ffc: 90 91 0b 01 lds r25, 0x010B |
| 4000: 8e 5e subi r24, 0xEE ; 238 |
| 4002: 92 40 sbci r25, 0x02 ; 2 |
| 4004: 08 f0 brcs .+2 ; 0x4008 <MotorRegler+0x348> |
| 4006: a7 c0 rjmp .+334 ; 0x4156 <MotorRegler+0x496> |
| 4008: 0e 94 20 10 call 0x2040 ; 0x2040 <SucheLuftruckOffset> |
| 400c: a4 c0 rjmp .+328 ; 0x4156 <MotorRegler+0x496> |
| 400e: 10 92 41 02 sts 0x0241, r1 |
| 4012: a1 c0 rjmp .+322 ; 0x4156 <MotorRegler+0x496> |
| 4014: 49 81 ldd r20, Y+1 ; 0x01 |
| 4016: 5a 81 ldd r21, Y+2 ; 0x02 |
| 4018: 43 32 cpi r20, 0x23 ; 35 |
| 401a: 51 05 cpc r21, r1 |
| 401c: 0c f0 brlt .+2 ; 0x4020 <MotorRegler+0x360> |
| 401e: 9b c0 rjmp .+310 ; 0x4156 <MotorRegler+0x496> |
| 4020: 80 91 70 05 lds r24, 0x0570 |
| 4024: 48 2f mov r20, r24 |
| 4026: 55 27 eor r21, r21 |
| 4028: fa 01 movw r30, r20 |
| 402a: ee 0f add r30, r30 |
| 402c: ff 1f adc r31, r31 |
| 402e: ef 5b subi r30, 0xBF ; 191 |
| 4030: fa 4f sbci r31, 0xFA ; 250 |
| 4032: 80 81 ld r24, Z |
| 4034: 91 81 ldd r25, Z+1 ; 0x01 |
| 4036: 85 5b subi r24, 0xB5 ; 181 |
| 4038: 9f 4f sbci r25, 0xFF ; 255 |
| 403a: 0c f0 brlt .+2 ; 0x403e <MotorRegler+0x37e> |
| 403c: 6d c0 rjmp .+218 ; 0x4118 <MotorRegler+0x458> |
| 403e: 80 91 40 02 lds r24, 0x0240 |
| 4042: 8f 5f subi r24, 0xFF ; 255 |
| 4044: 80 93 40 02 sts 0x0240, r24 |
| 4048: 89 3c cpi r24, 0xC9 ; 201 |
| 404a: 08 f4 brcc .+2 ; 0x404e <MotorRegler+0x38e> |
| 404c: 67 c0 rjmp .+206 ; 0x411c <MotorRegler+0x45c> |
| 404e: 88 ec ldi r24, 0xC8 ; 200 |
| 4050: 80 93 40 02 sts 0x0240, r24 |
| 4054: 81 e0 ldi r24, 0x01 ; 1 |
| 4056: 90 e0 ldi r25, 0x00 ; 0 |
| 4058: 90 93 3e 02 sts 0x023E, r25 |
| 405c: 80 93 3d 02 sts 0x023D, r24 |
| 4060: 81 e0 ldi r24, 0x01 ; 1 |
| 4062: 80 93 2e 02 sts 0x022E, r24 |
| 4066: 10 92 50 02 sts 0x0250, r1 |
| 406a: 10 92 51 02 sts 0x0251, r1 |
| 406e: 10 92 52 02 sts 0x0252, r1 |
| 4072: 10 92 53 02 sts 0x0253, r1 |
| 4076: 10 92 0b 02 sts 0x020B, r1 |
| 407a: 10 92 0c 02 sts 0x020C, r1 |
| 407e: 10 92 0d 02 sts 0x020D, r1 |
| 4082: 10 92 0e 02 sts 0x020E, r1 |
| 4086: 10 92 0f 02 sts 0x020F, r1 |
| 408a: 10 92 10 02 sts 0x0210, r1 |
| 408e: 10 92 11 02 sts 0x0211, r1 |
| 4092: 10 92 12 02 sts 0x0212, r1 |
| 4096: 10 92 fb 01 sts 0x01FB, r1 |
| 409a: 10 92 fc 01 sts 0x01FC, r1 |
| 409e: 10 92 fd 01 sts 0x01FD, r1 |
| 40a2: 10 92 fe 01 sts 0x01FE, r1 |
| 40a6: 10 92 03 02 sts 0x0203, r1 |
| 40aa: 10 92 04 02 sts 0x0204, r1 |
| 40ae: 10 92 05 02 sts 0x0205, r1 |
| 40b2: 10 92 06 02 sts 0x0206, r1 |
| 40b6: 80 91 e7 01 lds r24, 0x01E7 |
| 40ba: 90 91 e8 01 lds r25, 0x01E8 |
| 40be: a0 91 e9 01 lds r26, 0x01E9 |
| 40c2: b0 91 ea 01 lds r27, 0x01EA |
| 40c6: 80 93 ff 01 sts 0x01FF, r24 |
| 40ca: 90 93 00 02 sts 0x0200, r25 |
| 40ce: a0 93 01 02 sts 0x0201, r26 |
| 40d2: b0 93 02 02 sts 0x0202, r27 |
| 40d6: 80 91 ef 01 lds r24, 0x01EF |
| 40da: 90 91 f0 01 lds r25, 0x01F0 |
| 40de: a0 91 f1 01 lds r26, 0x01F1 |
| 40e2: b0 91 f2 01 lds r27, 0x01F2 |
| 40e6: 80 93 07 02 sts 0x0207, r24 |
| 40ea: 90 93 08 02 sts 0x0208, r25 |
| 40ee: a0 93 09 02 sts 0x0209, r26 |
| 40f2: b0 93 0a 02 sts 0x020A, r27 |
| 40f6: 10 92 58 02 sts 0x0258, r1 |
| 40fa: 10 92 59 02 sts 0x0259, r1 |
| 40fe: 10 92 5a 02 sts 0x025A, r1 |
| 4102: 10 92 5b 02 sts 0x025B, r1 |
| 4106: 10 92 54 02 sts 0x0254, r1 |
| 410a: 10 92 55 02 sts 0x0255, r1 |
| 410e: 10 92 56 02 sts 0x0256, r1 |
| 4112: 10 92 57 02 sts 0x0257, r1 |
| 4116: 02 c0 rjmp .+4 ; 0x411c <MotorRegler+0x45c> |
| 4118: 10 92 40 02 sts 0x0240, r1 |
| 411c: 44 0f add r20, r20 |
| 411e: 55 1f adc r21, r21 |
| 4120: 4f 5b subi r20, 0xBF ; 191 |
| 4122: 5a 4f sbci r21, 0xFA ; 250 |
| 4124: fa 01 movw r30, r20 |
| 4126: 80 81 ld r24, Z |
| 4128: 91 81 ldd r25, Z+1 ; 0x01 |
| 412a: 8c 34 cpi r24, 0x4C ; 76 |
| 412c: 91 05 cpc r25, r1 |
| 412e: 8c f0 brlt .+34 ; 0x4152 <MotorRegler+0x492> |
| 4130: 80 91 3f 02 lds r24, 0x023F |
| 4134: 8f 5f subi r24, 0xFF ; 255 |
| 4136: 80 93 3f 02 sts 0x023F, r24 |
| 413a: 89 3c cpi r24, 0xC9 ; 201 |
| 413c: 60 f0 brcs .+24 ; 0x4156 <MotorRegler+0x496> |
| 413e: 10 92 2e 02 sts 0x022E, r1 |
| 4142: 88 ec ldi r24, 0xC8 ; 200 |
| 4144: 80 93 3f 02 sts 0x023F, r24 |
| 4148: 10 92 3e 02 sts 0x023E, r1 |
| 414c: 10 92 3d 02 sts 0x023D, r1 |
| 4150: 02 c0 rjmp .+4 ; 0x4156 <MotorRegler+0x496> |
| 4152: 10 92 3f 02 sts 0x023F, r1 |
| 4156: 80 91 67 01 lds r24, 0x0167 |
| 415a: 81 50 subi r24, 0x01 ; 1 |
| 415c: 80 93 67 01 sts 0x0167, r24 |
| 4160: 80 91 67 01 lds r24, 0x0167 |
| 4164: 8f 3f cpi r24, 0xFF ; 255 |
| 4166: 29 f0 breq .+10 ; 0x4172 <MotorRegler+0x4b2> |
| 4168: 80 91 1d 02 lds r24, 0x021D |
| 416c: 88 23 and r24, r24 |
| 416e: 09 f4 brne .+2 ; 0x4172 <MotorRegler+0x4b2> |
| 4170: 12 c1 rjmp .+548 ; 0x4396 <MotorRegler+0x6d6> |
| 4172: 0e 94 dd 19 call 0x33ba ; 0x33ba <ParameterZuordnung> |
| 4176: e0 91 6d 05 lds r30, 0x056D |
| 417a: ff 27 eor r31, r31 |
| 417c: ee 0f add r30, r30 |
| 417e: ff 1f adc r31, r31 |
| 4180: df 01 movw r26, r30 |
| 4182: af 5b subi r26, 0xBF ; 191 |
| 4184: ba 4f sbci r27, 0xFA ; 250 |
| 4186: 8d 91 ld r24, X+ |
| 4188: 9c 91 ld r25, X |
| 418a: 60 91 7c 05 lds r22, 0x057C |
| 418e: 77 27 eor r23, r23 |
| 4190: e9 5a subi r30, 0xA9 ; 169 |
| 4192: fa 4f sbci r31, 0xFA ; 250 |
| 4194: 20 81 ld r18, Z |
| 4196: 31 81 ldd r19, Z+1 ; 0x01 |
| 4198: 40 91 7d 05 lds r20, 0x057D |
| 419c: 55 27 eor r21, r21 |
| 419e: fc 01 movw r30, r24 |
| 41a0: e6 9f mul r30, r22 |
| 41a2: c0 01 movw r24, r0 |
| 41a4: e7 9f mul r30, r23 |
| 41a6: 90 0d add r25, r0 |
| 41a8: f6 9f mul r31, r22 |
| 41aa: 90 0d add r25, r0 |
| 41ac: 11 24 eor r1, r1 |
| 41ae: f9 01 movw r30, r18 |
| 41b0: e4 9f mul r30, r20 |
| 41b2: 90 01 movw r18, r0 |
| 41b4: e5 9f mul r30, r21 |
| 41b6: 30 0d add r19, r0 |
| 41b8: f4 9f mul r31, r20 |
| 41ba: 30 0d add r19, r0 |
| 41bc: 11 24 eor r1, r1 |
| 41be: 82 0f add r24, r18 |
| 41c0: 93 1f adc r25, r19 |
| 41c2: 90 93 29 02 sts 0x0229, r25 |
| 41c6: 80 93 28 02 sts 0x0228, r24 |
| 41ca: e0 91 6e 05 lds r30, 0x056E |
| 41ce: ff 27 eor r31, r31 |
| 41d0: ee 0f add r30, r30 |
| 41d2: ff 1f adc r31, r31 |
| 41d4: df 01 movw r26, r30 |
| 41d6: af 5b subi r26, 0xBF ; 191 |
| 41d8: ba 4f sbci r27, 0xFA ; 250 |
| 41da: 8d 91 ld r24, X+ |
| 41dc: 9c 91 ld r25, X |
| 41de: e9 5a subi r30, 0xA9 ; 169 |
| 41e0: fa 4f sbci r31, 0xFA ; 250 |
| 41e2: 20 81 ld r18, Z |
| 41e4: 31 81 ldd r19, Z+1 ; 0x01 |
| 41e6: fc 01 movw r30, r24 |
| 41e8: e6 9f mul r30, r22 |
| 41ea: c0 01 movw r24, r0 |
| 41ec: e7 9f mul r30, r23 |
| 41ee: 90 0d add r25, r0 |
| 41f0: f6 9f mul r31, r22 |
| 41f2: 90 0d add r25, r0 |
| 41f4: 11 24 eor r1, r1 |
| 41f6: b9 01 movw r22, r18 |
| 41f8: 64 9f mul r22, r20 |
| 41fa: 90 01 movw r18, r0 |
| 41fc: 65 9f mul r22, r21 |
| 41fe: 30 0d add r19, r0 |
| 4200: 74 9f mul r23, r20 |
| 4202: 30 0d add r19, r0 |
| 4204: 11 24 eor r1, r1 |
| 4206: 82 0f add r24, r18 |
| 4208: 93 1f adc r25, r19 |
| 420a: 90 93 2b 02 sts 0x022B, r25 |
| 420e: 80 93 2a 02 sts 0x022A, r24 |
| 4212: e0 91 70 05 lds r30, 0x0570 |
| 4216: ff 27 eor r31, r31 |
| 4218: ee 0f add r30, r30 |
| 421a: ff 1f adc r31, r31 |
| 421c: ef 5b subi r30, 0xBF ; 191 |
| 421e: fa 4f sbci r31, 0xFA ; 250 |
| 4220: 80 81 ld r24, Z |
| 4222: 91 81 ldd r25, Z+1 ; 0x01 |
| 4224: 90 95 com r25 |
| 4226: 81 95 neg r24 |
| 4228: 9f 4f sbci r25, 0xFF ; 255 |
| 422a: 90 93 2d 02 sts 0x022D, r25 |
| 422e: 80 93 2c 02 sts 0x022C, r24 |
| 4232: 10 91 85 01 lds r17, 0x0185 |
| 4236: 61 2f mov r22, r17 |
| 4238: 77 27 eor r23, r23 |
| 423a: 67 fd sbrc r22, 7 |
| 423c: 70 95 com r23 |
| 423e: 87 2f mov r24, r23 |
| 4240: 97 2f mov r25, r23 |
| 4242: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4246: 17 ff sbrs r17, 7 |
| 4248: 06 c0 rjmp .+12 ; 0x4256 <MotorRegler+0x596> |
| 424a: 20 e0 ldi r18, 0x00 ; 0 |
| 424c: 30 e0 ldi r19, 0x00 ; 0 |
| 424e: 40 e8 ldi r20, 0x80 ; 128 |
| 4250: 53 e4 ldi r21, 0x43 ; 67 |
| 4252: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 4256: 20 e0 ldi r18, 0x00 ; 0 |
| 4258: 30 e0 ldi r19, 0x00 ; 0 |
| 425a: 40 e2 ldi r20, 0x20 ; 32 |
| 425c: 51 e4 ldi r21, 0x41 ; 65 |
| 425e: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 4262: 20 e0 ldi r18, 0x00 ; 0 |
| 4264: 30 e0 ldi r19, 0x00 ; 0 |
| 4266: 40 e8 ldi r20, 0x80 ; 128 |
| 4268: 5b e3 ldi r21, 0x3B ; 59 |
| 426a: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 426e: 5b 01 movw r10, r22 |
| 4270: 6c 01 movw r12, r24 |
| 4272: 60 93 b7 05 sts 0x05B7, r22 |
| 4276: 70 93 b8 05 sts 0x05B8, r23 |
| 427a: 80 93 b9 05 sts 0x05B9, r24 |
| 427e: 90 93 ba 05 sts 0x05BA, r25 |
| 4282: 10 91 86 01 lds r17, 0x0186 |
| 4286: 61 2f mov r22, r17 |
| 4288: 77 27 eor r23, r23 |
| 428a: 67 fd sbrc r22, 7 |
| 428c: 70 95 com r23 |
| 428e: 87 2f mov r24, r23 |
| 4290: 97 2f mov r25, r23 |
| 4292: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4296: 17 ff sbrs r17, 7 |
| 4298: 06 c0 rjmp .+12 ; 0x42a6 <MotorRegler+0x5e6> |
| 429a: 20 e0 ldi r18, 0x00 ; 0 |
| 429c: 30 e0 ldi r19, 0x00 ; 0 |
| 429e: 40 e8 ldi r20, 0x80 ; 128 |
| 42a0: 53 e4 ldi r21, 0x43 ; 67 |
| 42a2: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 42a6: 20 e0 ldi r18, 0x00 ; 0 |
| 42a8: 30 ee ldi r19, 0xE0 ; 224 |
| 42aa: 4b e2 ldi r20, 0x2B ; 43 |
| 42ac: 57 e4 ldi r21, 0x47 ; 71 |
| 42ae: 0e 94 21 2b call 0x5642 ; 0x5642 <__divsf3> |
| 42b2: 60 93 ae 05 sts 0x05AE, r22 |
| 42b6: 70 93 af 05 sts 0x05AF, r23 |
| 42ba: 80 93 b0 05 sts 0x05B0, r24 |
| 42be: 90 93 b1 05 sts 0x05B1, r25 |
| 42c2: 80 91 75 05 lds r24, 0x0575 |
| 42c6: 82 ff sbrs r24, 2 |
| 42c8: 0c c0 rjmp .+24 ; 0x42e2 <MotorRegler+0x622> |
| 42ca: 80 e0 ldi r24, 0x00 ; 0 |
| 42cc: 90 e0 ldi r25, 0x00 ; 0 |
| 42ce: a0 e0 ldi r26, 0x00 ; 0 |
| 42d0: b0 e0 ldi r27, 0x00 ; 0 |
| 42d2: 80 93 ae 05 sts 0x05AE, r24 |
| 42d6: 90 93 af 05 sts 0x05AF, r25 |
| 42da: a0 93 b0 05 sts 0x05B0, r26 |
| 42de: b0 93 b1 05 sts 0x05B1, r27 |
| 42e2: 20 e0 ldi r18, 0x00 ; 0 |
| 42e4: 30 e0 ldi r19, 0x00 ; 0 |
| 42e6: 40 e0 ldi r20, 0x00 ; 0 |
| 42e8: 50 e0 ldi r21, 0x00 ; 0 |
| 42ea: c6 01 movw r24, r12 |
| 42ec: b5 01 movw r22, r10 |
| 42ee: 0e 94 8e 2b call 0x571c ; 0x571c <__eqsf2> |
| 42f2: 88 23 and r24, r24 |
| 42f4: 64 f4 brge .+24 ; 0x430e <MotorRegler+0x64e> |
| 42f6: 80 e0 ldi r24, 0x00 ; 0 |
| 42f8: 90 e0 ldi r25, 0x00 ; 0 |
| 42fa: a0 e0 ldi r26, 0x00 ; 0 |
| 42fc: b0 e0 ldi r27, 0x00 ; 0 |
| 42fe: 80 93 b7 05 sts 0x05B7, r24 |
| 4302: 90 93 b8 05 sts 0x05B8, r25 |
| 4306: a0 93 b9 05 sts 0x05B9, r26 |
| 430a: b0 93 ba 05 sts 0x05BA, r27 |
| 430e: 20 e0 ldi r18, 0x00 ; 0 |
| 4310: 30 e0 ldi r19, 0x00 ; 0 |
| 4312: 40 e0 ldi r20, 0x00 ; 0 |
| 4314: 50 e0 ldi r21, 0x00 ; 0 |
| 4316: 60 91 ae 05 lds r22, 0x05AE |
| 431a: 70 91 af 05 lds r23, 0x05AF |
| 431e: 80 91 b0 05 lds r24, 0x05B0 |
| 4322: 90 91 b1 05 lds r25, 0x05B1 |
| 4326: 0e 94 8e 2b call 0x571c ; 0x571c <__eqsf2> |
| 432a: 88 23 and r24, r24 |
| 432c: 64 f4 brge .+24 ; 0x4346 <MotorRegler+0x686> |
| 432e: 80 e0 ldi r24, 0x00 ; 0 |
| 4330: 90 e0 ldi r25, 0x00 ; 0 |
| 4332: a0 e0 ldi r26, 0x00 ; 0 |
| 4334: b0 e0 ldi r27, 0x00 ; 0 |
| 4336: 80 93 ae 05 sts 0x05AE, r24 |
| 433a: 90 93 af 05 sts 0x05AF, r25 |
| 433e: a0 93 b0 05 sts 0x05B0, r26 |
| 4342: b0 93 b1 05 sts 0x05B1, r27 |
| 4346: 80 91 1d 02 lds r24, 0x021D |
| 434a: 88 23 and r24, r24 |
| 434c: 21 f1 breq .+72 ; 0x4396 <MotorRegler+0x6d6> |
| 434e: 10 92 2d 02 sts 0x022D, r1 |
| 4352: 10 92 2c 02 sts 0x022C, r1 |
| 4356: 10 92 29 02 sts 0x0229, r1 |
| 435a: 10 92 28 02 sts 0x0228, r1 |
| 435e: 10 92 2b 02 sts 0x022B, r1 |
| 4362: 10 92 2a 02 sts 0x022A, r1 |
| 4366: 8d ec ldi r24, 0xCD ; 205 |
| 4368: 9c ec ldi r25, 0xCC ; 204 |
| 436a: ac ec ldi r26, 0xCC ; 204 |
| 436c: bd e3 ldi r27, 0x3D ; 61 |
| 436e: 80 93 b7 05 sts 0x05B7, r24 |
| 4372: 90 93 b8 05 sts 0x05B8, r25 |
| 4376: a0 93 b9 05 sts 0x05B9, r26 |
| 437a: b0 93 ba 05 sts 0x05BA, r27 |
| 437e: 8a e0 ldi r24, 0x0A ; 10 |
| 4380: 97 ed ldi r25, 0xD7 ; 215 |
| 4382: a3 ea ldi r26, 0xA3 ; 163 |
| 4384: bb e3 ldi r27, 0x3B ; 59 |
| 4386: 80 93 ae 05 sts 0x05AE, r24 |
| 438a: 90 93 af 05 sts 0x05AF, r25 |
| 438e: a0 93 b0 05 sts 0x05B0, r26 |
| 4392: b0 93 b1 05 sts 0x05B1, r27 |
| 4396: 80 91 c6 01 lds r24, 0x01C6 |
| 439a: 90 91 c7 01 lds r25, 0x01C7 |
| 439e: 8d 54 subi r24, 0x4D ; 77 |
| 43a0: 91 40 sbci r25, 0x01 ; 1 |
| 43a2: 08 f4 brcc .+2 ; 0x43a6 <MotorRegler+0x6e6> |
| 43a4: bc c0 rjmp .+376 ; 0x451e <MotorRegler+0x85e> |
| 43a6: 20 91 eb 01 lds r18, 0x01EB |
| 43aa: 30 91 ec 01 lds r19, 0x01EC |
| 43ae: 40 91 ed 01 lds r20, 0x01ED |
| 43b2: 50 91 ee 01 lds r21, 0x01EE |
| 43b6: 80 91 e7 01 lds r24, 0x01E7 |
| 43ba: 90 91 e8 01 lds r25, 0x01E8 |
| 43be: a0 91 e9 01 lds r26, 0x01E9 |
| 43c2: b0 91 ea 01 lds r27, 0x01EA |
| 43c6: b9 01 movw r22, r18 |
| 43c8: 68 1b sub r22, r24 |
| 43ca: 79 0b sbc r23, r25 |
| 43cc: 70 93 47 02 sts 0x0247, r23 |
| 43d0: 60 93 46 02 sts 0x0246, r22 |
| 43d4: 20 91 f3 01 lds r18, 0x01F3 |
| 43d8: 30 91 f4 01 lds r19, 0x01F4 |
| 43dc: 40 91 f5 01 lds r20, 0x01F5 |
| 43e0: 50 91 f6 01 lds r21, 0x01F6 |
| 43e4: 80 91 ef 01 lds r24, 0x01EF |
| 43e8: 90 91 f0 01 lds r25, 0x01F0 |
| 43ec: a0 91 f1 01 lds r26, 0x01F1 |
| 43f0: b0 91 f2 01 lds r27, 0x01F2 |
| 43f4: 28 1b sub r18, r24 |
| 43f6: 39 0b sbc r19, r25 |
| 43f8: 30 93 45 02 sts 0x0245, r19 |
| 43fc: 20 93 44 02 sts 0x0244, r18 |
| 4400: 10 92 c7 01 sts 0x01C7, r1 |
| 4404: 10 92 c6 01 sts 0x01C6, r1 |
| 4408: 67 3a cpi r22, 0xA7 ; 167 |
| 440a: 71 05 cpc r23, r1 |
| 440c: 34 f0 brlt .+12 ; 0x441a <MotorRegler+0x75a> |
| 440e: 80 91 d7 01 lds r24, 0x01D7 |
| 4412: 90 91 d8 01 lds r25, 0x01D8 |
| 4416: 01 96 adiw r24, 0x01 ; 1 |
| 4418: 08 c0 rjmp .+16 ; 0x442a <MotorRegler+0x76a> |
| 441a: 6a 55 subi r22, 0x5A ; 90 |
| 441c: 7f 4f sbci r23, 0xFF ; 255 |
| 441e: 4c f4 brge .+18 ; 0x4432 <MotorRegler+0x772> |
| 4420: 80 91 d7 01 lds r24, 0x01D7 |
| 4424: 90 91 d8 01 lds r25, 0x01D8 |
| 4428: 01 97 sbiw r24, 0x01 ; 1 |
| 442a: 90 93 d8 01 sts 0x01D8, r25 |
| 442e: 80 93 d7 01 sts 0x01D7, r24 |
| 4432: 27 3a cpi r18, 0xA7 ; 167 |
| 4434: 31 05 cpc r19, r1 |
| 4436: 34 f0 brlt .+12 ; 0x4444 <MotorRegler+0x784> |
| 4438: 80 91 d9 01 lds r24, 0x01D9 |
| 443c: 90 91 da 01 lds r25, 0x01DA |
| 4440: 01 96 adiw r24, 0x01 ; 1 |
| 4442: 08 c0 rjmp .+16 ; 0x4454 <MotorRegler+0x794> |
| 4444: 2a 55 subi r18, 0x5A ; 90 |
| 4446: 3f 4f sbci r19, 0xFF ; 255 |
| 4448: 4c f4 brge .+18 ; 0x445c <MotorRegler+0x79c> |
| 444a: 80 91 d9 01 lds r24, 0x01D9 |
| 444e: 90 91 da 01 lds r25, 0x01DA |
| 4452: 01 97 sbiw r24, 0x01 ; 1 |
| 4454: 90 93 da 01 sts 0x01DA, r25 |
| 4458: 80 93 d9 01 sts 0x01D9, r24 |
| 445c: 80 91 0f 02 lds r24, 0x020F |
| 4460: 90 91 10 02 lds r25, 0x0210 |
| 4464: a0 91 11 02 lds r26, 0x0211 |
| 4468: b0 91 12 02 lds r27, 0x0212 |
| 446c: 87 3a cpi r24, 0xA7 ; 167 |
| 446e: 91 05 cpc r25, r1 |
| 4470: a1 05 cpc r26, r1 |
| 4472: b1 05 cpc r27, r1 |
| 4474: 4c f0 brlt .+18 ; 0x4488 <MotorRegler+0x7c8> |
| 4476: 80 91 db 01 lds r24, 0x01DB |
| 447a: 90 91 dc 01 lds r25, 0x01DC |
| 447e: 01 97 sbiw r24, 0x01 ; 1 |
| 4480: 90 93 dc 01 sts 0x01DC, r25 |
| 4484: 80 93 db 01 sts 0x01DB, r24 |
| 4488: 80 91 0f 02 lds r24, 0x020F |
| 448c: 90 91 10 02 lds r25, 0x0210 |
| 4490: a0 91 11 02 lds r26, 0x0211 |
| 4494: b0 91 12 02 lds r27, 0x0212 |
| 4498: 8a 55 subi r24, 0x5A ; 90 |
| 449a: 9f 4f sbci r25, 0xFF ; 255 |
| 449c: af 4f sbci r26, 0xFF ; 255 |
| 449e: bf 4f sbci r27, 0xFF ; 255 |
| 44a0: 4c f4 brge .+18 ; 0x44b4 <MotorRegler+0x7f4> |
| 44a2: 80 91 db 01 lds r24, 0x01DB |
| 44a6: 90 91 dc 01 lds r25, 0x01DC |
| 44aa: 01 96 adiw r24, 0x01 ; 1 |
| 44ac: 90 93 dc 01 sts 0x01DC, r25 |
| 44b0: 80 93 db 01 sts 0x01DB, r24 |
| 44b4: 10 92 7a 00 sts 0x007A, r1 |
| 44b8: 80 91 e7 01 lds r24, 0x01E7 |
| 44bc: 90 91 e8 01 lds r25, 0x01E8 |
| 44c0: a0 91 e9 01 lds r26, 0x01E9 |
| 44c4: b0 91 ea 01 lds r27, 0x01EA |
| 44c8: 80 93 ff 01 sts 0x01FF, r24 |
| 44cc: 90 93 00 02 sts 0x0200, r25 |
| 44d0: a0 93 01 02 sts 0x0201, r26 |
| 44d4: b0 93 02 02 sts 0x0202, r27 |
| 44d8: 80 91 ef 01 lds r24, 0x01EF |
| 44dc: 90 91 f0 01 lds r25, 0x01F0 |
| 44e0: a0 91 f1 01 lds r26, 0x01F1 |
| 44e4: b0 91 f2 01 lds r27, 0x01F2 |
| 44e8: 80 93 07 02 sts 0x0207, r24 |
| 44ec: 90 93 08 02 sts 0x0208, r25 |
| 44f0: a0 93 09 02 sts 0x0209, r26 |
| 44f4: b0 93 0a 02 sts 0x020A, r27 |
| 44f8: 80 91 f7 01 lds r24, 0x01F7 |
| 44fc: 90 91 f8 01 lds r25, 0x01F8 |
| 4500: a0 91 f9 01 lds r26, 0x01F9 |
| 4504: b0 91 fa 01 lds r27, 0x01FA |
| 4508: 80 93 0f 02 sts 0x020F, r24 |
| 450c: 90 93 10 02 sts 0x0210, r25 |
| 4510: a0 93 11 02 sts 0x0211, r26 |
| 4514: b0 93 12 02 sts 0x0212, r27 |
| 4518: 8f ee ldi r24, 0xEF ; 239 |
| 451a: 80 93 7a 00 sts 0x007A, r24 |
| 451e: 60 91 e7 01 lds r22, 0x01E7 |
| 4522: 70 91 e8 01 lds r23, 0x01E8 |
| 4526: 80 91 e9 01 lds r24, 0x01E9 |
| 452a: 90 91 ea 01 lds r25, 0x01EA |
| 452e: a0 90 81 05 lds r10, 0x0581 |
| 4532: bb 24 eor r11, r11 |
| 4534: cc 24 eor r12, r12 |
| 4536: dd 24 eor r13, r13 |
| 4538: e0 90 b2 05 lds r14, 0x05B2 |
| 453c: f0 90 b3 05 lds r15, 0x05B3 |
| 4540: a6 01 movw r20, r12 |
| 4542: 95 01 movw r18, r10 |
| 4544: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 4548: 00 27 eor r16, r16 |
| 454a: f7 fc sbrc r15, 7 |
| 454c: 00 95 com r16 |
| 454e: 10 2f mov r17, r16 |
| 4550: 2e 19 sub r18, r14 |
| 4552: 3f 09 sbc r19, r15 |
| 4554: 40 0b sbc r20, r16 |
| 4556: 51 0b sbc r21, r17 |
| 4558: ca 01 movw r24, r20 |
| 455a: b9 01 movw r22, r18 |
| 455c: 20 e1 ldi r18, 0x10 ; 16 |
| 455e: 30 e0 ldi r19, 0x00 ; 0 |
| 4560: 40 e0 ldi r20, 0x00 ; 0 |
| 4562: 50 e0 ldi r21, 0x00 ; 0 |
| 4564: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 4568: 39 01 movw r6, r18 |
| 456a: 4a 01 movw r8, r20 |
| 456c: 20 93 4c 02 sts 0x024C, r18 |
| 4570: 30 93 4d 02 sts 0x024D, r19 |
| 4574: 40 93 4e 02 sts 0x024E, r20 |
| 4578: 50 93 4f 02 sts 0x024F, r21 |
| 457c: 60 91 ef 01 lds r22, 0x01EF |
| 4580: 70 91 f0 01 lds r23, 0x01F0 |
| 4584: 80 91 f1 01 lds r24, 0x01F1 |
| 4588: 90 91 f2 01 lds r25, 0x01F2 |
| 458c: e0 90 bb 05 lds r14, 0x05BB |
| 4590: f0 90 bc 05 lds r15, 0x05BC |
| 4594: a6 01 movw r20, r12 |
| 4596: 95 01 movw r18, r10 |
| 4598: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 459c: 00 27 eor r16, r16 |
| 459e: f7 fc sbrc r15, 7 |
| 45a0: 00 95 com r16 |
| 45a2: 10 2f mov r17, r16 |
| 45a4: 2e 19 sub r18, r14 |
| 45a6: 3f 09 sbc r19, r15 |
| 45a8: 40 0b sbc r20, r16 |
| 45aa: 51 0b sbc r21, r17 |
| 45ac: ca 01 movw r24, r20 |
| 45ae: b9 01 movw r22, r18 |
| 45b0: 20 e1 ldi r18, 0x10 ; 16 |
| 45b2: 30 e0 ldi r19, 0x00 ; 0 |
| 45b4: 40 e0 ldi r20, 0x00 ; 0 |
| 45b6: 50 e0 ldi r21, 0x00 ; 0 |
| 45b8: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 45bc: 20 93 48 02 sts 0x0248, r18 |
| 45c0: 30 93 49 02 sts 0x0249, r19 |
| 45c4: 40 93 4a 02 sts 0x024A, r20 |
| 45c8: 50 93 4b 02 sts 0x024B, r21 |
| 45cc: f5 ef ldi r31, 0xF5 ; 245 |
| 45ce: 6f 16 cp r6, r31 |
| 45d0: f1 e0 ldi r31, 0x01 ; 1 |
| 45d2: 7f 06 cpc r7, r31 |
| 45d4: f0 e0 ldi r31, 0x00 ; 0 |
| 45d6: 8f 06 cpc r8, r31 |
| 45d8: f0 e0 ldi r31, 0x00 ; 0 |
| 45da: 9f 06 cpc r9, r31 |
| 45dc: 2c f0 brlt .+10 ; 0x45e8 <MotorRegler+0x928> |
| 45de: 84 ef ldi r24, 0xF4 ; 244 |
| 45e0: 91 e0 ldi r25, 0x01 ; 1 |
| 45e2: a0 e0 ldi r26, 0x00 ; 0 |
| 45e4: b0 e0 ldi r27, 0x00 ; 0 |
| 45e6: 0d c0 rjmp .+26 ; 0x4602 <MotorRegler+0x942> |
| 45e8: 6c e0 ldi r22, 0x0C ; 12 |
| 45ea: 66 16 cp r6, r22 |
| 45ec: 6e ef ldi r22, 0xFE ; 254 |
| 45ee: 76 06 cpc r7, r22 |
| 45f0: 6f ef ldi r22, 0xFF ; 255 |
| 45f2: 86 06 cpc r8, r22 |
| 45f4: 6f ef ldi r22, 0xFF ; 255 |
| 45f6: 96 06 cpc r9, r22 |
| 45f8: 64 f4 brge .+24 ; 0x4612 <MotorRegler+0x952> |
| 45fa: 8c e0 ldi r24, 0x0C ; 12 |
| 45fc: 9e ef ldi r25, 0xFE ; 254 |
| 45fe: af ef ldi r26, 0xFF ; 255 |
| 4600: bf ef ldi r27, 0xFF ; 255 |
| 4602: 80 93 4c 02 sts 0x024C, r24 |
| 4606: 90 93 4d 02 sts 0x024D, r25 |
| 460a: a0 93 4e 02 sts 0x024E, r26 |
| 460e: b0 93 4f 02 sts 0x024F, r27 |
| 4612: 25 3f cpi r18, 0xF5 ; 245 |
| 4614: 71 e0 ldi r23, 0x01 ; 1 |
| 4616: 37 07 cpc r19, r23 |
| 4618: 70 e0 ldi r23, 0x00 ; 0 |
| 461a: 47 07 cpc r20, r23 |
| 461c: 70 e0 ldi r23, 0x00 ; 0 |
| 461e: 57 07 cpc r21, r23 |
| 4620: 2c f0 brlt .+10 ; 0x462c <MotorRegler+0x96c> |
| 4622: 84 ef ldi r24, 0xF4 ; 244 |
| 4624: 91 e0 ldi r25, 0x01 ; 1 |
| 4626: a0 e0 ldi r26, 0x00 ; 0 |
| 4628: b0 e0 ldi r27, 0x00 ; 0 |
| 462a: 09 c0 rjmp .+18 ; 0x463e <MotorRegler+0x97e> |
| 462c: 2c 50 subi r18, 0x0C ; 12 |
| 462e: 3e 4f sbci r19, 0xFE ; 254 |
| 4630: 4f 4f sbci r20, 0xFF ; 255 |
| 4632: 5f 4f sbci r21, 0xFF ; 255 |
| 4634: 64 f4 brge .+24 ; 0x464e <MotorRegler+0x98e> |
| 4636: 8c e0 ldi r24, 0x0C ; 12 |
| 4638: 9e ef ldi r25, 0xFE ; 254 |
| 463a: af ef ldi r26, 0xFF ; 255 |
| 463c: bf ef ldi r27, 0xFF ; 255 |
| 463e: 80 93 48 02 sts 0x0248, r24 |
| 4642: 90 93 49 02 sts 0x0249, r25 |
| 4646: a0 93 4a 02 sts 0x024A, r26 |
| 464a: b0 93 4b 02 sts 0x024B, r27 |
| 464e: 10 92 7a 00 sts 0x007A, r1 |
| 4652: 80 91 fb 01 lds r24, 0x01FB |
| 4656: 90 91 fc 01 lds r25, 0x01FC |
| 465a: a0 91 fd 01 lds r26, 0x01FD |
| 465e: b0 91 fe 01 lds r27, 0x01FE |
| 4662: 20 91 4c 02 lds r18, 0x024C |
| 4666: 30 91 4d 02 lds r19, 0x024D |
| 466a: 40 91 4e 02 lds r20, 0x024E |
| 466e: 50 91 4f 02 lds r21, 0x024F |
| 4672: 82 1b sub r24, r18 |
| 4674: 93 0b sbc r25, r19 |
| 4676: a4 0b sbc r26, r20 |
| 4678: b5 0b sbc r27, r21 |
| 467a: 80 93 fb 01 sts 0x01FB, r24 |
| 467e: 90 93 fc 01 sts 0x01FC, r25 |
| 4682: a0 93 fd 01 sts 0x01FD, r26 |
| 4686: b0 93 fe 01 sts 0x01FE, r27 |
| 468a: 80 91 03 02 lds r24, 0x0203 |
| 468e: 90 91 04 02 lds r25, 0x0204 |
| 4692: a0 91 05 02 lds r26, 0x0205 |
| 4696: b0 91 06 02 lds r27, 0x0206 |
| 469a: 20 91 48 02 lds r18, 0x0248 |
| 469e: 30 91 49 02 lds r19, 0x0249 |
| 46a2: 40 91 4a 02 lds r20, 0x024A |
| 46a6: 50 91 4b 02 lds r21, 0x024B |
| 46aa: 82 1b sub r24, r18 |
| 46ac: 93 0b sbc r25, r19 |
| 46ae: a4 0b sbc r26, r20 |
| 46b0: b5 0b sbc r27, r21 |
| 46b2: 80 93 03 02 sts 0x0203, r24 |
| 46b6: 90 93 04 02 sts 0x0204, r25 |
| 46ba: a0 93 05 02 sts 0x0205, r26 |
| 46be: b0 93 06 02 sts 0x0206, r27 |
| 46c2: 80 91 2c 02 lds r24, 0x022C |
| 46c6: 90 91 2d 02 lds r25, 0x022D |
| 46ca: 5c 01 movw r10, r24 |
| 46cc: cc 24 eor r12, r12 |
| 46ce: b7 fc sbrc r11, 7 |
| 46d0: c0 94 com r12 |
| 46d2: dc 2c mov r13, r12 |
| 46d4: a0 92 50 02 sts 0x0250, r10 |
| 46d8: b0 92 51 02 sts 0x0251, r11 |
| 46dc: c0 92 52 02 sts 0x0252, r12 |
| 46e0: d0 92 53 02 sts 0x0253, r13 |
| 46e4: 97 ff sbrs r25, 7 |
| 46e6: 03 c0 rjmp .+6 ; 0x46ee <MotorRegler+0xa2e> |
| 46e8: 90 95 com r25 |
| 46ea: 81 95 neg r24 |
| 46ec: 9f 4f sbci r25, 0xFF ; 255 |
| 46ee: 84 97 sbiw r24, 0x24 ; 36 |
| 46f0: 3c f0 brlt .+14 ; 0x4700 <MotorRegler+0xa40> |
| 46f2: 80 91 75 05 lds r24, 0x0575 |
| 46f6: 84 fd sbrc r24, 4 |
| 46f8: 03 c0 rjmp .+6 ; 0x4700 <MotorRegler+0xa40> |
| 46fa: 81 e0 ldi r24, 0x01 ; 1 |
| 46fc: 80 93 39 02 sts 0x0239, r24 |
| 4700: 60 90 0b 02 lds r6, 0x020B |
| 4704: 70 90 0c 02 lds r7, 0x020C |
| 4708: 80 90 0d 02 lds r8, 0x020D |
| 470c: 90 90 0e 02 lds r9, 0x020E |
| 4710: c5 01 movw r24, r10 |
| 4712: b7 fe sbrs r11, 7 |
| 4714: 03 c0 rjmp .+6 ; 0x471c <MotorRegler+0xa5c> |
| 4716: 90 95 com r25 |
| 4718: 81 95 neg r24 |
| 471a: 9f 4f sbci r25, 0xFF ; 255 |
| 471c: 7c 01 movw r14, r24 |
| 471e: 00 27 eor r16, r16 |
| 4720: f7 fc sbrc r15, 7 |
| 4722: 00 95 com r16 |
| 4724: 10 2f mov r17, r16 |
| 4726: 20 91 7e 05 lds r18, 0x057E |
| 472a: 33 27 eor r19, r19 |
| 472c: 44 27 eor r20, r20 |
| 472e: 55 27 eor r21, r21 |
| 4730: c6 01 movw r24, r12 |
| 4732: b5 01 movw r22, r10 |
| 4734: 0e 94 a0 2c call 0x5940 ; 0x5940 <__mulsi3> |
| 4738: 9b 01 movw r18, r22 |
| 473a: ac 01 movw r20, r24 |
| 473c: c8 01 movw r24, r16 |
| 473e: b7 01 movw r22, r14 |
| 4740: 0e 94 a0 2c call 0x5940 ; 0x5940 <__mulsi3> |
| 4744: 20 e0 ldi r18, 0x00 ; 0 |
| 4746: 31 e0 ldi r19, 0x01 ; 1 |
| 4748: 40 e0 ldi r20, 0x00 ; 0 |
| 474a: 50 e0 ldi r21, 0x00 ; 0 |
| 474c: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 4750: 44 27 eor r20, r20 |
| 4752: 37 fd sbrc r19, 7 |
| 4754: 40 95 com r20 |
| 4756: 54 2f mov r21, r20 |
| 4758: 62 1a sub r6, r18 |
| 475a: 73 0a sbc r7, r19 |
| 475c: 84 0a sbc r8, r20 |
| 475e: 95 0a sbc r9, r21 |
| 4760: 60 92 0b 02 sts 0x020B, r6 |
| 4764: 70 92 0c 02 sts 0x020C, r7 |
| 4768: 80 92 0d 02 sts 0x020D, r8 |
| 476c: 90 92 0e 02 sts 0x020E, r9 |
| 4770: 80 91 0b 02 lds r24, 0x020B |
| 4774: 90 91 0c 02 lds r25, 0x020C |
| 4778: a0 91 0d 02 lds r26, 0x020D |
| 477c: b0 91 0e 02 lds r27, 0x020E |
| 4780: 81 53 subi r24, 0x31 ; 49 |
| 4782: 95 47 sbci r25, 0x75 ; 117 |
| 4784: a0 40 sbci r26, 0x00 ; 0 |
| 4786: b0 40 sbci r27, 0x00 ; 0 |
| 4788: 64 f0 brlt .+24 ; 0x47a2 <MotorRegler+0xae2> |
| 478a: 80 e3 ldi r24, 0x30 ; 48 |
| 478c: 95 e7 ldi r25, 0x75 ; 117 |
| 478e: a0 e0 ldi r26, 0x00 ; 0 |
| 4790: b0 e0 ldi r27, 0x00 ; 0 |
| 4792: 80 93 0b 02 sts 0x020B, r24 |
| 4796: 90 93 0c 02 sts 0x020C, r25 |
| 479a: a0 93 0d 02 sts 0x020D, r26 |
| 479e: b0 93 0e 02 sts 0x020E, r27 |
| 47a2: 80 91 0b 02 lds r24, 0x020B |
| 47a6: 90 91 0c 02 lds r25, 0x020C |
| 47aa: a0 91 0d 02 lds r26, 0x020D |
| 47ae: b0 91 0e 02 lds r27, 0x020E |
| 47b2: 80 5d subi r24, 0xD0 ; 208 |
| 47b4: 9a 48 sbci r25, 0x8A ; 138 |
| 47b6: af 4f sbci r26, 0xFF ; 255 |
| 47b8: bf 4f sbci r27, 0xFF ; 255 |
| 47ba: 64 f4 brge .+24 ; 0x47d4 <MotorRegler+0xb14> |
| 47bc: 80 ed ldi r24, 0xD0 ; 208 |
| 47be: 9a e8 ldi r25, 0x8A ; 138 |
| 47c0: af ef ldi r26, 0xFF ; 255 |
| 47c2: bf ef ldi r27, 0xFF ; 255 |
| 47c4: 80 93 0b 02 sts 0x020B, r24 |
| 47c8: 90 93 0c 02 sts 0x020C, r25 |
| 47cc: a0 93 0d 02 sts 0x020D, r26 |
| 47d0: b0 93 0e 02 sts 0x020E, r27 |
| 47d4: 8f ee ldi r24, 0xEF ; 239 |
| 47d6: 80 93 7a 00 sts 0x007A, r24 |
| 47da: 80 91 17 02 lds r24, 0x0217 |
| 47de: 90 91 18 02 lds r25, 0x0218 |
| 47e2: 89 2b or r24, r25 |
| 47e4: 09 f4 brne .+2 ; 0x47e8 <MotorRegler+0xb28> |
| 47e6: a1 c0 rjmp .+322 ; 0x492a <MotorRegler+0xc6a> |
| 47e8: 80 91 75 05 lds r24, 0x0575 |
| 47ec: 83 ff sbrs r24, 3 |
| 47ee: 9d c0 rjmp .+314 ; 0x492a <MotorRegler+0xc6a> |
| 47f0: 60 91 e7 01 lds r22, 0x01E7 |
| 47f4: 70 91 e8 01 lds r23, 0x01E8 |
| 47f8: 80 91 e9 01 lds r24, 0x01E9 |
| 47fc: 90 91 ea 01 lds r25, 0x01EA |
| 4800: 20 e0 ldi r18, 0x00 ; 0 |
| 4802: 32 e0 ldi r19, 0x02 ; 2 |
| 4804: 40 e0 ldi r20, 0x00 ; 0 |
| 4806: 50 e0 ldi r21, 0x00 ; 0 |
| 4808: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 480c: 89 01 movw r16, r18 |
| 480e: 37 ff sbrs r19, 7 |
| 4810: 03 c0 rjmp .+6 ; 0x4818 <MotorRegler+0xb58> |
| 4812: 10 95 com r17 |
| 4814: 01 95 neg r16 |
| 4816: 1f 4f sbci r17, 0xFF ; 255 |
| 4818: 60 91 ef 01 lds r22, 0x01EF |
| 481c: 70 91 f0 01 lds r23, 0x01F0 |
| 4820: 80 91 f1 01 lds r24, 0x01F1 |
| 4824: 90 91 f2 01 lds r25, 0x01F2 |
| 4828: 20 e0 ldi r18, 0x00 ; 0 |
| 482a: 32 e0 ldi r19, 0x02 ; 2 |
| 482c: 40 e0 ldi r20, 0x00 ; 0 |
| 482e: 50 e0 ldi r21, 0x00 ; 0 |
| 4830: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 4834: b9 01 movw r22, r18 |
| 4836: 37 ff sbrs r19, 7 |
| 4838: 03 c0 rjmp .+6 ; 0x4840 <MotorRegler+0xb80> |
| 483a: 70 95 com r23 |
| 483c: 61 95 neg r22 |
| 483e: 7f 4f sbci r23, 0xFF ; 255 |
| 4840: 60 17 cp r22, r16 |
| 4842: 71 07 cpc r23, r17 |
| 4844: 0c f4 brge .+2 ; 0x4848 <MotorRegler+0xb88> |
| 4846: b8 01 movw r22, r16 |
| 4848: 69 31 cpi r22, 0x19 ; 25 |
| 484a: 71 05 cpc r23, r1 |
| 484c: a4 f4 brge .+40 ; 0x4876 <MotorRegler+0xbb6> |
| 484e: 80 91 39 02 lds r24, 0x0239 |
| 4852: 88 23 and r24, r24 |
| 4854: 81 f0 breq .+32 ; 0x4876 <MotorRegler+0xbb6> |
| 4856: 80 91 37 02 lds r24, 0x0237 |
| 485a: 90 91 38 02 lds r25, 0x0238 |
| 485e: 89 2b or r24, r25 |
| 4860: 51 f4 brne .+20 ; 0x4876 <MotorRegler+0xbb6> |
| 4862: 80 91 17 02 lds r24, 0x0217 |
| 4866: 90 91 18 02 lds r25, 0x0218 |
| 486a: 90 93 1a 02 sts 0x021A, r25 |
| 486e: 80 93 19 02 sts 0x0219, r24 |
| 4872: 10 92 39 02 sts 0x0239, r1 |
| 4876: 20 91 84 01 lds r18, 0x0184 |
| 487a: 33 27 eor r19, r19 |
| 487c: 62 9f mul r22, r18 |
| 487e: c0 01 movw r24, r0 |
| 4880: 63 9f mul r22, r19 |
| 4882: 90 0d add r25, r0 |
| 4884: 72 9f mul r23, r18 |
| 4886: 90 0d add r25, r0 |
| 4888: 11 24 eor r1, r1 |
| 488a: 60 e4 ldi r22, 0x40 ; 64 |
| 488c: 70 e0 ldi r23, 0x00 ; 0 |
| 488e: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 4892: a9 01 movw r20, r18 |
| 4894: 46 1b sub r20, r22 |
| 4896: 57 0b sbc r21, r23 |
| 4898: 14 16 cp r1, r20 |
| 489a: 15 06 cpc r1, r21 |
| 489c: 0c f0 brlt .+2 ; 0x48a0 <MotorRegler+0xbe0> |
| 489e: 3f c0 rjmp .+126 ; 0x491e <MotorRegler+0xc5e> |
| 48a0: 10 92 7a 00 sts 0x007A, r1 |
| 48a4: 20 91 37 02 lds r18, 0x0237 |
| 48a8: 30 91 38 02 lds r19, 0x0238 |
| 48ac: 21 15 cp r18, r1 |
| 48ae: 31 05 cpc r19, r1 |
| 48b0: 61 f5 brne .+88 ; 0x490a <MotorRegler+0xc4a> |
| 48b2: 00 91 0b 02 lds r16, 0x020B |
| 48b6: 10 91 0c 02 lds r17, 0x020C |
| 48ba: 20 91 0d 02 lds r18, 0x020D |
| 48be: 30 91 0e 02 lds r19, 0x020E |
| 48c2: 80 91 1b 02 lds r24, 0x021B |
| 48c6: 90 91 1c 02 lds r25, 0x021C |
| 48ca: bc 01 movw r22, r24 |
| 48cc: 64 9f mul r22, r20 |
| 48ce: c0 01 movw r24, r0 |
| 48d0: 65 9f mul r22, r21 |
| 48d2: 90 0d add r25, r0 |
| 48d4: 74 9f mul r23, r20 |
| 48d6: 90 0d add r25, r0 |
| 48d8: 11 24 eor r1, r1 |
| 48da: 60 e2 ldi r22, 0x20 ; 32 |
| 48dc: 70 e0 ldi r23, 0x00 ; 0 |
| 48de: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 48e2: 88 27 eor r24, r24 |
| 48e4: 77 fd sbrc r23, 7 |
| 48e6: 80 95 com r24 |
| 48e8: 98 2f mov r25, r24 |
| 48ea: 06 0f add r16, r22 |
| 48ec: 17 1f adc r17, r23 |
| 48ee: 28 1f adc r18, r24 |
| 48f0: 39 1f adc r19, r25 |
| 48f2: 00 93 0b 02 sts 0x020B, r16 |
| 48f6: 10 93 0c 02 sts 0x020C, r17 |
| 48fa: 20 93 0d 02 sts 0x020D, r18 |
| 48fe: 30 93 0e 02 sts 0x020E, r19 |
| 4902: 8f ee ldi r24, 0xEF ; 239 |
| 4904: 80 93 7a 00 sts 0x007A, r24 |
| 4908: 10 c0 rjmp .+32 ; 0x492a <MotorRegler+0xc6a> |
| 490a: 8f ee ldi r24, 0xEF ; 239 |
| 490c: 80 93 7a 00 sts 0x007A, r24 |
| 4910: 21 50 subi r18, 0x01 ; 1 |
| 4912: 30 40 sbci r19, 0x00 ; 0 |
| 4914: 30 93 38 02 sts 0x0238, r19 |
| 4918: 20 93 37 02 sts 0x0237, r18 |
| 491c: 06 c0 rjmp .+12 ; 0x492a <MotorRegler+0xc6a> |
| 491e: 84 ef ldi r24, 0xF4 ; 244 |
| 4920: 91 e0 ldi r25, 0x01 ; 1 |
| 4922: 90 93 38 02 sts 0x0238, r25 |
| 4926: 80 93 37 02 sts 0x0237, r24 |
| 492a: 80 91 75 05 lds r24, 0x0575 |
| 492e: 85 ff sbrs r24, 5 |
| 4930: 11 c0 rjmp .+34 ; 0x4954 <MotorRegler+0xc94> |
| 4932: 80 91 33 02 lds r24, 0x0233 |
| 4936: 99 27 eor r25, r25 |
| 4938: 90 93 a3 02 sts 0x02A3, r25 |
| 493c: 80 93 a2 02 sts 0x02A2, r24 |
| 4940: 80 91 34 02 lds r24, 0x0234 |
| 4944: 99 27 eor r25, r25 |
| 4946: 90 93 a5 02 sts 0x02A5, r25 |
| 494a: 80 93 a4 02 sts 0x02A4, r24 |
| 494e: 0e 94 2a 29 call 0x5254 ; 0x5254 <gps_main> |
| 4952: 08 c0 rjmp .+16 ; 0x4964 <MotorRegler+0xca4> |
| 4954: 10 92 8d 02 sts 0x028D, r1 |
| 4958: 10 92 8c 02 sts 0x028C, r1 |
| 495c: 10 92 8f 02 sts 0x028F, r1 |
| 4960: 10 92 8e 02 sts 0x028E, r1 |
| 4964: 80 91 e9 04 lds r24, 0x04E9 |
| 4968: 8f 5f subi r24, 0xFF ; 255 |
| 496a: 80 93 e9 04 sts 0x04E9, r24 |
| 496e: 80 91 3a 02 lds r24, 0x023A |
| 4972: 81 50 subi r24, 0x01 ; 1 |
| 4974: 80 93 3a 02 sts 0x023A, r24 |
| 4978: 8f 3f cpi r24, 0xFF ; 255 |
| 497a: 09 f0 breq .+2 ; 0x497e <MotorRegler+0xcbe> |
| 497c: 68 c0 rjmp .+208 ; 0x4a4e <MotorRegler+0xd8e> |
| 497e: 81 e3 ldi r24, 0x31 ; 49 |
| 4980: 80 93 3a 02 sts 0x023A, r24 |
| 4984: 60 91 e7 01 lds r22, 0x01E7 |
| 4988: 70 91 e8 01 lds r23, 0x01E8 |
| 498c: 80 91 e9 01 lds r24, 0x01E9 |
| 4990: 90 91 ea 01 lds r25, 0x01EA |
| 4994: e0 90 81 05 lds r14, 0x0581 |
| 4998: ff 24 eor r15, r15 |
| 499a: 00 27 eor r16, r16 |
| 499c: 11 27 eor r17, r17 |
| 499e: a8 01 movw r20, r16 |
| 49a0: 97 01 movw r18, r14 |
| 49a2: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 49a6: 30 93 eb 04 sts 0x04EB, r19 |
| 49aa: 20 93 ea 04 sts 0x04EA, r18 |
| 49ae: 60 91 ef 01 lds r22, 0x01EF |
| 49b2: 70 91 f0 01 lds r23, 0x01F0 |
| 49b6: 80 91 f1 01 lds r24, 0x01F1 |
| 49ba: 90 91 f2 01 lds r25, 0x01F2 |
| 49be: a8 01 movw r20, r16 |
| 49c0: 97 01 movw r18, r14 |
| 49c2: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 49c6: 30 93 ed 04 sts 0x04ED, r19 |
| 49ca: 20 93 ec 04 sts 0x04EC, r18 |
| 49ce: 80 91 b2 05 lds r24, 0x05B2 |
| 49d2: 90 91 b3 05 lds r25, 0x05B3 |
| 49d6: 90 93 ef 04 sts 0x04EF, r25 |
| 49da: 80 93 ee 04 sts 0x04EE, r24 |
| 49de: 80 91 bb 05 lds r24, 0x05BB |
| 49e2: 90 91 bc 05 lds r25, 0x05BC |
| 49e6: 90 93 f1 04 sts 0x04F1, r25 |
| 49ea: 80 93 f0 04 sts 0x04F0, r24 |
| 49ee: 80 91 b5 05 lds r24, 0x05B5 |
| 49f2: 90 91 b6 05 lds r25, 0x05B6 |
| 49f6: 90 93 f3 04 sts 0x04F3, r25 |
| 49fa: 80 93 f2 04 sts 0x04F2, r24 |
| 49fe: 80 91 2f 02 lds r24, 0x022F |
| 4a02: 90 91 30 02 lds r25, 0x0230 |
| 4a06: 90 93 f5 04 sts 0x04F5, r25 |
| 4a0a: 80 93 f4 04 sts 0x04F4, r24 |
| 4a0e: 60 91 13 02 lds r22, 0x0213 |
| 4a12: 70 91 14 02 lds r23, 0x0214 |
| 4a16: 80 91 15 02 lds r24, 0x0215 |
| 4a1a: 90 91 16 02 lds r25, 0x0216 |
| 4a1e: 20 e0 ldi r18, 0x00 ; 0 |
| 4a20: 32 e0 ldi r19, 0x02 ; 2 |
| 4a22: 40 e0 ldi r20, 0x00 ; 0 |
| 4a24: 50 e0 ldi r21, 0x00 ; 0 |
| 4a26: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 4a2a: 30 93 f7 04 sts 0x04F7, r19 |
| 4a2e: 20 93 f6 04 sts 0x04F6, r18 |
| 4a32: 89 81 ldd r24, Y+1 ; 0x01 |
| 4a34: 9a 81 ldd r25, Y+2 ; 0x02 |
| 4a36: 90 93 f9 04 sts 0x04F9, r25 |
| 4a3a: 80 93 f8 04 sts 0x04F8, r24 |
| 4a3e: 80 91 17 02 lds r24, 0x0217 |
| 4a42: 90 91 18 02 lds r25, 0x0218 |
| 4a46: 90 93 fb 04 sts 0x04FB, r25 |
| 4a4a: 80 93 fa 04 sts 0x04FA, r24 |
| 4a4e: 60 91 e7 01 lds r22, 0x01E7 |
| 4a52: 70 91 e8 01 lds r23, 0x01E8 |
| 4a56: 80 91 e9 01 lds r24, 0x01E9 |
| 4a5a: 90 91 ea 01 lds r25, 0x01EA |
| 4a5e: 20 90 ae 05 lds r2, 0x05AE |
| 4a62: 30 90 af 05 lds r3, 0x05AF |
| 4a66: 40 90 b0 05 lds r4, 0x05B0 |
| 4a6a: 50 90 b1 05 lds r5, 0x05B1 |
| 4a6e: e0 90 a9 05 lds r14, 0x05A9 |
| 4a72: f0 90 aa 05 lds r15, 0x05AA |
| 4a76: 60 90 b7 05 lds r6, 0x05B7 |
| 4a7a: 70 90 b8 05 lds r7, 0x05B8 |
| 4a7e: 80 90 b9 05 lds r8, 0x05B9 |
| 4a82: 90 90 ba 05 lds r9, 0x05BA |
| 4a86: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4a8a: a2 01 movw r20, r4 |
| 4a8c: 91 01 movw r18, r2 |
| 4a8e: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 4a92: 5b 01 movw r10, r22 |
| 4a94: 6c 01 movw r12, r24 |
| 4a96: 00 27 eor r16, r16 |
| 4a98: f7 fc sbrc r15, 7 |
| 4a9a: 00 95 com r16 |
| 4a9c: 10 2f mov r17, r16 |
| 4a9e: c8 01 movw r24, r16 |
| 4aa0: b7 01 movw r22, r14 |
| 4aa2: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4aa6: a4 01 movw r20, r8 |
| 4aa8: 93 01 movw r18, r6 |
| 4aaa: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 4aae: 9b 01 movw r18, r22 |
| 4ab0: ac 01 movw r20, r24 |
| 4ab2: c6 01 movw r24, r12 |
| 4ab4: b5 01 movw r22, r10 |
| 4ab6: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 4aba: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 4abe: 70 93 aa 05 sts 0x05AA, r23 |
| 4ac2: 60 93 a9 05 sts 0x05A9, r22 |
| 4ac6: 60 91 ef 01 lds r22, 0x01EF |
| 4aca: 70 91 f0 01 lds r23, 0x01F0 |
| 4ace: 80 91 f1 01 lds r24, 0x01F1 |
| 4ad2: 90 91 f2 01 lds r25, 0x01F2 |
| 4ad6: e0 90 a7 05 lds r14, 0x05A7 |
| 4ada: f0 90 a8 05 lds r15, 0x05A8 |
| 4ade: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4ae2: a2 01 movw r20, r4 |
| 4ae4: 91 01 movw r18, r2 |
| 4ae6: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 4aea: 5b 01 movw r10, r22 |
| 4aec: 6c 01 movw r12, r24 |
| 4aee: 00 27 eor r16, r16 |
| 4af0: f7 fc sbrc r15, 7 |
| 4af2: 00 95 com r16 |
| 4af4: 10 2f mov r17, r16 |
| 4af6: c8 01 movw r24, r16 |
| 4af8: b7 01 movw r22, r14 |
| 4afa: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4afe: a4 01 movw r20, r8 |
| 4b00: 93 01 movw r18, r6 |
| 4b02: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 4b06: 9b 01 movw r18, r22 |
| 4b08: ac 01 movw r20, r24 |
| 4b0a: c6 01 movw r24, r12 |
| 4b0c: b5 01 movw r22, r10 |
| 4b0e: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 4b12: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 4b16: 70 93 a8 05 sts 0x05A8, r23 |
| 4b1a: 60 93 a7 05 sts 0x05A7, r22 |
| 4b1e: 60 91 b5 05 lds r22, 0x05B5 |
| 4b22: 70 91 b6 05 lds r23, 0x05B6 |
| 4b26: a0 90 f7 01 lds r10, 0x01F7 |
| 4b2a: b0 90 f8 01 lds r11, 0x01F8 |
| 4b2e: c0 90 f9 01 lds r12, 0x01F9 |
| 4b32: d0 90 fa 01 lds r13, 0x01FA |
| 4b36: 88 27 eor r24, r24 |
| 4b38: 77 fd sbrc r23, 7 |
| 4b3a: 80 95 com r24 |
| 4b3c: 98 2f mov r25, r24 |
| 4b3e: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4b42: 7b 01 movw r14, r22 |
| 4b44: 8c 01 movw r16, r24 |
| 4b46: 20 e0 ldi r18, 0x00 ; 0 |
| 4b48: 30 e0 ldi r19, 0x00 ; 0 |
| 4b4a: 40 e0 ldi r20, 0x00 ; 0 |
| 4b4c: 5f e3 ldi r21, 0x3F ; 63 |
| 4b4e: c4 01 movw r24, r8 |
| 4b50: b3 01 movw r22, r6 |
| 4b52: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 4b56: 9b 01 movw r18, r22 |
| 4b58: ac 01 movw r20, r24 |
| 4b5a: c8 01 movw r24, r16 |
| 4b5c: b7 01 movw r22, r14 |
| 4b5e: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 4b62: 7b 01 movw r14, r22 |
| 4b64: 8c 01 movw r16, r24 |
| 4b66: c6 01 movw r24, r12 |
| 4b68: b5 01 movw r22, r10 |
| 4b6a: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4b6e: a2 01 movw r20, r4 |
| 4b70: 91 01 movw r18, r2 |
| 4b72: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 4b76: 9b 01 movw r18, r22 |
| 4b78: ac 01 movw r20, r24 |
| 4b7a: c8 01 movw r24, r16 |
| 4b7c: b7 01 movw r22, r14 |
| 4b7e: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 4b82: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 4b86: 70 93 b6 05 sts 0x05B6, r23 |
| 4b8a: 60 93 b5 05 sts 0x05B5, r22 |
| 4b8e: 80 91 a9 05 lds r24, 0x05A9 |
| 4b92: 90 91 aa 05 lds r25, 0x05AA |
| 4b96: 81 50 subi r24, 0x01 ; 1 |
| 4b98: 98 40 sbci r25, 0x08 ; 8 |
| 4b9a: 34 f0 brlt .+12 ; 0x4ba8 <MotorRegler+0xee8> |
| 4b9c: 80 e0 ldi r24, 0x00 ; 0 |
| 4b9e: 98 e0 ldi r25, 0x08 ; 8 |
| 4ba0: 90 93 aa 05 sts 0x05AA, r25 |
| 4ba4: 80 93 a9 05 sts 0x05A9, r24 |
| 4ba8: 80 91 a9 05 lds r24, 0x05A9 |
| 4bac: 90 91 aa 05 lds r25, 0x05AA |
| 4bb0: 80 50 subi r24, 0x00 ; 0 |
| 4bb2: 98 4f sbci r25, 0xF8 ; 248 |
| 4bb4: 34 f4 brge .+12 ; 0x4bc2 <MotorRegler+0xf02> |
| 4bb6: 80 e0 ldi r24, 0x00 ; 0 |
| 4bb8: 98 ef ldi r25, 0xF8 ; 248 |
| 4bba: 90 93 aa 05 sts 0x05AA, r25 |
| 4bbe: 80 93 a9 05 sts 0x05A9, r24 |
| 4bc2: 80 91 a7 05 lds r24, 0x05A7 |
| 4bc6: 90 91 a8 05 lds r25, 0x05A8 |
| 4bca: 81 50 subi r24, 0x01 ; 1 |
| 4bcc: 98 40 sbci r25, 0x08 ; 8 |
| 4bce: 34 f0 brlt .+12 ; 0x4bdc <MotorRegler+0xf1c> |
| 4bd0: 80 e0 ldi r24, 0x00 ; 0 |
| 4bd2: 98 e0 ldi r25, 0x08 ; 8 |
| 4bd4: 90 93 a8 05 sts 0x05A8, r25 |
| 4bd8: 80 93 a7 05 sts 0x05A7, r24 |
| 4bdc: 80 91 a7 05 lds r24, 0x05A7 |
| 4be0: 90 91 a8 05 lds r25, 0x05A8 |
| 4be4: 80 50 subi r24, 0x00 ; 0 |
| 4be6: 98 4f sbci r25, 0xF8 ; 248 |
| 4be8: 34 f4 brge .+12 ; 0x4bf6 <MotorRegler+0xf36> |
| 4bea: 80 e0 ldi r24, 0x00 ; 0 |
| 4bec: 98 ef ldi r25, 0xF8 ; 248 |
| 4bee: 90 93 a8 05 sts 0x05A8, r25 |
| 4bf2: 80 93 a7 05 sts 0x05A7, r24 |
| 4bf6: 80 91 b5 05 lds r24, 0x05B5 |
| 4bfa: 90 91 b6 05 lds r25, 0x05B6 |
| 4bfe: 81 50 subi r24, 0x01 ; 1 |
| 4c00: 98 40 sbci r25, 0x08 ; 8 |
| 4c02: 34 f0 brlt .+12 ; 0x4c10 <MotorRegler+0xf50> |
| 4c04: 80 e0 ldi r24, 0x00 ; 0 |
| 4c06: 98 e0 ldi r25, 0x08 ; 8 |
| 4c08: 90 93 b6 05 sts 0x05B6, r25 |
| 4c0c: 80 93 b5 05 sts 0x05B5, r24 |
| 4c10: 80 91 b5 05 lds r24, 0x05B5 |
| 4c14: 90 91 b6 05 lds r25, 0x05B6 |
| 4c18: 80 50 subi r24, 0x00 ; 0 |
| 4c1a: 98 4f sbci r25, 0xF8 ; 248 |
| 4c1c: 34 f4 brge .+12 ; 0x4c2a <MotorRegler+0xf6a> |
| 4c1e: 80 e0 ldi r24, 0x00 ; 0 |
| 4c20: 98 ef ldi r25, 0xF8 ; 248 |
| 4c22: 90 93 b6 05 sts 0x05B6, r25 |
| 4c26: 80 93 b5 05 sts 0x05B5, r24 |
| 4c2a: 80 91 75 05 lds r24, 0x0575 |
| 4c2e: 99 27 eor r25, r25 |
| 4c30: 80 ff sbrs r24, 0 |
| 4c32: cd c0 rjmp .+410 ; 0x4dce <MotorRegler+0x110e> |
| 4c34: 20 91 81 01 lds r18, 0x0181 |
| 4c38: 81 ff sbrs r24, 1 |
| 4c3a: 0e c0 rjmp .+28 ; 0x4c58 <MotorRegler+0xf98> |
| 4c3c: 22 33 cpi r18, 0x32 ; 50 |
| 4c3e: b0 f4 brcc .+44 ; 0x4c6c <MotorRegler+0xfac> |
| 4c40: 80 91 2f 02 lds r24, 0x022F |
| 4c44: 90 91 30 02 lds r25, 0x0230 |
| 4c48: 44 97 sbiw r24, 0x14 ; 20 |
| 4c4a: 90 93 32 02 sts 0x0232, r25 |
| 4c4e: 80 93 31 02 sts 0x0231, r24 |
| 4c52: 10 92 1e 02 sts 0x021E, r1 |
| 4c56: 0d c0 rjmp .+26 ; 0x4c72 <MotorRegler+0xfb2> |
| 4c58: 80 91 7a 05 lds r24, 0x057A |
| 4c5c: 28 9f mul r18, r24 |
| 4c5e: c0 01 movw r24, r0 |
| 4c60: 11 24 eor r1, r1 |
| 4c62: 44 97 sbiw r24, 0x14 ; 20 |
| 4c64: 90 93 32 02 sts 0x0232, r25 |
| 4c68: 80 93 31 02 sts 0x0231, r24 |
| 4c6c: 81 e0 ldi r24, 0x01 ; 1 |
| 4c6e: 80 93 1e 02 sts 0x021E, r24 |
| 4c72: 80 91 1d 02 lds r24, 0x021D |
| 4c76: 88 23 and r24, r24 |
| 4c78: 21 f0 breq .+8 ; 0x4c82 <MotorRegler+0xfc2> |
| 4c7a: 10 92 32 02 sts 0x0232, r1 |
| 4c7e: 10 92 31 02 sts 0x0231, r1 |
| 4c82: 20 91 2f 02 lds r18, 0x022F |
| 4c86: 30 91 30 02 lds r19, 0x0230 |
| 4c8a: 40 91 31 02 lds r20, 0x0231 |
| 4c8e: 50 91 32 02 lds r21, 0x0232 |
| 4c92: 42 17 cp r20, r18 |
| 4c94: 53 07 cpc r21, r19 |
| 4c96: 0c f0 brlt .+2 ; 0x4c9a <MotorRegler+0xfda> |
| 4c98: 9a c0 rjmp .+308 ; 0x4dce <MotorRegler+0x110e> |
| 4c9a: 80 91 1e 02 lds r24, 0x021E |
| 4c9e: 88 23 and r24, r24 |
| 4ca0: 09 f4 brne .+2 ; 0x4ca4 <MotorRegler+0xfe4> |
| 4ca2: 95 c0 rjmp .+298 ; 0x4dce <MotorRegler+0x110e> |
| 4ca4: 24 1b sub r18, r20 |
| 4ca6: 35 0b sbc r19, r21 |
| 4ca8: 80 91 82 01 lds r24, 0x0182 |
| 4cac: 99 27 eor r25, r25 |
| 4cae: bc 01 movw r22, r24 |
| 4cb0: 26 9f mul r18, r22 |
| 4cb2: c0 01 movw r24, r0 |
| 4cb4: 27 9f mul r18, r23 |
| 4cb6: 90 0d add r25, r0 |
| 4cb8: 36 9f mul r19, r22 |
| 4cba: 90 0d add r25, r0 |
| 4cbc: 11 24 eor r1, r1 |
| 4cbe: 60 e1 ldi r22, 0x10 ; 16 |
| 4cc0: 70 e0 ldi r23, 0x00 ; 0 |
| 4cc2: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 4cc6: 09 81 ldd r16, Y+1 ; 0x01 |
| 4cc8: 1a 81 ldd r17, Y+2 ; 0x02 |
| 4cca: 06 1b sub r16, r22 |
| 4ccc: 17 0b sbc r17, r23 |
| 4cce: 20 91 c4 01 lds r18, 0x01C4 |
| 4cd2: 30 91 c5 01 lds r19, 0x01C5 |
| 4cd6: 80 91 80 01 lds r24, 0x0180 |
| 4cda: 99 27 eor r25, r25 |
| 4cdc: fc 01 movw r30, r24 |
| 4cde: 2e 9f mul r18, r30 |
| 4ce0: c0 01 movw r24, r0 |
| 4ce2: 2f 9f mul r18, r31 |
| 4ce4: 90 0d add r25, r0 |
| 4ce6: 3e 9f mul r19, r30 |
| 4ce8: 90 0d add r25, r0 |
| 4cea: 11 24 eor r1, r1 |
| 4cec: 68 e0 ldi r22, 0x08 ; 8 |
| 4cee: 70 e0 ldi r23, 0x00 ; 0 |
| 4cf0: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 4cf4: 06 1b sub r16, r22 |
| 4cf6: 17 0b sbc r17, r23 |
| 4cf8: 60 91 13 02 lds r22, 0x0213 |
| 4cfc: 70 91 14 02 lds r23, 0x0214 |
| 4d00: 80 91 15 02 lds r24, 0x0215 |
| 4d04: 90 91 16 02 lds r25, 0x0216 |
| 4d08: 20 e0 ldi r18, 0x00 ; 0 |
| 4d0a: 32 e0 ldi r19, 0x02 ; 2 |
| 4d0c: 40 e0 ldi r20, 0x00 ; 0 |
| 4d0e: 50 e0 ldi r21, 0x00 ; 0 |
| 4d10: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 4d14: ca 01 movw r24, r20 |
| 4d16: b9 01 movw r22, r18 |
| 4d18: 20 91 83 01 lds r18, 0x0183 |
| 4d1c: 33 27 eor r19, r19 |
| 4d1e: 44 27 eor r20, r20 |
| 4d20: 55 27 eor r21, r21 |
| 4d22: 0e 94 a0 2c call 0x5940 ; 0x5940 <__mulsi3> |
| 4d26: 20 e2 ldi r18, 0x20 ; 32 |
| 4d28: 30 e0 ldi r19, 0x00 ; 0 |
| 4d2a: 40 e0 ldi r20, 0x00 ; 0 |
| 4d2c: 50 e0 ldi r21, 0x00 ; 0 |
| 4d2e: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 4d32: ff ef ldi r31, 0xFF ; 255 |
| 4d34: 2e 3c cpi r18, 0xCE ; 206 |
| 4d36: 3f 07 cpc r19, r31 |
| 4d38: 14 f4 brge .+4 ; 0x4d3e <MotorRegler+0x107e> |
| 4d3a: 2e ec ldi r18, 0xCE ; 206 |
| 4d3c: 3f ef ldi r19, 0xFF ; 255 |
| 4d3e: 80 91 3b 02 lds r24, 0x023B |
| 4d42: 90 91 3c 02 lds r25, 0x023C |
| 4d46: ac 01 movw r20, r24 |
| 4d48: 74 e0 ldi r23, 0x04 ; 4 |
| 4d4a: 44 0f add r20, r20 |
| 4d4c: 55 1f adc r21, r21 |
| 4d4e: 7a 95 dec r23 |
| 4d50: e1 f7 brne .-8 ; 0x4d4a <MotorRegler+0x108a> |
| 4d52: 48 1b sub r20, r24 |
| 4d54: 59 0b sbc r21, r25 |
| 4d56: 23 33 cpi r18, 0x33 ; 51 |
| 4d58: 31 05 cpc r19, r1 |
| 4d5a: 14 f0 brlt .+4 ; 0x4d60 <MotorRegler+0x10a0> |
| 4d5c: 22 e3 ldi r18, 0x32 ; 50 |
| 4d5e: 30 e0 ldi r19, 0x00 ; 0 |
| 4d60: 02 1b sub r16, r18 |
| 4d62: 13 0b sbc r17, r19 |
| 4d64: ca 01 movw r24, r20 |
| 4d66: 80 0f add r24, r16 |
| 4d68: 91 1f adc r25, r17 |
| 4d6a: 60 e1 ldi r22, 0x10 ; 16 |
| 4d6c: 70 e0 ldi r23, 0x00 ; 0 |
| 4d6e: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 4d72: 70 93 3c 02 sts 0x023C, r23 |
| 4d76: 60 93 3b 02 sts 0x023B, r22 |
| 4d7a: 80 91 76 05 lds r24, 0x0576 |
| 4d7e: 99 27 eor r25, r25 |
| 4d80: 68 17 cp r22, r24 |
| 4d82: 79 07 cpc r23, r25 |
| 4d84: 8c f4 brge .+34 ; 0x4da8 <MotorRegler+0x10e8> |
| 4d86: 29 81 ldd r18, Y+1 ; 0x01 |
| 4d88: 3a 81 ldd r19, Y+2 ; 0x02 |
| 4d8a: 28 17 cp r18, r24 |
| 4d8c: 39 07 cpc r19, r25 |
| 4d8e: 2c f0 brlt .+10 ; 0x4d9a <MotorRegler+0x10da> |
| 4d90: 90 93 3c 02 sts 0x023C, r25 |
| 4d94: 80 93 3b 02 sts 0x023B, r24 |
| 4d98: 07 c0 rjmp .+14 ; 0x4da8 <MotorRegler+0x10e8> |
| 4d9a: 49 81 ldd r20, Y+1 ; 0x01 |
| 4d9c: 5a 81 ldd r21, Y+2 ; 0x02 |
| 4d9e: 50 93 3c 02 sts 0x023C, r21 |
| 4da2: 40 93 3b 02 sts 0x023B, r20 |
| 4da6: 0d c0 rjmp .+26 ; 0x4dc2 <MotorRegler+0x1102> |
| 4da8: 80 91 3b 02 lds r24, 0x023B |
| 4dac: 90 91 3c 02 lds r25, 0x023C |
| 4db0: 69 81 ldd r22, Y+1 ; 0x01 |
| 4db2: 7a 81 ldd r23, Y+2 ; 0x02 |
| 4db4: 68 17 cp r22, r24 |
| 4db6: 79 07 cpc r23, r25 |
| 4db8: 24 f4 brge .+8 ; 0x4dc2 <MotorRegler+0x1102> |
| 4dba: 70 93 3c 02 sts 0x023C, r23 |
| 4dbe: 60 93 3b 02 sts 0x023B, r22 |
| 4dc2: 80 91 3b 02 lds r24, 0x023B |
| 4dc6: 90 91 3c 02 lds r25, 0x023C |
| 4dca: 9a 83 std Y+2, r25 ; 0x02 |
| 4dcc: 89 83 std Y+1, r24 ; 0x01 |
| 4dce: c0 90 b5 05 lds r12, 0x05B5 |
| 4dd2: d0 90 b6 05 lds r13, 0x05B6 |
| 4dd6: 80 91 50 02 lds r24, 0x0250 |
| 4dda: 90 91 51 02 lds r25, 0x0251 |
| 4dde: c8 1a sub r12, r24 |
| 4de0: d9 0a sbc r13, r25 |
| 4de2: 95 e6 ldi r25, 0x65 ; 101 |
| 4de4: c9 16 cp r12, r25 |
| 4de6: d1 04 cpc r13, r1 |
| 4de8: 24 f0 brlt .+8 ; 0x4df2 <MotorRegler+0x1132> |
| 4dea: 64 e6 ldi r22, 0x64 ; 100 |
| 4dec: c6 2e mov r12, r22 |
| 4dee: d1 2c mov r13, r1 |
| 4df0: 09 c0 rjmp .+18 ; 0x4e04 <MotorRegler+0x1144> |
| 4df2: ec e9 ldi r30, 0x9C ; 156 |
| 4df4: ce 16 cp r12, r30 |
| 4df6: ef ef ldi r30, 0xFF ; 255 |
| 4df8: de 06 cpc r13, r30 |
| 4dfa: 24 f4 brge .+8 ; 0x4e04 <MotorRegler+0x1144> |
| 4dfc: 5c e9 ldi r21, 0x9C ; 156 |
| 4dfe: c5 2e mov r12, r21 |
| 4e00: 5f ef ldi r21, 0xFF ; 255 |
| 4e02: d5 2e mov r13, r21 |
| 4e04: 40 90 78 01 lds r4, 0x0178 |
| 4e08: 50 90 79 01 lds r5, 0x0179 |
| 4e0c: 60 90 7a 01 lds r6, 0x017A |
| 4e10: 70 90 7b 01 lds r7, 0x017B |
| 4e14: 60 91 a9 05 lds r22, 0x05A9 |
| 4e18: 70 91 aa 05 lds r23, 0x05AA |
| 4e1c: 20 91 28 02 lds r18, 0x0228 |
| 4e20: 30 91 29 02 lds r19, 0x0229 |
| 4e24: 40 91 8c 02 lds r20, 0x028C |
| 4e28: 50 91 8d 02 lds r21, 0x028D |
| 4e2c: 24 1b sub r18, r20 |
| 4e2e: 35 0b sbc r19, r21 |
| 4e30: 62 1b sub r22, r18 |
| 4e32: 73 0b sbc r23, r19 |
| 4e34: 88 27 eor r24, r24 |
| 4e36: 77 fd sbrc r23, 7 |
| 4e38: 80 95 com r24 |
| 4e3a: 98 2f mov r25, r24 |
| 4e3c: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4e40: 9b 01 movw r18, r22 |
| 4e42: ac 01 movw r20, r24 |
| 4e44: c3 01 movw r24, r6 |
| 4e46: b2 01 movw r22, r4 |
| 4e48: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 4e4c: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 4e50: 70 93 99 02 sts 0x0299, r23 |
| 4e54: 60 93 98 02 sts 0x0298, r22 |
| 4e58: 80 91 98 02 lds r24, 0x0298 |
| 4e5c: 90 91 99 02 lds r25, 0x0299 |
| 4e60: 8c 01 movw r16, r24 |
| 4e62: 22 27 eor r18, r18 |
| 4e64: 17 fd sbrc r17, 7 |
| 4e66: 20 95 com r18 |
| 4e68: 32 2f mov r19, r18 |
| 4e6a: 80 91 58 02 lds r24, 0x0258 |
| 4e6e: 90 91 59 02 lds r25, 0x0259 |
| 4e72: a0 91 5a 02 lds r26, 0x025A |
| 4e76: b0 91 5b 02 lds r27, 0x025B |
| 4e7a: 08 0f add r16, r24 |
| 4e7c: 19 1f adc r17, r25 |
| 4e7e: 2a 1f adc r18, r26 |
| 4e80: 3b 1f adc r19, r27 |
| 4e82: 00 93 58 02 sts 0x0258, r16 |
| 4e86: 10 93 59 02 sts 0x0259, r17 |
| 4e8a: 20 93 5a 02 sts 0x025A, r18 |
| 4e8e: 30 93 5b 02 sts 0x025B, r19 |
| 4e92: 10 16 cp r1, r16 |
| 4e94: 11 06 cpc r1, r17 |
| 4e96: 12 06 cpc r1, r18 |
| 4e98: 13 06 cpc r1, r19 |
| 4e9a: ac f4 brge .+42 ; 0x4ec6 <MotorRegler+0x1206> |
| 4e9c: c8 01 movw r24, r16 |
| 4e9e: 17 ff sbrs r17, 7 |
| 4ea0: 03 c0 rjmp .+6 ; 0x4ea8 <MotorRegler+0x11e8> |
| 4ea2: 90 95 com r25 |
| 4ea4: 81 95 neg r24 |
| 4ea6: 9f 4f sbci r25, 0xFF ; 255 |
| 4ea8: 60 e0 ldi r22, 0x00 ; 0 |
| 4eaa: 71 e0 ldi r23, 0x01 ; 1 |
| 4eac: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 4eb0: 6f 5f subi r22, 0xFF ; 255 |
| 4eb2: 7f 4f sbci r23, 0xFF ; 255 |
| 4eb4: 88 27 eor r24, r24 |
| 4eb6: 77 fd sbrc r23, 7 |
| 4eb8: 80 95 com r24 |
| 4eba: 98 2f mov r25, r24 |
| 4ebc: 06 1b sub r16, r22 |
| 4ebe: 17 0b sbc r17, r23 |
| 4ec0: 28 0b sbc r18, r24 |
| 4ec2: 39 0b sbc r19, r25 |
| 4ec4: 14 c0 rjmp .+40 ; 0x4eee <MotorRegler+0x122e> |
| 4ec6: c8 01 movw r24, r16 |
| 4ec8: 17 ff sbrs r17, 7 |
| 4eca: 03 c0 rjmp .+6 ; 0x4ed2 <MotorRegler+0x1212> |
| 4ecc: 90 95 com r25 |
| 4ece: 81 95 neg r24 |
| 4ed0: 9f 4f sbci r25, 0xFF ; 255 |
| 4ed2: 60 e0 ldi r22, 0x00 ; 0 |
| 4ed4: 71 e0 ldi r23, 0x01 ; 1 |
| 4ed6: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 4eda: 6f 5f subi r22, 0xFF ; 255 |
| 4edc: 7f 4f sbci r23, 0xFF ; 255 |
| 4ede: 88 27 eor r24, r24 |
| 4ee0: 77 fd sbrc r23, 7 |
| 4ee2: 80 95 com r24 |
| 4ee4: 98 2f mov r25, r24 |
| 4ee6: 06 0f add r16, r22 |
| 4ee8: 17 1f adc r17, r23 |
| 4eea: 28 1f adc r18, r24 |
| 4eec: 39 1f adc r19, r25 |
| 4eee: 00 93 58 02 sts 0x0258, r16 |
| 4ef2: 10 93 59 02 sts 0x0259, r17 |
| 4ef6: 20 93 5a 02 sts 0x025A, r18 |
| 4efa: 30 93 5b 02 sts 0x025B, r19 |
| 4efe: 80 91 58 02 lds r24, 0x0258 |
| 4f02: 90 91 59 02 lds r25, 0x0259 |
| 4f06: a0 91 5a 02 lds r26, 0x025A |
| 4f0a: b0 91 5b 02 lds r27, 0x025B |
| 4f0e: 81 38 cpi r24, 0x81 ; 129 |
| 4f10: fe e3 ldi r31, 0x3E ; 62 |
| 4f12: 9f 07 cpc r25, r31 |
| 4f14: f0 e0 ldi r31, 0x00 ; 0 |
| 4f16: af 07 cpc r26, r31 |
| 4f18: f0 e0 ldi r31, 0x00 ; 0 |
| 4f1a: bf 07 cpc r27, r31 |
| 4f1c: 2c f0 brlt .+10 ; 0x4f28 <MotorRegler+0x1268> |
| 4f1e: 80 e8 ldi r24, 0x80 ; 128 |
| 4f20: 9e e3 ldi r25, 0x3E ; 62 |
| 4f22: a0 e0 ldi r26, 0x00 ; 0 |
| 4f24: b0 e0 ldi r27, 0x00 ; 0 |
| 4f26: 09 c0 rjmp .+18 ; 0x4f3a <MotorRegler+0x127a> |
| 4f28: 80 58 subi r24, 0x80 ; 128 |
| 4f2a: 91 4c sbci r25, 0xC1 ; 193 |
| 4f2c: af 4f sbci r26, 0xFF ; 255 |
| 4f2e: bf 4f sbci r27, 0xFF ; 255 |
| 4f30: 64 f4 brge .+24 ; 0x4f4a <MotorRegler+0x128a> |
| 4f32: 80 e8 ldi r24, 0x80 ; 128 |
| 4f34: 91 ec ldi r25, 0xC1 ; 193 |
| 4f36: af ef ldi r26, 0xFF ; 255 |
| 4f38: bf ef ldi r27, 0xFF ; 255 |
| 4f3a: 80 93 58 02 sts 0x0258, r24 |
| 4f3e: 90 93 59 02 sts 0x0259, r25 |
| 4f42: a0 93 5a 02 sts 0x025A, r26 |
| 4f46: b0 93 5b 02 sts 0x025B, r27 |
| 4f4a: 60 91 98 02 lds r22, 0x0298 |
| 4f4e: 70 91 99 02 lds r23, 0x0299 |
| 4f52: 80 90 7c 01 lds r8, 0x017C |
| 4f56: 90 90 7d 01 lds r9, 0x017D |
| 4f5a: a0 90 7e 01 lds r10, 0x017E |
| 4f5e: b0 90 7f 01 lds r11, 0x017F |
| 4f62: 88 27 eor r24, r24 |
| 4f64: 77 fd sbrc r23, 7 |
| 4f66: 80 95 com r24 |
| 4f68: 98 2f mov r25, r24 |
| 4f6a: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4f6e: 7b 01 movw r14, r22 |
| 4f70: 8c 01 movw r16, r24 |
| 4f72: 60 91 58 02 lds r22, 0x0258 |
| 4f76: 70 91 59 02 lds r23, 0x0259 |
| 4f7a: 80 91 5a 02 lds r24, 0x025A |
| 4f7e: 90 91 5b 02 lds r25, 0x025B |
| 4f82: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 4f86: 9b 01 movw r18, r22 |
| 4f88: ac 01 movw r20, r24 |
| 4f8a: c5 01 movw r24, r10 |
| 4f8c: b4 01 movw r22, r8 |
| 4f8e: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 4f92: 9b 01 movw r18, r22 |
| 4f94: ac 01 movw r20, r24 |
| 4f96: c8 01 movw r24, r16 |
| 4f98: b7 01 movw r22, r14 |
| 4f9a: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 4f9e: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 4fa2: 96 01 movw r18, r12 |
| 4fa4: 26 0f add r18, r22 |
| 4fa6: 37 1f adc r19, r23 |
| 4fa8: 49 81 ldd r20, Y+1 ; 0x01 |
| 4faa: 5a 81 ldd r21, Y+2 ; 0x02 |
| 4fac: 24 0f add r18, r20 |
| 4fae: 35 1f adc r19, r21 |
| 4fb0: 22 24 eor r2, r2 |
| 4fb2: 4a 30 cpi r20, 0x0A ; 10 |
| 4fb4: 51 05 cpc r21, r1 |
| 4fb6: 14 f4 brge .+4 ; 0x4fbc <MotorRegler+0x12fc> |
| 4fb8: 41 e0 ldi r20, 0x01 ; 1 |
| 4fba: 24 2e mov r2, r20 |
| 4fbc: 37 fd sbrc r19, 7 |
| 4fbe: 02 c0 rjmp .+4 ; 0x4fc4 <MotorRegler+0x1304> |
| 4fc0: 22 20 and r2, r2 |
| 4fc2: 19 f0 breq .+6 ; 0x4fca <MotorRegler+0x130a> |
| 4fc4: 40 e0 ldi r20, 0x00 ; 0 |
| 4fc6: 50 e0 ldi r21, 0x00 ; 0 |
| 4fc8: 08 c0 rjmp .+16 ; 0x4fda <MotorRegler+0x131a> |
| 4fca: 80 91 b4 05 lds r24, 0x05B4 |
| 4fce: 48 2f mov r20, r24 |
| 4fd0: 55 27 eor r21, r21 |
| 4fd2: 24 17 cp r18, r20 |
| 4fd4: 35 07 cpc r19, r21 |
| 4fd6: 0c f4 brge .+2 ; 0x4fda <MotorRegler+0x131a> |
| 4fd8: a9 01 movw r20, r18 |
| 4fda: 80 91 ab 05 lds r24, 0x05AB |
| 4fde: e8 2f mov r30, r24 |
| 4fe0: ff 27 eor r31, r31 |
| 4fe2: fc 83 std Y+4, r31 ; 0x04 |
| 4fe4: eb 83 std Y+3, r30 ; 0x03 |
| 4fe6: 9f 01 movw r18, r30 |
| 4fe8: e4 17 cp r30, r20 |
| 4fea: f5 07 cpc r31, r21 |
| 4fec: 0c f4 brge .+2 ; 0x4ff0 <MotorRegler+0x1330> |
| 4fee: 9a 01 movw r18, r20 |
| 4ff0: 20 93 96 02 sts 0x0296, r18 |
| 4ff4: 29 81 ldd r18, Y+1 ; 0x01 |
| 4ff6: 3a 81 ldd r19, Y+2 ; 0x02 |
| 4ff8: 26 1b sub r18, r22 |
| 4ffa: 37 0b sbc r19, r23 |
| 4ffc: b9 01 movw r22, r18 |
| 4ffe: 6c 0d add r22, r12 |
| 5000: 7d 1d adc r23, r13 |
| 5002: 77 fd sbrc r23, 7 |
| 5004: 02 c0 rjmp .+4 ; 0x500a <MotorRegler+0x134a> |
| 5006: 22 20 and r2, r2 |
| 5008: 19 f0 breq .+6 ; 0x5010 <MotorRegler+0x1350> |
| 500a: 80 e0 ldi r24, 0x00 ; 0 |
| 500c: 90 e0 ldi r25, 0x00 ; 0 |
| 500e: 07 c0 rjmp .+14 ; 0x501e <MotorRegler+0x135e> |
| 5010: 80 91 b4 05 lds r24, 0x05B4 |
| 5014: 99 27 eor r25, r25 |
| 5016: 68 17 cp r22, r24 |
| 5018: 79 07 cpc r23, r25 |
| 501a: 0c f4 brge .+2 ; 0x501e <MotorRegler+0x135e> |
| 501c: cb 01 movw r24, r22 |
| 501e: 2b 81 ldd r18, Y+3 ; 0x03 |
| 5020: 3c 81 ldd r19, Y+4 ; 0x04 |
| 5022: 28 17 cp r18, r24 |
| 5024: 39 07 cpc r19, r25 |
| 5026: 0c f4 brge .+2 ; 0x502a <MotorRegler+0x136a> |
| 5028: 9c 01 movw r18, r24 |
| 502a: 20 93 97 02 sts 0x0297, r18 |
| 502e: 60 91 a7 05 lds r22, 0x05A7 |
| 5032: 70 91 a8 05 lds r23, 0x05A8 |
| 5036: 20 91 2a 02 lds r18, 0x022A |
| 503a: 30 91 2b 02 lds r19, 0x022B |
| 503e: 40 91 8e 02 lds r20, 0x028E |
| 5042: 50 91 8f 02 lds r21, 0x028F |
| 5046: 24 1b sub r18, r20 |
| 5048: 35 0b sbc r19, r21 |
| 504a: 62 1b sub r22, r18 |
| 504c: 73 0b sbc r23, r19 |
| 504e: 88 27 eor r24, r24 |
| 5050: 77 fd sbrc r23, 7 |
| 5052: 80 95 com r24 |
| 5054: 98 2f mov r25, r24 |
| 5056: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 505a: 9b 01 movw r18, r22 |
| 505c: ac 01 movw r20, r24 |
| 505e: c3 01 movw r24, r6 |
| 5060: b2 01 movw r22, r4 |
| 5062: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 5066: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 506a: 70 93 95 02 sts 0x0295, r23 |
| 506e: 60 93 94 02 sts 0x0294, r22 |
| 5072: 80 91 94 02 lds r24, 0x0294 |
| 5076: 90 91 95 02 lds r25, 0x0295 |
| 507a: 8c 01 movw r16, r24 |
| 507c: 22 27 eor r18, r18 |
| 507e: 17 fd sbrc r17, 7 |
| 5080: 20 95 com r18 |
| 5082: 32 2f mov r19, r18 |
| 5084: 80 91 54 02 lds r24, 0x0254 |
| 5088: 90 91 55 02 lds r25, 0x0255 |
| 508c: a0 91 56 02 lds r26, 0x0256 |
| 5090: b0 91 57 02 lds r27, 0x0257 |
| 5094: 08 0f add r16, r24 |
| 5096: 19 1f adc r17, r25 |
| 5098: 2a 1f adc r18, r26 |
| 509a: 3b 1f adc r19, r27 |
| 509c: 00 93 54 02 sts 0x0254, r16 |
| 50a0: 10 93 55 02 sts 0x0255, r17 |
| 50a4: 20 93 56 02 sts 0x0256, r18 |
| 50a8: 30 93 57 02 sts 0x0257, r19 |
| 50ac: 10 16 cp r1, r16 |
| 50ae: 11 06 cpc r1, r17 |
| 50b0: 12 06 cpc r1, r18 |
| 50b2: 13 06 cpc r1, r19 |
| 50b4: ac f4 brge .+42 ; 0x50e0 <MotorRegler+0x1420> |
| 50b6: c8 01 movw r24, r16 |
| 50b8: 17 ff sbrs r17, 7 |
| 50ba: 03 c0 rjmp .+6 ; 0x50c2 <MotorRegler+0x1402> |
| 50bc: 90 95 com r25 |
| 50be: 81 95 neg r24 |
| 50c0: 9f 4f sbci r25, 0xFF ; 255 |
| 50c2: 60 e0 ldi r22, 0x00 ; 0 |
| 50c4: 71 e0 ldi r23, 0x01 ; 1 |
| 50c6: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 50ca: 6f 5f subi r22, 0xFF ; 255 |
| 50cc: 7f 4f sbci r23, 0xFF ; 255 |
| 50ce: 88 27 eor r24, r24 |
| 50d0: 77 fd sbrc r23, 7 |
| 50d2: 80 95 com r24 |
| 50d4: 98 2f mov r25, r24 |
| 50d6: 06 1b sub r16, r22 |
| 50d8: 17 0b sbc r17, r23 |
| 50da: 28 0b sbc r18, r24 |
| 50dc: 39 0b sbc r19, r25 |
| 50de: 14 c0 rjmp .+40 ; 0x5108 <MotorRegler+0x1448> |
| 50e0: c8 01 movw r24, r16 |
| 50e2: 17 ff sbrs r17, 7 |
| 50e4: 03 c0 rjmp .+6 ; 0x50ec <MotorRegler+0x142c> |
| 50e6: 90 95 com r25 |
| 50e8: 81 95 neg r24 |
| 50ea: 9f 4f sbci r25, 0xFF ; 255 |
| 50ec: 60 e0 ldi r22, 0x00 ; 0 |
| 50ee: 71 e0 ldi r23, 0x01 ; 1 |
| 50f0: 0e 94 d3 2c call 0x59a6 ; 0x59a6 <__divmodhi4> |
| 50f4: 6f 5f subi r22, 0xFF ; 255 |
| 50f6: 7f 4f sbci r23, 0xFF ; 255 |
| 50f8: 88 27 eor r24, r24 |
| 50fa: 77 fd sbrc r23, 7 |
| 50fc: 80 95 com r24 |
| 50fe: 98 2f mov r25, r24 |
| 5100: 06 0f add r16, r22 |
| 5102: 17 1f adc r17, r23 |
| 5104: 28 1f adc r18, r24 |
| 5106: 39 1f adc r19, r25 |
| 5108: 00 93 54 02 sts 0x0254, r16 |
| 510c: 10 93 55 02 sts 0x0255, r17 |
| 5110: 20 93 56 02 sts 0x0256, r18 |
| 5114: 30 93 57 02 sts 0x0257, r19 |
| 5118: 80 91 54 02 lds r24, 0x0254 |
| 511c: 90 91 55 02 lds r25, 0x0255 |
| 5120: a0 91 56 02 lds r26, 0x0256 |
| 5124: b0 91 57 02 lds r27, 0x0257 |
| 5128: 81 38 cpi r24, 0x81 ; 129 |
| 512a: 3e e3 ldi r19, 0x3E ; 62 |
| 512c: 93 07 cpc r25, r19 |
| 512e: 30 e0 ldi r19, 0x00 ; 0 |
| 5130: a3 07 cpc r26, r19 |
| 5132: 30 e0 ldi r19, 0x00 ; 0 |
| 5134: b3 07 cpc r27, r19 |
| 5136: 2c f0 brlt .+10 ; 0x5142 <MotorRegler+0x1482> |
| 5138: 80 e8 ldi r24, 0x80 ; 128 |
| 513a: 9e e3 ldi r25, 0x3E ; 62 |
| 513c: a0 e0 ldi r26, 0x00 ; 0 |
| 513e: b0 e0 ldi r27, 0x00 ; 0 |
| 5140: 09 c0 rjmp .+18 ; 0x5154 <MotorRegler+0x1494> |
| 5142: 80 58 subi r24, 0x80 ; 128 |
| 5144: 91 4c sbci r25, 0xC1 ; 193 |
| 5146: af 4f sbci r26, 0xFF ; 255 |
| 5148: bf 4f sbci r27, 0xFF ; 255 |
| 514a: 64 f4 brge .+24 ; 0x5164 <MotorRegler+0x14a4> |
| 514c: 80 e8 ldi r24, 0x80 ; 128 |
| 514e: 91 ec ldi r25, 0xC1 ; 193 |
| 5150: af ef ldi r26, 0xFF ; 255 |
| 5152: bf ef ldi r27, 0xFF ; 255 |
| 5154: 80 93 54 02 sts 0x0254, r24 |
| 5158: 90 93 55 02 sts 0x0255, r25 |
| 515c: a0 93 56 02 sts 0x0256, r26 |
| 5160: b0 93 57 02 sts 0x0257, r27 |
| 5164: 60 91 94 02 lds r22, 0x0294 |
| 5168: 70 91 95 02 lds r23, 0x0295 |
| 516c: 88 27 eor r24, r24 |
| 516e: 77 fd sbrc r23, 7 |
| 5170: 80 95 com r24 |
| 5172: 98 2f mov r25, r24 |
| 5174: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 5178: 7b 01 movw r14, r22 |
| 517a: 8c 01 movw r16, r24 |
| 517c: 60 91 54 02 lds r22, 0x0254 |
| 5180: 70 91 55 02 lds r23, 0x0255 |
| 5184: 80 91 56 02 lds r24, 0x0256 |
| 5188: 90 91 57 02 lds r25, 0x0257 |
| 518c: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 5190: 9b 01 movw r18, r22 |
| 5192: ac 01 movw r20, r24 |
| 5194: c5 01 movw r24, r10 |
| 5196: b4 01 movw r22, r8 |
| 5198: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 519c: 9b 01 movw r18, r22 |
| 519e: ac 01 movw r20, r24 |
| 51a0: c8 01 movw r24, r16 |
| 51a2: b7 01 movw r22, r14 |
| 51a4: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 51a8: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 51ac: 29 81 ldd r18, Y+1 ; 0x01 |
| 51ae: 3a 81 ldd r19, Y+2 ; 0x02 |
| 51b0: 26 0f add r18, r22 |
| 51b2: 37 1f adc r19, r23 |
| 51b4: 2c 19 sub r18, r12 |
| 51b6: 3d 09 sbc r19, r13 |
| 51b8: 37 fd sbrc r19, 7 |
| 51ba: 02 c0 rjmp .+4 ; 0x51c0 <MotorRegler+0x1500> |
| 51bc: 22 20 and r2, r2 |
| 51be: 19 f0 breq .+6 ; 0x51c6 <MotorRegler+0x1506> |
| 51c0: 40 e0 ldi r20, 0x00 ; 0 |
| 51c2: 50 e0 ldi r21, 0x00 ; 0 |
| 51c4: 08 c0 rjmp .+16 ; 0x51d6 <MotorRegler+0x1516> |
| 51c6: 80 91 b4 05 lds r24, 0x05B4 |
| 51ca: 48 2f mov r20, r24 |
| 51cc: 55 27 eor r21, r21 |
| 51ce: 24 17 cp r18, r20 |
| 51d0: 35 07 cpc r19, r21 |
| 51d2: 0c f4 brge .+2 ; 0x51d6 <MotorRegler+0x1516> |
| 51d4: a9 01 movw r20, r18 |
| 51d6: 2b 81 ldd r18, Y+3 ; 0x03 |
| 51d8: 3c 81 ldd r19, Y+4 ; 0x04 |
| 51da: 24 17 cp r18, r20 |
| 51dc: 35 07 cpc r19, r21 |
| 51de: 0c f4 brge .+2 ; 0x51e2 <MotorRegler+0x1522> |
| 51e0: 9a 01 movw r18, r20 |
| 51e2: 20 93 a6 02 sts 0x02A6, r18 |
| 51e6: 89 81 ldd r24, Y+1 ; 0x01 |
| 51e8: 9a 81 ldd r25, Y+2 ; 0x02 |
| 51ea: 86 1b sub r24, r22 |
| 51ec: 97 0b sbc r25, r23 |
| 51ee: bc 01 movw r22, r24 |
| 51f0: 6c 19 sub r22, r12 |
| 51f2: 7d 09 sbc r23, r13 |
| 51f4: 77 fd sbrc r23, 7 |
| 51f6: 02 c0 rjmp .+4 ; 0x51fc <MotorRegler+0x153c> |
| 51f8: 22 20 and r2, r2 |
| 51fa: 19 f0 breq .+6 ; 0x5202 <MotorRegler+0x1542> |
| 51fc: 20 e0 ldi r18, 0x00 ; 0 |
| 51fe: 30 e0 ldi r19, 0x00 ; 0 |
| 5200: 08 c0 rjmp .+16 ; 0x5212 <MotorRegler+0x1552> |
| 5202: 80 91 b4 05 lds r24, 0x05B4 |
| 5206: 28 2f mov r18, r24 |
| 5208: 33 27 eor r19, r19 |
| 520a: 62 17 cp r22, r18 |
| 520c: 73 07 cpc r23, r19 |
| 520e: 0c f4 brge .+2 ; 0x5212 <MotorRegler+0x1552> |
| 5210: 9b 01 movw r18, r22 |
| 5212: 8b 81 ldd r24, Y+3 ; 0x03 |
| 5214: 9c 81 ldd r25, Y+4 ; 0x04 |
| 5216: 82 17 cp r24, r18 |
| 5218: 93 07 cpc r25, r19 |
| 521a: 0c f4 brge .+2 ; 0x521e <MotorRegler+0x155e> |
| 521c: c9 01 movw r24, r18 |
| 521e: 80 93 9a 02 sts 0x029A, r24 |
| 5222: 24 96 adiw r28, 0x04 ; 4 |
| 5224: 0f b6 in r0, 0x3f ; 63 |
| 5226: f8 94 cli |
| 5228: de bf out 0x3e, r29 ; 62 |
| 522a: 0f be out 0x3f, r0 ; 63 |
| 522c: cd bf out 0x3d, r28 ; 61 |
| 522e: df 91 pop r29 |
| 5230: cf 91 pop r28 |
| 5232: 1f 91 pop r17 |
| 5234: 0f 91 pop r16 |
| 5236: ff 90 pop r15 |
| 5238: ef 90 pop r14 |
| 523a: df 90 pop r13 |
| 523c: cf 90 pop r12 |
| 523e: bf 90 pop r11 |
| 5240: af 90 pop r10 |
| 5242: 9f 90 pop r9 |
| 5244: 8f 90 pop r8 |
| 5246: 7f 90 pop r7 |
| 5248: 6f 90 pop r6 |
| 524a: 5f 90 pop r5 |
| 524c: 4f 90 pop r4 |
| 524e: 3f 90 pop r3 |
| 5250: 2f 90 pop r2 |
| 5252: 08 95 ret |
| 00005254 <gps_main>: |
| 5254: 6f 92 push r6 |
| 5256: 7f 92 push r7 |
| 5258: 8f 92 push r8 |
| 525a: 9f 92 push r9 |
| 525c: af 92 push r10 |
| 525e: bf 92 push r11 |
| 5260: cf 92 push r12 |
| 5262: df 92 push r13 |
| 5264: ef 92 push r14 |
| 5266: ff 92 push r15 |
| 5268: 0f 93 push r16 |
| 526a: 1f 93 push r17 |
| 526c: 80 91 1f 02 lds r24, 0x021F |
| 5270: 90 91 20 02 lds r25, 0x0220 |
| 5274: 18 16 cp r1, r24 |
| 5276: 19 06 cpc r1, r25 |
| 5278: 0c f0 brlt .+2 ; 0x527c <gps_main+0x28> |
| 527a: 78 c1 rjmp .+752 ; 0x556c <gps_main+0x318> |
| 527c: 80 91 22 05 lds r24, 0x0522 |
| 5280: 88 23 and r24, r24 |
| 5282: 09 f4 brne .+2 ; 0x5286 <gps_main+0x32> |
| 5284: 73 c1 rjmp .+742 ; 0x556c <gps_main+0x318> |
| 5286: 80 91 8a 01 lds r24, 0x018A |
| 528a: 90 91 8b 01 lds r25, 0x018B |
| 528e: 89 2b or r24, r25 |
| 5290: d1 f1 breq .+116 ; 0x5306 <gps_main+0xb2> |
| 5292: 80 91 0a 05 lds r24, 0x050A |
| 5296: 90 91 0b 05 lds r25, 0x050B |
| 529a: a0 91 0c 05 lds r26, 0x050C |
| 529e: b0 91 0d 05 lds r27, 0x050D |
| 52a2: 80 93 5c 02 sts 0x025C, r24 |
| 52a6: 90 93 5d 02 sts 0x025D, r25 |
| 52aa: a0 93 5e 02 sts 0x025E, r26 |
| 52ae: b0 93 5f 02 sts 0x025F, r27 |
| 52b2: 80 91 0e 05 lds r24, 0x050E |
| 52b6: 90 91 0f 05 lds r25, 0x050F |
| 52ba: a0 91 10 05 lds r26, 0x0510 |
| 52be: b0 91 11 05 lds r27, 0x0511 |
| 52c2: 80 93 60 02 sts 0x0260, r24 |
| 52c6: 90 93 61 02 sts 0x0261, r25 |
| 52ca: a0 93 62 02 sts 0x0262, r26 |
| 52ce: b0 93 63 02 sts 0x0263, r27 |
| 52d2: 80 91 12 05 lds r24, 0x0512 |
| 52d6: 90 91 13 05 lds r25, 0x0513 |
| 52da: a0 91 14 05 lds r26, 0x0514 |
| 52de: b0 91 15 05 lds r27, 0x0515 |
| 52e2: 80 93 64 02 sts 0x0264, r24 |
| 52e6: 90 93 65 02 sts 0x0265, r25 |
| 52ea: a0 93 66 02 sts 0x0266, r26 |
| 52ee: b0 93 67 02 sts 0x0267, r27 |
| 52f2: 82 e3 ldi r24, 0x32 ; 50 |
| 52f4: 90 e0 ldi r25, 0x00 ; 0 |
| 52f6: 90 93 ac 01 sts 0x01AC, r25 |
| 52fa: 80 93 ab 01 sts 0x01AB, r24 |
| 52fe: 10 92 8b 01 sts 0x018B, r1 |
| 5302: 10 92 8a 01 sts 0x018A, r1 |
| 5306: a0 90 a2 02 lds r10, 0x02A2 |
| 530a: b0 90 a3 02 lds r11, 0x02A3 |
| 530e: 60 91 64 02 lds r22, 0x0264 |
| 5312: 70 91 65 02 lds r23, 0x0265 |
| 5316: 80 91 66 02 lds r24, 0x0266 |
| 531a: 90 91 67 02 lds r25, 0x0267 |
| 531e: 6e 5f subi r22, 0xFE ; 254 |
| 5320: 7f 4f sbci r23, 0xFF ; 255 |
| 5322: 8f 4f sbci r24, 0xFF ; 255 |
| 5324: 9f 4f sbci r25, 0xFF ; 255 |
| 5326: 20 91 5c 02 lds r18, 0x025C |
| 532a: 30 91 5d 02 lds r19, 0x025D |
| 532e: 40 91 5e 02 lds r20, 0x025E |
| 5332: 50 91 5f 02 lds r21, 0x025F |
| 5336: e2 e0 ldi r30, 0x02 ; 2 |
| 5338: ee 2e mov r14, r30 |
| 533a: f1 2c mov r15, r1 |
| 533c: 01 2d mov r16, r1 |
| 533e: 11 2d mov r17, r1 |
| 5340: 2e 25 eor r18, r14 |
| 5342: 3f 25 eor r19, r15 |
| 5344: 40 27 eor r20, r16 |
| 5346: 51 27 eor r21, r17 |
| 5348: 62 27 eor r22, r18 |
| 534a: 73 27 eor r23, r19 |
| 534c: 84 27 eor r24, r20 |
| 534e: 95 27 eor r25, r21 |
| 5350: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 5354: 0e 94 46 2c call 0x588c ; 0x588c <sqrt> |
| 5358: 3b 01 movw r6, r22 |
| 535a: 4c 01 movw r8, r24 |
| 535c: 60 91 12 05 lds r22, 0x0512 |
| 5360: 70 91 13 05 lds r23, 0x0513 |
| 5364: 80 91 14 05 lds r24, 0x0514 |
| 5368: 90 91 15 05 lds r25, 0x0515 |
| 536c: 6e 5f subi r22, 0xFE ; 254 |
| 536e: 7f 4f sbci r23, 0xFF ; 255 |
| 5370: 8f 4f sbci r24, 0xFF ; 255 |
| 5372: 9f 4f sbci r25, 0xFF ; 255 |
| 5374: 20 91 0a 05 lds r18, 0x050A |
| 5378: 30 91 0b 05 lds r19, 0x050B |
| 537c: 40 91 0c 05 lds r20, 0x050C |
| 5380: 50 91 0d 05 lds r21, 0x050D |
| 5384: 2e 25 eor r18, r14 |
| 5386: 3f 25 eor r19, r15 |
| 5388: 40 27 eor r20, r16 |
| 538a: 51 27 eor r21, r17 |
| 538c: 62 27 eor r22, r18 |
| 538e: 73 27 eor r23, r19 |
| 5390: 84 27 eor r24, r20 |
| 5392: 95 27 eor r25, r21 |
| 5394: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 5398: 0e 94 46 2c call 0x588c ; 0x588c <sqrt> |
| 539c: 9b 01 movw r18, r22 |
| 539e: ac 01 movw r20, r24 |
| 53a0: c4 01 movw r24, r8 |
| 53a2: b3 01 movw r22, r6 |
| 53a4: 0e 94 de 2a call 0x55bc ; 0x55bc <__subsf3> |
| 53a8: 7b 01 movw r14, r22 |
| 53aa: 8c 01 movw r16, r24 |
| 53ac: cc 24 eor r12, r12 |
| 53ae: b7 fc sbrc r11, 7 |
| 53b0: c0 94 com r12 |
| 53b2: dc 2c mov r13, r12 |
| 53b4: c6 01 movw r24, r12 |
| 53b6: b5 01 movw r22, r10 |
| 53b8: 0e 94 84 2b call 0x5708 ; 0x5708 <__floatsisf> |
| 53bc: 9b 01 movw r18, r22 |
| 53be: ac 01 movw r20, r24 |
| 53c0: c8 01 movw r24, r16 |
| 53c2: b7 01 movw r22, r14 |
| 53c4: 0e 94 fe 2b call 0x57fc ; 0x57fc <__mulsf3> |
| 53c8: 20 e0 ldi r18, 0x00 ; 0 |
| 53ca: 30 e0 ldi r19, 0x00 ; 0 |
| 53cc: 40 e2 ldi r20, 0x20 ; 32 |
| 53ce: 51 e4 ldi r21, 0x41 ; 65 |
| 53d0: 0e 94 21 2b call 0x5642 ; 0x5642 <__divsf3> |
| 53d4: 0e 94 67 2b call 0x56ce ; 0x56ce <__fixsfsi> |
| 53d8: 3b 01 movw r6, r22 |
| 53da: 4c 01 movw r8, r24 |
| 53dc: 60 93 6a 02 sts 0x026A, r22 |
| 53e0: 70 93 6b 02 sts 0x026B, r23 |
| 53e4: 80 93 6c 02 sts 0x026C, r24 |
| 53e8: 90 93 6d 02 sts 0x026D, r25 |
| 53ec: 20 91 a2 02 lds r18, 0x02A2 |
| 53f0: 30 91 a3 02 lds r19, 0x02A3 |
| 53f4: 60 91 60 02 lds r22, 0x0260 |
| 53f8: 70 91 61 02 lds r23, 0x0261 |
| 53fc: 80 91 62 02 lds r24, 0x0262 |
| 5400: 90 91 63 02 lds r25, 0x0263 |
| 5404: e0 90 0e 05 lds r14, 0x050E |
| 5408: f0 90 0f 05 lds r15, 0x050F |
| 540c: 00 91 10 05 lds r16, 0x0510 |
| 5410: 10 91 11 05 lds r17, 0x0511 |
| 5414: 6e 19 sub r22, r14 |
| 5416: 7f 09 sbc r23, r15 |
| 5418: 80 0b sbc r24, r16 |
| 541a: 91 0b sbc r25, r17 |
| 541c: 44 27 eor r20, r20 |
| 541e: 37 fd sbrc r19, 7 |
| 5420: 40 95 com r20 |
| 5422: 54 2f mov r21, r20 |
| 5424: 0e 94 a0 2c call 0x5940 ; 0x5940 <__mulsi3> |
| 5428: 2a e0 ldi r18, 0x0A ; 10 |
| 542a: 30 e0 ldi r19, 0x00 ; 0 |
| 542c: 40 e0 ldi r20, 0x00 ; 0 |
| 542e: 50 e0 ldi r21, 0x00 ; 0 |
| 5430: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 5434: 59 01 movw r10, r18 |
| 5436: 6a 01 movw r12, r20 |
| 5438: 20 93 6e 02 sts 0x026E, r18 |
| 543c: 30 93 6f 02 sts 0x026F, r19 |
| 5440: 40 93 70 02 sts 0x0270, r20 |
| 5444: 50 93 71 02 sts 0x0271, r21 |
| 5448: 60 91 a4 02 lds r22, 0x02A4 |
| 544c: 70 91 a5 02 lds r23, 0x02A5 |
| 5450: 88 27 eor r24, r24 |
| 5452: 77 fd sbrc r23, 7 |
| 5454: 80 95 com r24 |
| 5456: 98 2f mov r25, r24 |
| 5458: 20 91 16 05 lds r18, 0x0516 |
| 545c: 30 91 17 05 lds r19, 0x0517 |
| 5460: 40 91 18 05 lds r20, 0x0518 |
| 5464: 50 91 19 05 lds r21, 0x0519 |
| 5468: 0e 94 a0 2c call 0x5940 ; 0x5940 <__mulsi3> |
| 546c: 2d ef ldi r18, 0xFD ; 253 |
| 546e: 3f ef ldi r19, 0xFF ; 255 |
| 5470: 4f ef ldi r20, 0xFF ; 255 |
| 5472: 5f ef ldi r21, 0xFF ; 255 |
| 5474: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 5478: 79 01 movw r14, r18 |
| 547a: 8a 01 movw r16, r20 |
| 547c: 20 93 7a 02 sts 0x027A, r18 |
| 5480: 30 93 7b 02 sts 0x027B, r19 |
| 5484: 40 93 7c 02 sts 0x027C, r20 |
| 5488: 50 93 7d 02 sts 0x027D, r21 |
| 548c: 60 91 a4 02 lds r22, 0x02A4 |
| 5490: 70 91 a5 02 lds r23, 0x02A5 |
| 5494: 88 27 eor r24, r24 |
| 5496: 77 fd sbrc r23, 7 |
| 5498: 80 95 com r24 |
| 549a: 98 2f mov r25, r24 |
| 549c: 20 91 1a 05 lds r18, 0x051A |
| 54a0: 30 91 1b 05 lds r19, 0x051B |
| 54a4: 40 91 1c 05 lds r20, 0x051C |
| 54a8: 50 91 1d 05 lds r21, 0x051D |
| 54ac: 0e 94 a0 2c call 0x5940 ; 0x5940 <__mulsi3> |
| 54b0: 2d ef ldi r18, 0xFD ; 253 |
| 54b2: 3f ef ldi r19, 0xFF ; 255 |
| 54b4: 4f ef ldi r20, 0xFF ; 255 |
| 54b6: 5f ef ldi r21, 0xFF ; 255 |
| 54b8: 0e 94 08 2d call 0x5a10 ; 0x5a10 <__divmodsi4> |
| 54bc: 20 93 7e 02 sts 0x027E, r18 |
| 54c0: 30 93 7f 02 sts 0x027F, r19 |
| 54c4: 40 93 80 02 sts 0x0280, r20 |
| 54c8: 50 93 81 02 sts 0x0281, r21 |
| 54cc: b3 01 movw r22, r6 |
| 54ce: 6e 0d add r22, r14 |
| 54d0: 7f 1d adc r23, r15 |
| 54d2: 70 93 8d 02 sts 0x028D, r23 |
| 54d6: 60 93 8c 02 sts 0x028C, r22 |
| 54da: 2a 0d add r18, r10 |
| 54dc: 3b 1d adc r19, r11 |
| 54de: 30 93 8f 02 sts 0x028F, r19 |
| 54e2: 20 93 8e 02 sts 0x028E, r18 |
| 54e6: 80 91 8c 01 lds r24, 0x018C |
| 54ea: 90 91 8d 01 lds r25, 0x018D |
| 54ee: 86 17 cp r24, r22 |
| 54f0: 97 07 cpc r25, r23 |
| 54f2: 2c f4 brge .+10 ; 0x54fe <gps_main+0x2aa> |
| 54f4: 80 91 8c 01 lds r24, 0x018C |
| 54f8: 90 91 8d 01 lds r25, 0x018D |
| 54fc: 11 c0 rjmp .+34 ; 0x5520 <gps_main+0x2cc> |
| 54fe: 80 91 8c 01 lds r24, 0x018C |
| 5502: 90 91 8d 01 lds r25, 0x018D |
| 5506: 90 95 com r25 |
| 5508: 81 95 neg r24 |
| 550a: 9f 4f sbci r25, 0xFF ; 255 |
| 550c: 68 17 cp r22, r24 |
| 550e: 79 07 cpc r23, r25 |
| 5510: 5c f4 brge .+22 ; 0x5528 <gps_main+0x2d4> |
| 5512: 80 91 8c 01 lds r24, 0x018C |
| 5516: 90 91 8d 01 lds r25, 0x018D |
| 551a: 90 95 com r25 |
| 551c: 81 95 neg r24 |
| 551e: 9f 4f sbci r25, 0xFF ; 255 |
| 5520: 90 93 8d 02 sts 0x028D, r25 |
| 5524: 80 93 8c 02 sts 0x028C, r24 |
| 5528: 80 91 8c 01 lds r24, 0x018C |
| 552c: 90 91 8d 01 lds r25, 0x018D |
| 5530: 82 17 cp r24, r18 |
| 5532: 93 07 cpc r25, r19 |
| 5534: 2c f4 brge .+10 ; 0x5540 <gps_main+0x2ec> |
| 5536: 80 91 8c 01 lds r24, 0x018C |
| 553a: 90 91 8d 01 lds r25, 0x018D |
| 553e: 11 c0 rjmp .+34 ; 0x5562 <gps_main+0x30e> |
| 5540: 80 91 8c 01 lds r24, 0x018C |
| 5544: 90 91 8d 01 lds r25, 0x018D |
| 5548: 90 95 com r25 |
| 554a: 81 95 neg r24 |
| 554c: 9f 4f sbci r25, 0xFF ; 255 |
| 554e: 28 17 cp r18, r24 |
| 5550: 39 07 cpc r19, r25 |
| 5552: d4 f4 brge .+52 ; 0x5588 <gps_main+0x334> |
| 5554: 80 91 8c 01 lds r24, 0x018C |
| 5558: 90 91 8d 01 lds r25, 0x018D |
| 555c: 90 95 com r25 |
| 555e: 81 95 neg r24 |
| 5560: 9f 4f sbci r25, 0xFF ; 255 |
| 5562: 90 93 8f 02 sts 0x028F, r25 |
| 5566: 80 93 8e 02 sts 0x028E, r24 |
| 556a: 0e c0 rjmp .+28 ; 0x5588 <gps_main+0x334> |
| 556c: 85 e0 ldi r24, 0x05 ; 5 |
| 556e: 90 e0 ldi r25, 0x00 ; 0 |
| 5570: 90 93 8b 01 sts 0x018B, r25 |
| 5574: 80 93 8a 01 sts 0x018A, r24 |
| 5578: 10 92 8d 02 sts 0x028D, r1 |
| 557c: 10 92 8c 02 sts 0x028C, r1 |
| 5580: 10 92 8f 02 sts 0x028F, r1 |
| 5584: 10 92 8e 02 sts 0x028E, r1 |
| 5588: 1f 91 pop r17 |
| 558a: 0f 91 pop r16 |
| 558c: ff 90 pop r15 |
| 558e: ef 90 pop r14 |
| 5590: df 90 pop r13 |
| 5592: cf 90 pop r12 |
| 5594: bf 90 pop r11 |
| 5596: af 90 pop r10 |
| 5598: 9f 90 pop r9 |
| 559a: 8f 90 pop r8 |
| 559c: 7f 90 pop r7 |
| 559e: 6f 90 pop r6 |
| 55a0: 08 95 ret |
| 000055a2 <memchr>: |
| 55a2: fc 01 movw r30, r24 |
| 55a4: 41 50 subi r20, 0x01 ; 1 |
| 55a6: 50 40 sbci r21, 0x00 ; 0 |
| 55a8: 30 f0 brcs .+12 ; 0x55b6 <memchr+0x14> |
| 55aa: 01 90 ld r0, Z+ |
| 55ac: 06 16 cp r0, r22 |
| 55ae: d1 f7 brne .-12 ; 0x55a4 <memchr+0x2> |
| 55b0: 31 97 sbiw r30, 0x01 ; 1 |
| 55b2: cf 01 movw r24, r30 |
| 55b4: 08 95 ret |
| 55b6: 88 27 eor r24, r24 |
| 55b8: 99 27 eor r25, r25 |
| 55ba: 08 95 ret |
| 000055bc <__subsf3>: |
| 55bc: 50 58 subi r21, 0x80 ; 128 |
| 000055be <__addsf3>: |
| 55be: 19 2e mov r1, r25 |
| 55c0: ef d0 rcall .+478 ; 0x57a0 <__fp_split3> |
| 55c2: 01 d0 rcall .+2 ; 0x55c6 <__addsf3x> |
| 55c4: d2 c0 rjmp .+420 ; 0x576a <__fp_merge> |
| 000055c6 <__addsf3x>: |
| 55c6: ba 17 cp r27, r26 |
| 55c8: 62 07 cpc r22, r18 |
| 55ca: 73 07 cpc r23, r19 |
| 55cc: 84 07 cpc r24, r20 |
| 55ce: 95 07 cpc r25, r21 |
| 55d0: b1 f1 breq .+108 ; 0x563e <__addsf3x+0x78> |
| 55d2: 88 f4 brcc .+34 ; 0x55f6 <__addsf3x+0x30> |
| 55d4: 0e f4 brtc .+2 ; 0x55d8 <__addsf3x+0x12> |
| 55d6: 10 94 com r1 |
| 55d8: 0b 2e mov r0, r27 |
| 55da: ba 2f mov r27, r26 |
| 55dc: a0 2d mov r26, r0 |
| 55de: 06 2e mov r0, r22 |
| 55e0: 62 2f mov r22, r18 |
| 55e2: 20 2d mov r18, r0 |
| 55e4: 07 2e mov r0, r23 |
| 55e6: 73 2f mov r23, r19 |
| 55e8: 30 2d mov r19, r0 |
| 55ea: 08 2e mov r0, r24 |
| 55ec: 84 2f mov r24, r20 |
| 55ee: 40 2d mov r20, r0 |
| 55f0: 09 2e mov r0, r25 |
| 55f2: 95 2f mov r25, r21 |
| 55f4: 50 2d mov r21, r0 |
| 55f6: ff 27 eor r31, r31 |
| 55f8: 55 23 and r21, r21 |
| 55fa: b9 f0 breq .+46 ; 0x562a <__addsf3x+0x64> |
| 55fc: 59 1b sub r21, r25 |
| 55fe: 49 f0 breq .+18 ; 0x5612 <__addsf3x+0x4c> |
| 5600: 57 3e cpi r21, 0xE7 ; 231 |
| 5602: 98 f0 brcs .+38 ; 0x562a <__addsf3x+0x64> |
| 5604: 46 95 lsr r20 |
| 5606: 37 95 ror r19 |
| 5608: 27 95 ror r18 |
| 560a: a7 95 ror r26 |
| 560c: f0 40 sbci r31, 0x00 ; 0 |
| 560e: 53 95 inc r21 |
| 5610: c9 f7 brne .-14 ; 0x5604 <__addsf3x+0x3e> |
| 5612: 76 f0 brts .+28 ; 0x5630 <__addsf3x+0x6a> |
| 5614: ba 0f add r27, r26 |
| 5616: 62 1f adc r22, r18 |
| 5618: 73 1f adc r23, r19 |
| 561a: 84 1f adc r24, r20 |
| 561c: 30 f4 brcc .+12 ; 0x562a <__addsf3x+0x64> |
| 561e: 87 95 ror r24 |
| 5620: 77 95 ror r23 |
| 5622: 67 95 ror r22 |
| 5624: b7 95 ror r27 |
| 5626: f0 40 sbci r31, 0x00 ; 0 |
| 5628: 93 95 inc r25 |
| 562a: 17 fa bst r1, 7 |
| 562c: 0f 2e mov r0, r31 |
| 562e: 08 95 ret |
| 5630: bf 1b sub r27, r31 |
| 5632: bb 27 eor r27, r27 |
| 5634: ba 0b sbc r27, r26 |
| 5636: 62 0b sbc r22, r18 |
| 5638: 73 0b sbc r23, r19 |
| 563a: 84 0b sbc r24, r20 |
| 563c: f6 cf rjmp .-20 ; 0x562a <__addsf3x+0x64> |
| 563e: de f6 brtc .-74 ; 0x55f6 <__addsf3x+0x30> |
| 5640: db c0 rjmp .+438 ; 0x57f8 <__fp_zerox> |
| 00005642 <__divsf3>: |
| 5642: ae d0 rcall .+348 ; 0x57a0 <__fp_split3> |
| 5644: 01 d0 rcall .+2 ; 0x5648 <__divsf3x> |
| 5646: 91 c0 rjmp .+290 ; 0x576a <__fp_merge> |
| 00005648 <__divsf3x>: |
| 5648: 55 23 and r21, r21 |
| 564a: 59 f0 breq .+22 ; 0x5662 <__divsf3x+0x1a> |
| 564c: 99 23 and r25, r25 |
| 564e: 69 f0 breq .+26 ; 0x566a <__divsf3x+0x22> |
| 5650: 9f 57 subi r25, 0x7F ; 127 |
| 5652: 5f 57 subi r21, 0x7F ; 127 |
| 5654: 95 1b sub r25, r21 |
| 5656: 33 f4 brvc .+12 ; 0x5664 <__divsf3x+0x1c> |
| 5658: 42 f4 brpl .+16 ; 0x566a <__divsf3x+0x22> |
| 565a: 90 38 cpi r25, 0x80 ; 128 |
| 565c: 11 f4 brne .+4 ; 0x5662 <__divsf3x+0x1a> |
| 565e: 91 58 subi r25, 0x81 ; 129 |
| 5660: 05 c0 rjmp .+10 ; 0x566c <__divsf3x+0x24> |
| 5662: 9b c0 rjmp .+310 ; 0x579a <__fp_nan> |
| 5664: 91 58 subi r25, 0x81 ; 129 |
| 5666: 9f 3f cpi r25, 0xFF ; 255 |
| 5668: 09 f4 brne .+2 ; 0x566c <__divsf3x+0x24> |
| 566a: c6 c0 rjmp .+396 ; 0x57f8 <__fp_zerox> |
| 566c: bb 27 eor r27, r27 |
| 566e: 11 24 eor r1, r1 |
| 5670: 62 17 cp r22, r18 |
| 5672: 73 07 cpc r23, r19 |
| 5674: 84 07 cpc r24, r20 |
| 5676: 30 f4 brcc .+12 ; 0x5684 <__divsf3x+0x3c> |
| 5678: 66 0f add r22, r22 |
| 567a: 77 1f adc r23, r23 |
| 567c: 88 1f adc r24, r24 |
| 567e: bb 1f adc r27, r27 |
| 5680: 91 50 subi r25, 0x01 ; 1 |
| 5682: 98 f3 brcs .-26 ; 0x566a <__divsf3x+0x22> |
| 5684: 11 d0 rcall .+34 ; 0x56a8 <__divsf3x+0x60> |
| 5686: 0f 92 push r0 |
| 5688: 0f d0 rcall .+30 ; 0x56a8 <__divsf3x+0x60> |
| 568a: 0f 92 push r0 |
| 568c: 0d d0 rcall .+26 ; 0x56a8 <__divsf3x+0x60> |
| 568e: a0 e8 ldi r26, 0x80 ; 128 |
| 5690: 26 17 cp r18, r22 |
| 5692: 37 07 cpc r19, r23 |
| 5694: 48 07 cpc r20, r24 |
| 5696: 1b 06 cpc r1, r27 |
| 5698: 09 f0 breq .+2 ; 0x569c <__divsf3x+0x54> |
| 569a: a0 48 sbci r26, 0x80 ; 128 |
| 569c: ba 2f mov r27, r26 |
| 569e: 60 2d mov r22, r0 |
| 56a0: 7f 91 pop r23 |
| 56a2: 8f 91 pop r24 |
| 56a4: 00 24 eor r0, r0 |
| 56a6: 08 95 ret |
| 56a8: a0 e8 ldi r26, 0x80 ; 128 |
| 56aa: 00 24 eor r0, r0 |
| 56ac: 62 17 cp r22, r18 |
| 56ae: 73 07 cpc r23, r19 |
| 56b0: 84 07 cpc r24, r20 |
| 56b2: b1 05 cpc r27, r1 |
| 56b4: 28 f0 brcs .+10 ; 0x56c0 <__divsf3x+0x78> |
| 56b6: 62 1b sub r22, r18 |
| 56b8: 73 0b sbc r23, r19 |
| 56ba: 84 0b sbc r24, r20 |
| 56bc: b1 09 sbc r27, r1 |
| 56be: 0a 2a or r0, r26 |
| 56c0: 66 0f add r22, r22 |
| 56c2: 77 1f adc r23, r23 |
| 56c4: 88 1f adc r24, r24 |
| 56c6: bb 1f adc r27, r27 |
| 56c8: a6 95 lsr r26 |
| 56ca: 81 f7 brne .-32 ; 0x56ac <__divsf3x+0x64> |
| 56cc: 08 95 ret |
| 000056ce <__fixsfsi>: |
| 56ce: 97 fb bst r25, 7 |
| 56d0: 73 d0 rcall .+230 ; 0x57b8 <__fp_split1> |
| 56d2: 9f 37 cpi r25, 0x7F ; 127 |
| 56d4: 38 f0 brcs .+14 ; 0x56e4 <__fixsfsi+0x16> |
| 56d6: fe e9 ldi r31, 0x9E ; 158 |
| 56d8: f9 1b sub r31, r25 |
| 56da: 98 2f mov r25, r24 |
| 56dc: 87 2f mov r24, r23 |
| 56de: 76 2f mov r23, r22 |
| 56e0: 6b 2f mov r22, r27 |
| 56e2: 05 c0 rjmp .+10 ; 0x56ee <__fixsfsi+0x20> |
| 56e4: 86 c0 rjmp .+268 ; 0x57f2 <__fp_zero> |
| 56e6: 96 95 lsr r25 |
| 56e8: 87 95 ror r24 |
| 56ea: 77 95 ror r23 |
| 56ec: 67 95 ror r22 |
| 56ee: f1 50 subi r31, 0x01 ; 1 |
| 56f0: d0 f7 brcc .-12 ; 0x56e6 <__fixsfsi+0x18> |
| 56f2: 3e f4 brtc .+14 ; 0x5702 <__fp_lneg+0xe> |
| 000056f4 <__fp_lneg>: |
| 56f4: 90 95 com r25 |
| 56f6: 80 95 com r24 |
| 56f8: 70 95 com r23 |
| 56fa: 61 95 neg r22 |
| 56fc: 7f 4f sbci r23, 0xFF ; 255 |
| 56fe: 8f 4f sbci r24, 0xFF ; 255 |
| 5700: 9f 4f sbci r25, 0xFF ; 255 |
| 5702: 08 95 ret |
| 00005704 <__floatunssisf>: |
| 5704: e8 94 clt |
| 5706: 03 c0 rjmp .+6 ; 0x570e <__floatsisf+0x6> |
| 00005708 <__floatsisf>: |
| 5708: 97 fb bst r25, 7 |
| 570a: 0e f4 brtc .+2 ; 0x570e <__floatsisf+0x6> |
| 570c: f3 df rcall .-26 ; 0x56f4 <__fp_lneg> |
| 570e: b6 2f mov r27, r22 |
| 5710: 67 2f mov r22, r23 |
| 5712: 78 2f mov r23, r24 |
| 5714: 89 2f mov r24, r25 |
| 5716: 9e e9 ldi r25, 0x9E ; 158 |
| 5718: 00 24 eor r0, r0 |
| 571a: 27 c0 rjmp .+78 ; 0x576a <__fp_merge> |
| 0000571c <__eqsf2>: |
| 571c: 0e d0 rcall .+28 ; 0x573a <.fp_cmp> |
| 571e: 5e f0 brts .+22 ; 0x5736 <__cmpsf2+0xe> |
| 5720: 04 c0 rjmp .+8 ; 0x572a <__cmpsf2+0x2> |
| 00005722 <__gesf2>: |
| 5722: 0b d0 rcall .+22 ; 0x573a <.fp_cmp> |
| 5724: 26 f0 brts .+8 ; 0x572e <__cmpsf2+0x6> |
| 5726: 01 c0 rjmp .+2 ; 0x572a <__cmpsf2+0x2> |
| 00005728 <__cmpsf2>: |
| 5728: 08 d0 rcall .+16 ; 0x573a <.fp_cmp> |
| 572a: 19 f0 breq .+6 ; 0x5732 <__cmpsf2+0xa> |
| 572c: 20 f4 brcc .+8 ; 0x5736 <__cmpsf2+0xe> |
| 572e: 8f ef ldi r24, 0xFF ; 255 |
| 5730: 08 95 ret |
| 5732: 80 e0 ldi r24, 0x00 ; 0 |
| 5734: 08 95 ret |
| 5736: 81 e0 ldi r24, 0x01 ; 1 |
| 5738: 08 95 ret |
| 0000573a <.fp_cmp>: |
| 573a: 97 fb bst r25, 7 |
| 573c: 09 2e mov r0, r25 |
| 573e: 05 26 eor r0, r21 |
| 5740: 00 f8 bld r0, 0 |
| 5742: 68 94 set |
| 5744: 30 d0 rcall .+96 ; 0x57a6 <__fp_split2> |
| 5746: e8 94 clt |
| 5748: 07 fc sbrc r0, 7 |
| 574a: 07 c0 rjmp .+14 ; 0x575a <.fp_cmp+0x20> |
| 574c: 62 17 cp r22, r18 |
| 574e: 73 07 cpc r23, r19 |
| 5750: 84 07 cpc r24, r20 |
| 5752: 95 07 cpc r25, r21 |
| 5754: 21 f0 breq .+8 ; 0x575e <.fp_cmp+0x24> |
| 5756: 08 f4 brcc .+2 ; 0x575a <.fp_cmp+0x20> |
| 5758: 00 94 com r0 |
| 575a: 07 94 ror r0 |
| 575c: 98 94 clz |
| 575e: 08 95 ret |
| 5760: 9a 95 dec r25 |
| 5762: bb 0f add r27, r27 |
| 5764: 66 1f adc r22, r22 |
| 5766: 77 1f adc r23, r23 |
| 5768: 88 1f adc r24, r24 |
| 0000576a <__fp_merge>: |
| 576a: 11 24 eor r1, r1 |
| 576c: 99 23 and r25, r25 |
| 576e: a1 f0 breq .+40 ; 0x5798 <__fp_merge+0x2e> |
| 5770: 88 23 and r24, r24 |
| 5772: b2 f7 brpl .-20 ; 0x5760 <.fp_cmp+0x26> |
| 5774: 9f 3f cpi r25, 0xFF ; 255 |
| 5776: 59 f0 breq .+22 ; 0x578e <__fp_merge+0x24> |
| 5778: bb 0f add r27, r27 |
| 577a: 48 f4 brcc .+18 ; 0x578e <__fp_merge+0x24> |
| 577c: 21 f4 brne .+8 ; 0x5786 <__fp_merge+0x1c> |
| 577e: 00 20 and r0, r0 |
| 5780: 11 f4 brne .+4 ; 0x5786 <__fp_merge+0x1c> |
| 5782: 60 ff sbrs r22, 0 |
| 5784: 04 c0 rjmp .+8 ; 0x578e <__fp_merge+0x24> |
| 5786: 6f 5f subi r22, 0xFF ; 255 |
| 5788: 7f 4f sbci r23, 0xFF ; 255 |
| 578a: 8f 4f sbci r24, 0xFF ; 255 |
| 578c: 9f 4f sbci r25, 0xFF ; 255 |
| 578e: 88 1f adc r24, r24 |
| 5790: 97 95 ror r25 |
| 5792: 87 95 ror r24 |
| 5794: 97 f9 bld r25, 7 |
| 5796: 08 95 ret |
| 5798: 2c c0 rjmp .+88 ; 0x57f2 <__fp_zero> |
| 0000579a <__fp_nan>: |
| 579a: 9f ef ldi r25, 0xFF ; 255 |
| 579c: 80 ec ldi r24, 0xC0 ; 192 |
| 579e: 08 95 ret |
| 000057a0 <__fp_split3>: |
| 57a0: 05 2e mov r0, r21 |
| 57a2: 09 26 eor r0, r25 |
| 57a4: 07 fa bst r0, 7 |
| 000057a6 <__fp_split2>: |
| 57a6: 44 0f add r20, r20 |
| 57a8: 55 1f adc r21, r21 |
| 57aa: 5f 3f cpi r21, 0xFF ; 255 |
| 57ac: 79 f0 breq .+30 ; 0x57cc <__fp_split1+0x14> |
| 57ae: aa 27 eor r26, r26 |
| 57b0: a5 17 cp r26, r21 |
| 57b2: 08 f0 brcs .+2 ; 0x57b6 <__fp_split2+0x10> |
| 57b4: 51 e0 ldi r21, 0x01 ; 1 |
| 57b6: 47 95 ror r20 |
| 000057b8 <__fp_split1>: |
| 57b8: 88 0f add r24, r24 |
| 57ba: 99 1f adc r25, r25 |
| 57bc: 9f 3f cpi r25, 0xFF ; 255 |
| 57be: 31 f0 breq .+12 ; 0x57cc <__fp_split1+0x14> |
| 57c0: bb 27 eor r27, r27 |
| 57c2: b9 17 cp r27, r25 |
| 57c4: 08 f0 brcs .+2 ; 0x57c8 <__fp_split1+0x10> |
| 57c6: 91 e0 ldi r25, 0x01 ; 1 |
| 57c8: 87 95 ror r24 |
| 57ca: 08 95 ret |
| 57cc: 9f 91 pop r25 |
| 57ce: 9f 91 pop r25 |
| 57d0: 11 24 eor r1, r1 |
| 57d2: e3 cf rjmp .-58 ; 0x579a <__fp_nan> |
| 000057d4 <__fp_split_a>: |
| 57d4: 97 fb bst r25, 7 |
| 57d6: 88 0f add r24, r24 |
| 57d8: 99 1f adc r25, r25 |
| 57da: 9f 3f cpi r25, 0xFF ; 255 |
| 57dc: 31 f0 breq .+12 ; 0x57ea <__fp_split_a+0x16> |
| 57de: bb 27 eor r27, r27 |
| 57e0: b9 17 cp r27, r25 |
| 57e2: 08 f0 brcs .+2 ; 0x57e6 <__fp_split_a+0x12> |
| 57e4: 91 e0 ldi r25, 0x01 ; 1 |
| 57e6: 87 95 ror r24 |
| 57e8: 08 95 ret |
| 57ea: 9f 91 pop r25 |
| 57ec: 9f 91 pop r25 |
| 57ee: 11 24 eor r1, r1 |
| 57f0: d4 cf rjmp .-88 ; 0x579a <__fp_nan> |
| 000057f2 <__fp_zero>: |
| 57f2: 66 27 eor r22, r22 |
| 57f4: 77 27 eor r23, r23 |
| 57f6: 88 27 eor r24, r24 |
| 000057f8 <__fp_zerox>: |
| 57f8: 99 27 eor r25, r25 |
| 57fa: 08 95 ret |
| 000057fc <__mulsf3>: |
| 57fc: d1 df rcall .-94 ; 0x57a0 <__fp_split3> |
| 57fe: 01 d0 rcall .+2 ; 0x5802 <__mulsf3x> |
| 5800: b4 cf rjmp .-152 ; 0x576a <__fp_merge> |
| 00005802 <__mulsf3x>: |
| 5802: 99 23 and r25, r25 |
| 5804: 39 f0 breq .+14 ; 0x5814 <__mulsf3x+0x12> |
| 5806: 55 23 and r21, r21 |
| 5808: 29 f0 breq .+10 ; 0x5814 <__mulsf3x+0x12> |
| 580a: 9f 57 subi r25, 0x7F ; 127 |
| 580c: 5f 57 subi r21, 0x7F ; 127 |
| 580e: 95 0f add r25, r21 |
| 5810: 13 f4 brvc .+4 ; 0x5816 <__mulsf3x+0x14> |
| 5812: 9a f1 brmi .+102 ; 0x587a <__mulsf3x+0x78> |
| 5814: f1 cf rjmp .-30 ; 0x57f8 <__fp_zerox> |
| 5816: 91 58 subi r25, 0x81 ; 129 |
| 5818: 9f 3f cpi r25, 0xFF ; 255 |
| 581a: e1 f3 breq .-8 ; 0x5814 <__mulsf3x+0x12> |
| 581c: 62 9f mul r22, r18 |
| 581e: a1 2d mov r26, r1 |
| 5820: 0f 92 push r0 |
| 5822: bb 27 eor r27, r27 |
| 5824: 63 9f mul r22, r19 |
| 5826: a0 0d add r26, r0 |
| 5828: b1 1d adc r27, r1 |
| 582a: ee 27 eor r30, r30 |
| 582c: 72 9f mul r23, r18 |
| 582e: a0 0d add r26, r0 |
| 5830: b1 1d adc r27, r1 |
| 5832: ee 1f adc r30, r30 |
| 5834: af 93 push r26 |
| 5836: aa 27 eor r26, r26 |
| 5838: 64 9f mul r22, r20 |
| 583a: b0 0d add r27, r0 |
| 583c: e1 1d adc r30, r1 |
| 583e: 73 9f mul r23, r19 |
| 5840: b0 0d add r27, r0 |
| 5842: e1 1d adc r30, r1 |
| 5844: aa 1f adc r26, r26 |
| 5846: 66 27 eor r22, r22 |
| 5848: 82 9f mul r24, r18 |
| 584a: b0 0d add r27, r0 |
| 584c: e1 1d adc r30, r1 |
| 584e: a6 1f adc r26, r22 |
| 5850: 55 27 eor r21, r21 |
| 5852: 74 9f mul r23, r20 |
| 5854: e0 0d add r30, r0 |
| 5856: a1 1d adc r26, r1 |
| 5858: 55 1f adc r21, r21 |
| 585a: 83 9f mul r24, r19 |
| 585c: e0 0d add r30, r0 |
| 585e: a1 1d adc r26, r1 |
| 5860: 56 1f adc r21, r22 |
| 5862: 84 9f mul r24, r20 |
| 5864: a0 0d add r26, r0 |
| 5866: 51 1d adc r21, r1 |
| 5868: 85 2f mov r24, r21 |
| 586a: 7a 2f mov r23, r26 |
| 586c: 6e 2f mov r22, r30 |
| 586e: 1f 90 pop r1 |
| 5870: 0f 90 pop r0 |
| 5872: 88 23 and r24, r24 |
| 5874: 1a f4 brpl .+6 ; 0x587c <__mulsf3x+0x7a> |
| 5876: 93 95 inc r25 |
| 5878: 39 f4 brne .+14 ; 0x5888 <__mulsf3x+0x86> |
| 587a: 8f cf rjmp .-226 ; 0x579a <__fp_nan> |
| 587c: 00 0c add r0, r0 |
| 587e: 11 1c adc r1, r1 |
| 5880: bb 1f adc r27, r27 |
| 5882: 66 1f adc r22, r22 |
| 5884: 77 1f adc r23, r23 |
| 5886: 88 1f adc r24, r24 |
| 5888: 01 28 or r0, r1 |
| 588a: 08 95 ret |
| 0000588c <sqrt>: |
| 588c: 97 fd sbrc r25, 7 |
| 588e: 85 cf rjmp .-246 ; 0x579a <__fp_nan> |
| 5890: 99 23 and r25, r25 |
| 5892: 09 f4 brne .+2 ; 0x5896 <sqrt+0xa> |
| 5894: 08 95 ret |
| 5896: 48 2f mov r20, r24 |
| 5898: 9d df rcall .-198 ; 0x57d4 <__fp_split_a> |
| 589a: f9 2f mov r31, r25 |
| 589c: ff 57 subi r31, 0x7F ; 127 |
| 589e: f5 95 asr r31 |
| 58a0: 9f 1b sub r25, r31 |
| 58a2: 9f 1b sub r25, r31 |
| 58a4: ff 93 push r31 |
| 58a6: 61 df rcall .-318 ; 0x576a <__fp_merge> |
| 58a8: ff 92 push r15 |
| 58aa: ef 92 push r14 |
| 58ac: df 92 push r13 |
| 58ae: cf 92 push r12 |
| 58b0: bf 92 push r11 |
| 58b2: af 92 push r10 |
| 58b4: 9f 92 push r9 |
| 58b6: 8f 92 push r8 |
| 58b8: 6b 01 movw r12, r22 |
| 58ba: 7c 01 movw r14, r24 |
| 58bc: 40 58 subi r20, 0x80 ; 128 |
| 58be: 47 95 ror r20 |
| 58c0: 33 27 eor r19, r19 |
| 58c2: 22 27 eor r18, r18 |
| 58c4: 40 68 ori r20, 0x80 ; 128 |
| 58c6: 5f e3 ldi r21, 0x3F ; 63 |
| 58c8: b6 01 movw r22, r12 |
| 58ca: c7 01 movw r24, r14 |
| 58cc: 49 01 movw r8, r18 |
| 58ce: 5a 01 movw r10, r20 |
| 58d0: 0e 94 21 2b call 0x5642 ; 0x5642 <__divsf3> |
| 58d4: 94 01 movw r18, r8 |
| 58d6: a5 01 movw r20, r10 |
| 58d8: 0e 94 df 2a call 0x55be ; 0x55be <__addsf3> |
| 58dc: 4f ef ldi r20, 0xFF ; 255 |
| 58de: 5f ef ldi r21, 0xFF ; 255 |
| 58e0: 13 d0 rcall .+38 ; 0x5908 <ldexp> |
| 58e2: 9b 01 movw r18, r22 |
| 58e4: ac 01 movw r20, r24 |
| 58e6: 82 16 cp r8, r18 |
| 58e8: 93 06 cpc r9, r19 |
| 58ea: a4 06 cpc r10, r20 |
| 58ec: b5 06 cpc r11, r21 |
| 58ee: 61 f7 brne .-40 ; 0x58c8 <sqrt+0x3c> |
| 58f0: 8f 90 pop r8 |
| 58f2: 9f 90 pop r9 |
| 58f4: af 90 pop r10 |
| 58f6: bf 90 pop r11 |
| 58f8: cf 90 pop r12 |
| 58fa: df 90 pop r13 |
| 58fc: ef 90 pop r14 |
| 58fe: ff 90 pop r15 |
| 5900: 5f 91 pop r21 |
| 5902: 68 df rcall .-304 ; 0x57d4 <__fp_split_a> |
| 5904: 95 0f add r25, r21 |
| 5906: 31 cf rjmp .-414 ; 0x576a <__fp_merge> |
| 00005908 <ldexp>: |
| 5908: 65 df rcall .-310 ; 0x57d4 <__fp_split_a> |
| 590a: 99 23 and r25, r25 |
| 590c: 59 f0 breq .+22 ; 0x5924 <ldexp+0x1c> |
| 590e: aa 27 eor r26, r26 |
| 5910: 94 0f add r25, r20 |
| 5912: a5 1f adc r26, r21 |
| 5914: 43 f0 brvs .+16 ; 0x5926 <ldexp+0x1e> |
| 5916: 32 f0 brmi .+12 ; 0x5924 <ldexp+0x1c> |
| 5918: 4f ef ldi r20, 0xFF ; 255 |
| 591a: 50 e0 ldi r21, 0x00 ; 0 |
| 591c: 94 17 cp r25, r20 |
| 591e: a5 07 cpc r26, r21 |
| 5920: 14 f4 brge .+4 ; 0x5926 <ldexp+0x1e> |
| 5922: 23 cf rjmp .-442 ; 0x576a <__fp_merge> |
| 5924: 66 cf rjmp .-308 ; 0x57f2 <__fp_zero> |
| 5926: 0e f0 brts .+2 ; 0x592a <ldexp+0x22> |
| 5928: 06 c0 rjmp .+12 ; 0x5936 <__fp_p_inf> |
| 592a: 00 c0 rjmp .+0 ; 0x592c <__fp_m_inf> |
| 0000592c <__fp_m_inf>: |
| 592c: 9f ef ldi r25, 0xFF ; 255 |
| 592e: 80 e8 ldi r24, 0x80 ; 128 |
| 5930: 70 e0 ldi r23, 0x00 ; 0 |
| 5932: 60 e0 ldi r22, 0x00 ; 0 |
| 5934: 08 95 ret |
| 00005936 <__fp_p_inf>: |
| 5936: 9f e7 ldi r25, 0x7F ; 127 |
| 5938: 80 e8 ldi r24, 0x80 ; 128 |
| 593a: 70 e0 ldi r23, 0x00 ; 0 |
| 593c: 60 e0 ldi r22, 0x00 ; 0 |
| 593e: 08 95 ret |
| 00005940 <__mulsi3>: |
| 5940: 62 9f mul r22, r18 |
| 5942: d0 01 movw r26, r0 |
| 5944: 73 9f mul r23, r19 |
| 5946: f0 01 movw r30, r0 |
| 5948: 82 9f mul r24, r18 |
| 594a: e0 0d add r30, r0 |
| 594c: f1 1d adc r31, r1 |
| 594e: 64 9f mul r22, r20 |
| 5950: e0 0d add r30, r0 |
| 5952: f1 1d adc r31, r1 |
| 5954: 92 9f mul r25, r18 |
| 5956: f0 0d add r31, r0 |
| 5958: 83 9f mul r24, r19 |
| 595a: f0 0d add r31, r0 |
| 595c: 74 9f mul r23, r20 |
| 595e: f0 0d add r31, r0 |
| 5960: 65 9f mul r22, r21 |
| 5962: f0 0d add r31, r0 |
| 5964: 99 27 eor r25, r25 |
| 5966: 72 9f mul r23, r18 |
| 5968: b0 0d add r27, r0 |
| 596a: e1 1d adc r30, r1 |
| 596c: f9 1f adc r31, r25 |
| 596e: 63 9f mul r22, r19 |
| 5970: b0 0d add r27, r0 |
| 5972: e1 1d adc r30, r1 |
| 5974: f9 1f adc r31, r25 |
| 5976: bd 01 movw r22, r26 |
| 5978: cf 01 movw r24, r30 |
| 597a: 11 24 eor r1, r1 |
| 597c: 08 95 ret |
| 0000597e <__udivmodhi4>: |
| 597e: aa 1b sub r26, r26 |
| 5980: bb 1b sub r27, r27 |
| 5982: 51 e1 ldi r21, 0x11 ; 17 |
| 5984: 07 c0 rjmp .+14 ; 0x5994 <__udivmodhi4_ep> |
| 00005986 <__udivmodhi4_loop>: |
| 5986: aa 1f adc r26, r26 |
| 5988: bb 1f adc r27, r27 |
| 598a: a6 17 cp r26, r22 |
| 598c: b7 07 cpc r27, r23 |
| 598e: 10 f0 brcs .+4 ; 0x5994 <__udivmodhi4_ep> |
| 5990: a6 1b sub r26, r22 |
| 5992: b7 0b sbc r27, r23 |
| 00005994 <__udivmodhi4_ep>: |
| 5994: 88 1f adc r24, r24 |
| 5996: 99 1f adc r25, r25 |
| 5998: 5a 95 dec r21 |
| 599a: a9 f7 brne .-22 ; 0x5986 <__udivmodhi4_loop> |
| 599c: 80 95 com r24 |
| 599e: 90 95 com r25 |
| 59a0: bc 01 movw r22, r24 |
| 59a2: cd 01 movw r24, r26 |
| 59a4: 08 95 ret |
| 000059a6 <__divmodhi4>: |
| 59a6: 97 fb bst r25, 7 |
| 59a8: 09 2e mov r0, r25 |
| 59aa: 07 26 eor r0, r23 |
| 59ac: 0a d0 rcall .+20 ; 0x59c2 <__divmodhi4_neg1> |
| 59ae: 77 fd sbrc r23, 7 |
| 59b0: 04 d0 rcall .+8 ; 0x59ba <__divmodhi4_neg2> |
| 59b2: e5 df rcall .-54 ; 0x597e <__udivmodhi4> |
| 59b4: 06 d0 rcall .+12 ; 0x59c2 <__divmodhi4_neg1> |
| 59b6: 00 20 and r0, r0 |
| 59b8: 1a f4 brpl .+6 ; 0x59c0 <__divmodhi4_exit> |
| 000059ba <__divmodhi4_neg2>: |
| 59ba: 70 95 com r23 |
| 59bc: 61 95 neg r22 |
| 59be: 7f 4f sbci r23, 0xFF ; 255 |
| 000059c0 <__divmodhi4_exit>: |
| 59c0: 08 95 ret |
| 000059c2 <__divmodhi4_neg1>: |
| 59c2: f6 f7 brtc .-4 ; 0x59c0 <__divmodhi4_exit> |
| 59c4: 90 95 com r25 |
| 59c6: 81 95 neg r24 |
| 59c8: 9f 4f sbci r25, 0xFF ; 255 |
| 59ca: 08 95 ret |
| 000059cc <__udivmodsi4>: |
| 59cc: a1 e2 ldi r26, 0x21 ; 33 |
| 59ce: 1a 2e mov r1, r26 |
| 59d0: aa 1b sub r26, r26 |
| 59d2: bb 1b sub r27, r27 |
| 59d4: fd 01 movw r30, r26 |
| 59d6: 0d c0 rjmp .+26 ; 0x59f2 <__udivmodsi4_ep> |
| 000059d8 <__udivmodsi4_loop>: |
| 59d8: aa 1f adc r26, r26 |
| 59da: bb 1f adc r27, r27 |
| 59dc: ee 1f adc r30, r30 |
| 59de: ff 1f adc r31, r31 |
| 59e0: a2 17 cp r26, r18 |
| 59e2: b3 07 cpc r27, r19 |
| 59e4: e4 07 cpc r30, r20 |
| 59e6: f5 07 cpc r31, r21 |
| 59e8: 20 f0 brcs .+8 ; 0x59f2 <__udivmodsi4_ep> |
| 59ea: a2 1b sub r26, r18 |
| 59ec: b3 0b sbc r27, r19 |
| 59ee: e4 0b sbc r30, r20 |
| 59f0: f5 0b sbc r31, r21 |
| 000059f2 <__udivmodsi4_ep>: |
| 59f2: 66 1f adc r22, r22 |
| 59f4: 77 1f adc r23, r23 |
| 59f6: 88 1f adc r24, r24 |
| 59f8: 99 1f adc r25, r25 |
| 59fa: 1a 94 dec r1 |
| 59fc: 69 f7 brne .-38 ; 0x59d8 <__udivmodsi4_loop> |
| 59fe: 60 95 com r22 |
| 5a00: 70 95 com r23 |
| 5a02: 80 95 com r24 |
| 5a04: 90 95 com r25 |
| 5a06: 9b 01 movw r18, r22 |
| 5a08: ac 01 movw r20, r24 |
| 5a0a: bd 01 movw r22, r26 |
| 5a0c: cf 01 movw r24, r30 |
| 5a0e: 08 95 ret |
| 00005a10 <__divmodsi4>: |
| 5a10: 97 fb bst r25, 7 |
| 5a12: 09 2e mov r0, r25 |
| 5a14: 05 26 eor r0, r21 |
| 5a16: 0e d0 rcall .+28 ; 0x5a34 <__divmodsi4_neg1> |
| 5a18: 57 fd sbrc r21, 7 |
| 5a1a: 04 d0 rcall .+8 ; 0x5a24 <__divmodsi4_neg2> |
| 5a1c: d7 df rcall .-82 ; 0x59cc <__udivmodsi4> |
| 5a1e: 0a d0 rcall .+20 ; 0x5a34 <__divmodsi4_neg1> |
| 5a20: 00 1c adc r0, r0 |
| 5a22: 38 f4 brcc .+14 ; 0x5a32 <__divmodsi4_exit> |
| 00005a24 <__divmodsi4_neg2>: |
| 5a24: 50 95 com r21 |
| 5a26: 40 95 com r20 |
| 5a28: 30 95 com r19 |
| 5a2a: 21 95 neg r18 |
| 5a2c: 3f 4f sbci r19, 0xFF ; 255 |
| 5a2e: 4f 4f sbci r20, 0xFF ; 255 |
| 5a30: 5f 4f sbci r21, 0xFF ; 255 |
| 00005a32 <__divmodsi4_exit>: |
| 5a32: 08 95 ret |
| 00005a34 <__divmodsi4_neg1>: |
| 5a34: f6 f7 brtc .-4 ; 0x5a32 <__divmodsi4_exit> |
| 5a36: 90 95 com r25 |
| 5a38: 80 95 com r24 |
| 5a3a: 70 95 com r23 |
| 5a3c: 61 95 neg r22 |
| 5a3e: 7f 4f sbci r23, 0xFF ; 255 |
| 5a40: 8f 4f sbci r24, 0xFF ; 255 |
| 5a42: 9f 4f sbci r25, 0xFF ; 255 |
| 5a44: 08 95 ret |
| 00005a46 <__eeprom_read_byte_1F2021>: |
| 5a46: f9 99 sbic 0x1f, 1 ; 31 |
| 5a48: fe cf rjmp .-4 ; 0x5a46 <__eeprom_read_byte_1F2021> |
| 5a4a: b2 bd out 0x22, r27 ; 34 |
| 5a4c: a1 bd out 0x21, r26 ; 33 |
| 5a4e: f8 9a sbi 0x1f, 0 ; 31 |
| 5a50: 11 96 adiw r26, 0x01 ; 1 |
| 5a52: 00 b4 in r0, 0x20 ; 32 |
| 5a54: 08 95 ret |
| 00005a56 <__eeprom_write_byte_1F2021>: |
| 5a56: f9 99 sbic 0x1f, 1 ; 31 |
| 5a58: fe cf rjmp .-4 ; 0x5a56 <__eeprom_write_byte_1F2021> |
| 5a5a: b2 bd out 0x22, r27 ; 34 |
| 5a5c: a1 bd out 0x21, r26 ; 33 |
| 5a5e: 00 bc out 0x20, r0 ; 32 |
| 5a60: 11 96 adiw r26, 0x01 ; 1 |
| 5a62: 0f b6 in r0, 0x3f ; 63 |
| 5a64: f8 94 cli |
| 5a66: fa 9a sbi 0x1f, 2 ; 31 |
| 5a68: f9 9a sbi 0x1f, 1 ; 31 |
| 5a6a: 0f be out 0x3f, r0 ; 63 |
| 5a6c: 08 95 ret |
| 00005a6e <_exit>: |
| 5a6e: ff cf rjmp .-2 ; 0x5a6e <_exit> |
| /branches/chris_hallo2/Flight-Ctrl_MEGA644_V0_60.map |
|---|
| 0,0 → 1,1747 |
| Archive member included because of file (symbol) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| analog.o (__subsf3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) (__addsf3x) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| fc.o (__divsf3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) (__divsf3x) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| analog.o (__fixsfsi) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| analog.o (__floatsisf) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| analog.o (__ltsf2) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_merge) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) (__fp_nanx) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_split3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) (__fp_zero) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| fc.o (__mulsf3) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) (__mulsf3x) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| GPS.o (sqrt) |
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| durchschnitt_northing |
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| Aktuell_ax 0x2 analog.o |
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| .text.fplib 0x000057f2 0xa c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| 0x000057f2 __fp_zero |
| 0x000057f8 __fp_zerox |
| .text.fplib 0x000057fc 0x6 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| 0x000057fc __mulsf3 |
| .text.fplib 0x00005802 0x8a c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| 0x00005802 __mulsf3x |
| .text.fplib 0x0000588c 0x7c c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| 0x0000588c sqrt |
| .text.fplib 0x00005908 0x24 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(ldexp.o) |
| 0x00005908 ldexp |
| .text.fplib 0x0000592c 0xa c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_m_inf.o) |
| 0x0000592c __fp_m_inf |
| .text.fplib 0x00005936 0xa c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_p_inf.o) |
| 0x00005936 __fp_p_inf |
| .text.libgcc 0x00005940 0x3e c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_mulsi3.o) |
| 0x00005940 __mulsi3 |
| .text.libgcc 0x0000597e 0x28 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodhi4.o) |
| 0x0000597e __udivmodhi4 |
| .text.libgcc 0x000059a6 0x26 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| 0x000059a6 __divmodhi4 |
| 0x000059a6 _div |
| .text.libgcc 0x000059cc 0x44 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| 0x000059cc __udivmodsi4 |
| .text.libgcc 0x00005a10 0x36 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| 0x00005a10 __divmodsi4 |
| .text.libgcc 0x00005a46 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| .text.libgcc 0x00005a46 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| .text.libgcc 0x00005a46 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| .text.eeprom 0x00005a46 0x10 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| 0x00005a46 __eeprom_read_byte_1F2021 |
| .text.eeprom 0x00005a56 0x18 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| 0x00005a56 __eeprom_write_byte_1F2021 |
| 0x00005a6e . = ALIGN (0x2) |
| *(.fini9) |
| .fini9 0x00005a6e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| 0x00005a6e exit |
| 0x00005a6e _exit |
| *(.fini9) |
| *(.fini8) |
| *(.fini8) |
| *(.fini7) |
| *(.fini7) |
| *(.fini6) |
| *(.fini6) |
| *(.fini5) |
| *(.fini5) |
| *(.fini4) |
| *(.fini4) |
| *(.fini3) |
| *(.fini3) |
| *(.fini2) |
| *(.fini2) |
| *(.fini1) |
| *(.fini1) |
| *(.fini0) |
| .fini0 0x00005a6e 0x2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| *(.fini0) |
| 0x00005a70 _etext = . |
| .data 0x00800100 0x8e load address 0x00005a70 |
| 0x00800100 PROVIDE (__data_start, .) |
| *(.data) |
| .data 0x00800100 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| .data 0x00800100 0x0 main.o |
| .data 0x00800100 0x2 uart.o |
| 0x00800101 PcZugriff |
| 0x00800100 UebertragungAbgeschlossen |
| .data 0x00800102 0x0 printf_P.o |
| .data 0x00800102 0x2 timer0.o |
| .data 0x00800104 0x8 analog.o |
| 0x00800104 UBat |
| 0x0080010a MessLuftdruck |
| 0x00800106 Luftdruck |
| .data 0x0080010c 0x5b menu.o |
| 0x0080010c Array |
| 0x00800116 DisplayBuff |
| .data 0x00800167 0x0 twimaster.o |
| .data 0x00800167 0x1 rc.o |
| 0x00800167 NewPpmData |
| .data 0x00800168 0x22 fc.o |
| 0x0080017c Ki |
| 0x00800180 Parameter_Luftdruck_D |
| 0x00800184 Parameter_KompassWirkung |
| 0x00800189 Parameter_ServoNickControl |
| 0x00800185 Parameter_Gyro_P |
| 0x00800182 Parameter_Hoehe_P |
| 0x00800183 Parameter_Hoehe_ACC_Wirkung |
| 0x00800186 Parameter_Gyro_I |
| 0x00800181 Parameter_MaxHoehe |
| 0x00800188 Parameter_I_Faktor |
| 0x00800178 Kp |
| 0x00800187 Parameter_Gier_P |
| .data 0x0080018a 0x4 GPS.o |
| 0x0080018c gpsmax |
| 0x0080018a gps_getpos |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(ldexp.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_m_inf.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_p_inf.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_mulsi3.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodhi4.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| .data 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| *(.data*) |
| *(.rodata) |
| *(.rodata*) |
| *(.gnu.linkonce.d*) |
| 0x0080018e . = ALIGN (0x2) |
| 0x0080018e _edata = . |
| 0x0080018e PROVIDE (__data_end, .) |
| .bss 0x0080018e 0x42f |
| 0x0080018e PROVIDE (__bss_start, .) |
| *(.bss) |
| .bss 0x0080018e 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| .bss 0x0080018e 0x0 main.o |
| .bss 0x0080018e 0x18 uart.o |
| 0x0080018e DebugGetAnforderung |
| 0x00800192 SioTmp |
| 0x00800197 PC_DebugTimeout |
| 0x00800191 GetVersionAnforderung |
| 0x00800194 NeueKoordinateEmpfangen |
| 0x00800190 DebugDataAnforderung |
| 0x00800198 MotorTest |
| 0x00800193 NeuerDatensatzEmpfangen |
| 0x0080018f DebugDisplayAnforderung |
| 0x00800195 CntCrcError |
| 0x00800196 AnzahlEmpfangsBytes |
| .bss 0x008001a6 0x0 printf_P.o |
| .bss 0x008001a6 0xc timer0.o |
| 0x008001ab beeptime |
| 0x008001a6 CountMilliseconds |
| 0x008001a9 cntKompass |
| 0x008001a8 UpdateMotor |
| 0x008001ad ServoValue |
| .bss 0x008001b2 0x18 analog.o |
| 0x008001c4 HoeheD |
| 0x008001b6 AccumulateGier |
| 0x008001c1 messanzahl_AccNick |
| 0x008001c3 messanzahl_AccHoch |
| 0x008001b4 AccumulateRoll |
| 0x008001c6 ZaehlMessungen |
| 0x008001bc accumulate_AccHoch |
| 0x008001c2 messanzahl_AccRoll |
| 0x008001b8 accumulate_AccRoll |
| 0x008001be MessanzahlNick |
| 0x008001c0 MessanzahlGier |
| 0x008001ba accumulate_AccNick |
| 0x008001b2 AccumulateNick |
| 0x008001bf MessanzahlRoll |
| .bss 0x008001ca 0x5 menu.o |
| 0x008001cc DispPtr |
| 0x008001cd RemoteTasten |
| 0x008001ca TestInt |
| .bss 0x008001cf 0x3 twimaster.o |
| 0x008001cf twi_state |
| 0x008001d1 motorread |
| 0x008001d0 motor |
| .bss 0x008001d2 0x4 rc.o |
| .bss 0x008001d6 0x86 fc.o |
| 0x0080020f Mess_Integral_Gier2 |
| 0x0080022c StickGier |
| 0x008001ff Mess_IntegralNick2 |
| 0x008001eb IntegralNick2 |
| 0x00800227 SenderOkay |
| 0x008001f7 Integral_Gier |
| 0x00800228 StickNick |
| 0x00800221 Poti2 |
| 0x0080022e MotorenEin |
| 0x008001e5 CosinusNickWinkel |
| 0x0080022f HoehenWert |
| 0x00800207 Mess_IntegralRoll2 |
| 0x00800223 Poti3 |
| 0x00800233 Parameter_UserParam1 |
| 0x008001d9 AdNeutralRoll |
| 0x0080021d Notlandung |
| 0x008001e7 IntegralNick |
| 0x00800213 Mess_Integral_Hoch |
| 0x008001dd NeutralAccX |
| 0x0080020b Mess_Integral_Gier |
| 0x00800236 Parameter_UserParam4 |
| 0x00800219 KompassStartwert |
| 0x00800234 Parameter_UserParam2 |
| 0x00800217 KompassValue |
| 0x0080021b KompassRichtung |
| 0x00800203 Mess_IntegralRoll |
| 0x0080022a StickRoll |
| 0x008001d7 AdNeutralNick |
| 0x008001df NeutralAccY |
| 0x008001e1 NeutralAccZ |
| 0x008001d6 Timeout |
| 0x008001f3 IntegralRoll2 |
| 0x0080021f Poti1 |
| 0x00800235 Parameter_UserParam3 |
| 0x008001db AdNeutralGier |
| 0x008001e6 CosinusRollWinkel |
| 0x0080021e HoehenReglerAktiv |
| 0x00800231 SollHoehe |
| 0x00800225 Poti4 |
| 0x008001fb Mess_IntegralNick |
| 0x008001ef IntegralRoll |
| .bss 0x0080025c 0x34 GPS.o |
| 0x0080027a zwn2 |
| 0x00800286 gps_home_y |
| 0x0080025c target_x |
| 0x00800282 gps_home_x |
| 0x00800264 target_z |
| 0x00800260 target_y |
| 0x0080028a komp_dreh |
| 0x0080028c GPS_Nick |
| 0x0080026e zwe |
| 0x00800272 zwn1 |
| 0x00800276 zwe1 |
| 0x0080027e zwe2 |
| 0x0080028e GPS_Roll |
| 0x0080026a zwn |
| 0x00800268 alpha |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(ldexp.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_m_inf.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_p_inf.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_mulsi3.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodhi4.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| .bss 0x00800290 0x0 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| *(.bss*) |
| *(COMMON) |
| COMMON 0x00800290 0x21 main.o |
| 0x00800290 durchschnitt_easting |
| 0x00800294 DiffRoll |
| 0x00800296 Motor_Vorne |
| 0x00800297 Motor_Hinten |
| 0x00800298 DiffNick |
| 0x0080029a Motor_Rechts |
| 0x0080029b Count |
| 0x0080029c durchschnitt_northing |
| 0x008002a0 skal |
| 0x008002a2 gps_p |
| 0x008002a4 gps_d |
| 0x008002a6 Motor_Links |
| 0x008002a7 s |
| 0x008002a8 h |
| 0x008002a9 gps_gethome |
| 0x008002ab m |
| 0x008002ac MotorWert |
| COMMON 0x008002b1 0x275 uart.o |
| 0x008002b1 ubxEp |
| 0x008002b3 MeineSlaveAdresse |
| 0x008002b4 CK_A |
| 0x008002b5 SendeBuffer |
| 0x0080034b NMEABuffer |
| 0x008003e1 Debug_Timer |
| 0x008003e3 CK_B |
| 0x008003e4 navStatus |
| 0x008003f5 DebugIn |
| 0x00800400 VersionInfo |
| 0x0080040a rollOffset |
| 0x0080040e ubxP |
| 0x00800410 navVelECEF |
| 0x00800425 RxdBuffer |
| 0x008004bb ubxSp |
| 0x008004bd msgLen |
| 0x008004bf nickOffset |
| 0x008004c3 navPosECEF |
| 0x008004d8 DebugOut |
| 0x0080050a actualPos |
| 0x00800524 msgID |
| 0x00800525 ignorePacket |
| COMMON 0x00800526 0x1 printf_P.o |
| 0x00800526 PrintZiel |
| COMMON 0x00800527 0x12 analog.o |
| 0x00800527 Aktuell_ay |
| 0x00800529 Aktuell_az |
| 0x0080052b StartLuftdruck |
| 0x0080052d Aktuell_Nick |
| 0x0080052f messanzahl_Druck |
| 0x00800530 Aktuell_Roll |
| 0x00800532 Aktuell_ax |
| 0x00800534 DruckOffsetSetting |
| 0x00800535 Aktuell_Gier |
| 0x00800537 tmpLuftdruck |
| COMMON 0x00800539 0x8 twimaster.o |
| 0x00800539 motor_rx |
| COMMON 0x00800541 0x2c rc.o |
| 0x00800541 PPM_in |
| 0x00800557 PPM_diff |
| COMMON 0x0080056d 0x50 fc.o |
| 0x0080056d EE_Parameter |
| 0x008005a7 MesswertRoll |
| 0x008005a9 MesswertNick |
| 0x008005ab MIN_GAS |
| 0x008005ac Mittelwert_AccHoch |
| 0x008005ae IntegralFaktor |
| 0x008005b2 Mittelwert_AccNick |
| 0x008005b4 MAX_GAS |
| 0x008005b5 MesswertGier |
| 0x008005b7 GyroFaktor |
| 0x008005bb Mittelwert_AccRoll |
| 0x008005bd PROVIDE (__bss_end, .) |
| 0x00005a70 __data_load_start = LOADADDR (.data) |
| 0x00005afe __data_load_end = (__data_load_start + SIZEOF (.data)) |
| .noinit 0x008005bd 0x0 |
| 0x008005bd PROVIDE (__noinit_start, .) |
| *(.noinit*) |
| 0x008005bd PROVIDE (__noinit_end, .) |
| 0x008005bd _end = . |
| 0x008005bd PROVIDE (__heap_start, .) |
| .eeprom 0x00810000 0x800 |
| *(.eeprom*) |
| .eeprom 0x00810000 0x800 main.o |
| 0x00810000 EEPromArray |
| 0x00810800 __eeprom_end = . |
| .stab 0x00000000 0x378 |
| *(.stab) |
| .stab 0x00000000 0x378 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| .stabstr 0x00000000 0x71 |
| *(.stabstr) |
| .stabstr 0x00000000 0x71 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| .stab.excl |
| *(.stab.excl) |
| .stab.exclstr |
| *(.stab.exclstr) |
| .stab.index |
| *(.stab.index) |
| .stab.indexstr |
| *(.stab.indexstr) |
| .comment |
| *(.comment) |
| .debug |
| *(.debug) |
| .line |
| *(.line) |
| .debug_srcinfo |
| *(.debug_srcinfo) |
| .debug_sfnames |
| *(.debug_sfnames) |
| .debug_aranges |
| *(.debug_aranges) |
| .debug_pubnames |
| *(.debug_pubnames) |
| .debug_info |
| *(.debug_info) |
| *(.gnu.linkonce.wi.*) |
| .debug_abbrev |
| *(.debug_abbrev) |
| .debug_line |
| *(.debug_line) |
| .debug_frame |
| *(.debug_frame) |
| .debug_str |
| *(.debug_str) |
| .debug_loc |
| *(.debug_loc) |
| .debug_macinfo |
| *(.debug_macinfo) |
| OUTPUT(Flight-Ctrl_MEGA644_V0_60.elf elf32-avr) |
| LOAD linker stubs |
| Cross Reference Table |
| Symbol File |
| ADC_Init analog.o |
| main.o |
| AccumulateGier analog.o |
| fc.o |
| menu.o |
| AccumulateNick analog.o |
| fc.o |
| menu.o |
| AccumulateRoll analog.o |
| fc.o |
| menu.o |
| AdNeutralGier fc.o |
| rc.o |
| menu.o |
| analog.o |
| AdNeutralNick fc.o |
| rc.o |
| menu.o |
| analog.o |
| AdNeutralRoll fc.o |
| rc.o |
| menu.o |
| analog.o |
| AddCRC uart.o |
| Aktuell_Gier analog.o |
| Aktuell_Nick analog.o |
| Aktuell_Roll analog.o |
| Aktuell_ax analog.o |
| Aktuell_ay analog.o |
| Aktuell_az fc.o |
| menu.o |
| analog.o |
| AnzahlEmpfangsBytes uart.o |
| Array menu.o |
| BearbeiteRxDaten uart.o |
| main.o |
| CK_A uart.o |
| CK_B uart.o |
| CalibrierMittelwert fc.o |
| CheckDelay timer0.o |
| fc.o |
| uart.o |
| main.o |
| CntCrcError uart.o |
| CosinusNickWinkel fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| CosinusRollWinkel fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Count GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| CountMilliseconds timer0.o |
| DatenUebertragung uart.o |
| main.o |
| DebugDataAnforderung uart.o |
| DebugDisplayAnforderung uart.o |
| DebugGetAnforderung uart.o |
| DebugIn uart.o |
| main.o |
| DebugOut fc.o |
| timer0.o |
| uart.o |
| Debug_Timer uart.o |
| Decode64 uart.o |
| DefaultKonstanten1 fc.o |
| main.o |
| DefaultKonstanten2 fc.o |
| main.o |
| Delay_ms timer0.o |
| fc.o |
| analog.o |
| DiffNick GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| DiffRoll GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| DispPtr menu.o |
| printf_P.o |
| DisplayBuff menu.o |
| printf_P.o |
| uart.o |
| DruckOffsetSetting menu.o |
| analog.o |
| EEPromArray main.o |
| fc.o |
| uart.o |
| EE_Parameter fc.o |
| menu.o |
| timer0.o |
| uart.o |
| main.o |
| GPS_Nick GPS.o |
| fc.o |
| GPS_Roll GPS.o |
| fc.o |
| GPSscanData uart.o |
| GetActiveParamSetNumber main.o |
| fc.o |
| menu.o |
| uart.o |
| GetVersionAnforderung uart.o |
| GyroFaktor fc.o |
| HoeheD analog.o |
| fc.o |
| HoehenReglerAktiv fc.o |
| HoehenWert fc.o |
| menu.o |
| analog.o |
| IntegralFaktor fc.o |
| IntegralNick fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| IntegralNick2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| IntegralRoll fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| IntegralRoll2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Integral_Gier fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Ki fc.o |
| KompassRichtung fc.o |
| menu.o |
| timer0.o |
| KompassStartwert fc.o |
| menu.o |
| timer0.o |
| KompassValue fc.o |
| menu.o |
| timer0.o |
| Kp fc.o |
| LcdClear menu.o |
| main.o |
| Luftdruck analog.o |
| fc.o |
| MAX_GAS fc.o |
| MIN_GAS fc.o |
| MeineSlaveAdresse uart.o |
| Menu menu.o |
| uart.o |
| MessLuftdruck analog.o |
| fc.o |
| menu.o |
| Mess_IntegralNick fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_IntegralNick2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_IntegralRoll fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_IntegralRoll2 fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_Integral_Gier fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Mess_Integral_Gier2 fc.o |
| analog.o |
| Mess_Integral_Hoch fc.o |
| analog.o |
| MessanzahlGier analog.o |
| fc.o |
| menu.o |
| MessanzahlNick analog.o |
| fc.o |
| menu.o |
| MessanzahlRoll analog.o |
| fc.o |
| menu.o |
| MesswertGier fc.o |
| MesswertNick fc.o |
| MesswertRoll fc.o |
| Mittelwert fc.o |
| Mittelwert_AccHoch fc.o |
| Mittelwert_AccNick fc.o |
| Mittelwert_AccRoll fc.o |
| MotorRegler fc.o |
| main.o |
| MotorTest uart.o |
| fc.o |
| MotorWert GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Hinten GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Links GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Rechts GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Motor_Vorne GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| MotorenEin fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| NMEABuffer uart.o |
| NeueKoordinateEmpfangen uart.o |
| NeuerDatensatzEmpfangen uart.o |
| NeutralAccX fc.o |
| menu.o |
| analog.o |
| NeutralAccY fc.o |
| menu.o |
| analog.o |
| NeutralAccZ fc.o |
| menu.o |
| analog.o |
| NewPpmData rc.o |
| fc.o |
| Notlandung fc.o |
| PAD_0 printf_P.o |
| PAD_SP printf_P.o |
| PC_DebugTimeout uart.o |
| PPM_diff fc.o |
| rc.o |
| PPM_in fc.o |
| rc.o |
| menu.o |
| main.o |
| PRINT printf_P.o |
| PRINTP printf_P.o |
| ParameterZuordnung fc.o |
| Parameter_Gier_P fc.o |
| Parameter_Gyro_I fc.o |
| Parameter_Gyro_P fc.o |
| Parameter_Hoehe_ACC_Wirkung fc.o |
| Parameter_Hoehe_P fc.o |
| Parameter_I_Faktor fc.o |
| Parameter_KompassWirkung fc.o |
| Parameter_Luftdruck_D fc.o |
| Parameter_MaxHoehe fc.o |
| Parameter_ServoNickControl fc.o |
| menu.o |
| timer0.o |
| Parameter_UserParam1 fc.o |
| Parameter_UserParam2 fc.o |
| Parameter_UserParam3 fc.o |
| Parameter_UserParam4 fc.o |
| PcZugriff uart.o |
| fc.o |
| main.o |
| Piep fc.o |
| uart.o |
| Poti1 fc.o |
| GPS.o |
| menu.o |
| Poti2 fc.o |
| menu.o |
| Poti3 fc.o |
| menu.o |
| Poti4 fc.o |
| menu.o |
| PrintZiel printf_P.o |
| Putchar printf_P.o |
| ReadParameterSet main.o |
| fc.o |
| uart.o |
| RemoteTasten menu.o |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| RxdBuffer uart.o |
| SendMotorData fc.o |
| main.o |
| SendOutData uart.o |
| SendeBuffer uart.o |
| SenderOkay fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| ServoValue timer0.o |
| menu.o |
| SetDelay timer0.o |
| fc.o |
| uart.o |
| main.o |
| SetNeutral fc.o |
| main.o |
| SioTmp uart.o |
| SollHoehe fc.o |
| menu.o |
| StartLuftdruck fc.o |
| analog.o |
| StickGier fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| StickNick fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| StickRoll fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| SucheLuftruckOffset analog.o |
| fc.o |
| main.o |
| TestInt menu.o |
| Timeout fc.o |
| GPS.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| Timer_Init timer0.o |
| main.o |
| UART_Init uart.o |
| main.o |
| UBat analog.o |
| menu.o |
| main.o |
| UebertragungAbgeschlossen uart.o |
| UpdateMotor timer0.o |
| main.o |
| VersionInfo uart.o |
| main.o |
| WriteParameterSet main.o |
| uart.o |
| WriteProgramData uart.o |
| ZaehlMessungen analog.o |
| fc.o |
| __addsf3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| fc.o |
| analog.o |
| __addsf3x c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __bad_interrupt c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __bss_end c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| __bss_start c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| __cmpsf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __data_end c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| __data_load_start c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| __data_start c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| __divmodhi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| fc.o |
| rc.o |
| menu.o |
| analog.o |
| timer0.o |
| __divmodsi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| GPS.o |
| fc.o |
| menu.o |
| analog.o |
| timer0.o |
| __divsf3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| GPS.o |
| fc.o |
| __divsf3x c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| __do_clear_bss c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_clear_bss.o) |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| __do_copy_data c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_copy_data.o) |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| __eeprom_read_byte_1F2021 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| main.o |
| __eeprom_write_byte_1F2021 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| fc.o |
| uart.o |
| main.o |
| __eqsf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __fixsfsi c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| GPS.o |
| fc.o |
| menu.o |
| analog.o |
| __fixunssfsi c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __floatsisf c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| GPS.o |
| fc.o |
| analog.o |
| __floatunssisf c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| __fp_lneg c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| __fp_m_inf c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_m_inf.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(ldexp.o) |
| __fp_merge c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(ldexp.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __fp_nan c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| __fp_nanEDOM c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| __fp_nanERANGE c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| __fp_nanx c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| __fp_p_inf c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_p_inf.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(ldexp.o) |
| __fp_split1 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __fp_split2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __fp_split3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __fp_split_a c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(ldexp.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| __fp_zero c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(ldexp.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __fp_zerox c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(divsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| __gesf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __gtsf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| analog.o |
| __heap_end c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __init c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __lesf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __ltsf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| fc.o |
| analog.o |
| __mulsf3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| GPS.o |
| fc.o |
| __mulsf3x c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3x.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(mulsf3.o) |
| __mulsi3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_mulsi3.o) |
| GPS.o |
| fc.o |
| timer0.o |
| __nesf2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(fp_cmp.o) |
| __stack c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __subsf3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| GPS.o |
| analog.o |
| __udivmodhi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodhi4.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| analog.o |
| __udivmodsi4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_udivmodsi4.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodsi4.o) |
| printf_P.o |
| __vector_1 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_10 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_11 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_12 rc.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_13 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_14 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_15 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_16 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_17 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_18 timer0.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_19 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_2 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_20 uart.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_21 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_22 uart.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_23 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_24 analog.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_25 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_26 twimaster.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_27 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_3 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_4 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_5 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_6 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_7 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_8 c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_9 timer0.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vector_default c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| __vectors c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| _div c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_divmodhi4.o) |
| _exit c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| _printf_P printf_P.o |
| menu.o |
| analog.o |
| main.o |
| accumulate_AccHoch analog.o |
| fc.o |
| accumulate_AccNick analog.o |
| fc.o |
| menu.o |
| accumulate_AccRoll analog.o |
| fc.o |
| menu.o |
| actualPos GPS.o |
| uart.o |
| alpha GPS.o |
| beeptime timer0.o |
| GPS.o |
| fc.o |
| main.o |
| cntKompass timer0.o |
| durchschnitt_easting GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| durchschnitt_northing GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| exit c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/avr5\libgcc.a(_exit.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| gps_d GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| gps_gethome GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| gps_getpos GPS.o |
| gps_home_x GPS.o |
| gps_home_y GPS.o |
| gps_main GPS.o |
| fc.o |
| gps_p GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| gpsmax GPS.o |
| h GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| i2c_init twimaster.o |
| main.o |
| i2c_start twimaster.o |
| fc.o |
| i2c_stop twimaster.o |
| i2c_write_byte twimaster.o |
| ignorePacket uart.o |
| komp_dreh GPS.o |
| ldexp c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(ldexp.o) |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| m GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| main main.o |
| c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5/crtm644.o |
| memchr c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libc.a(memchr.o) |
| printf_P.o |
| messanzahl_AccHoch analog.o |
| fc.o |
| messanzahl_AccNick analog.o |
| fc.o |
| menu.o |
| messanzahl_AccRoll analog.o |
| fc.o |
| menu.o |
| messanzahl_Druck analog.o |
| motor twimaster.o |
| fc.o |
| motor_rx twimaster.o |
| motorread twimaster.o |
| msgID uart.o |
| msgLen uart.o |
| navPosECEF uart.o |
| navStatus uart.o |
| navVelECEF uart.o |
| nickOffset uart.o |
| rc_sum_init rc.o |
| main.o |
| rollOffset uart.o |
| s GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| skal GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| menu.o |
| analog.o |
| timer0.o |
| printf_P.o |
| uart.o |
| main.o |
| sqrt c:/winavr-20070525/bin/../lib/gcc/avr/4.1.2/../../../../avr/lib/avr5\libm.a(sqrt.o) |
| GPS.o |
| target_x GPS.o |
| target_y GPS.o |
| target_z GPS.o |
| tmpLuftdruck analog.o |
| twi_state twimaster.o |
| fc.o |
| uart_putchar uart.o |
| printf_P.o |
| ubxEp uart.o |
| ubxP uart.o |
| ubxSp uart.o |
| zwe GPS.o |
| zwe1 GPS.o |
| zwe2 GPS.o |
| zwn GPS.o |
| zwn1 GPS.o |
| zwn2 GPS.o |
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| 000019ec T ADC_Init |
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| 00002840 T i2c_stop |
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| 0000285c T __vector_26 |
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| 00002b00 T Mittelwert |
| 00003082 T CalibrierMittelwert |
| 000033ba T ParameterZuordnung |
| 00003854 T DefaultKonstanten2 |
| 0000392e T DefaultKonstanten1 |
| 00003a10 T SendMotorData |
| 00003a9e T SetNeutral |
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| 00003cc0 T MotorRegler |
| 00005254 T gps_main |
| 000055a2 T memchr |
| 000055bc T __subsf3 |
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| 000059c2 t __divmodhi4_neg1 |
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| 00005a32 t __divmodsi4_exit |
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| 00005a56 T __eeprom_write_byte_1F2021 |
| 00005a6e t __stop_program |
| 00005a6e T _exit |
| 00005a6e W exit |
| 00005a70 A __data_load_start |
| 00005a70 T _etext |
| 00005afe A __data_load_end |
| 00800100 D __data_start |
| 00800100 D UebertragungAbgeschlossen |
| 00800101 D PcZugriff |
| 00800102 d timer.2061 |
| 00800103 d cnt_1ms.1974 |
| 00800104 D UBat |
| 00800106 D Luftdruck |
| 0080010a D MessLuftdruck |
| 0080010c D Array |
| 00800116 D DisplayBuff |
| 00800166 d MaxMenue.1970 |
| 00800167 D NewPpmData |
| 00800178 D Kp |
| 0080017c D Ki |
| 00800180 D Parameter_Luftdruck_D |
| 00800181 D Parameter_MaxHoehe |
| 00800182 D Parameter_Hoehe_P |
| 00800183 D Parameter_Hoehe_ACC_Wirkung |
| 00800184 D Parameter_KompassWirkung |
| 00800185 D Parameter_Gyro_P |
| 00800186 D Parameter_Gyro_I |
| 00800187 D Parameter_Gier_P |
| 00800188 D Parameter_I_Faktor |
| 00800189 D Parameter_ServoNickControl |
| 0080018a D gps_getpos |
| 0080018c D gpsmax |
| 0080018e B __bss_start |
| 0080018e D __data_end |
| 0080018e D _edata |
| 0080018e B DebugGetAnforderung |
| 0080018f B DebugDisplayAnforderung |
| 00800190 B DebugDataAnforderung |
| 00800191 B GetVersionAnforderung |
| 00800192 B SioTmp |
| 00800193 B NeuerDatensatzEmpfangen |
| 00800194 B NeueKoordinateEmpfangen |
| 00800195 B CntCrcError |
| 00800196 B AnzahlEmpfangsBytes |
| 00800197 B PC_DebugTimeout |
| 00800198 B MotorTest |
| 0080019c b dis_zeile.2372 |
| 0080019d b UartState.2055 |
| 0080019e b buf_ptr.2054 |
| 0080019f b crc2.2053 |
| 008001a0 b crc1.2052 |
| 008001a1 b crc.2051 |
| 008001a3 b ptr.2021 |
| 008001a5 b gpsState |
| 008001a6 B CountMilliseconds |
| 008001a8 B UpdateMotor |
| 008001a9 B cntKompass |
| 008001ab B beeptime |
| 008001ad B ServoValue |
| 008001af b cnt.1975 |
| 008001b0 b tim_main |
| 008001b2 B AccumulateNick |
| 008001b4 B AccumulateRoll |
| 008001b6 B AccumulateGier |
| 008001b8 B accumulate_AccRoll |
| 008001ba B accumulate_AccNick |
| 008001bc B accumulate_AccHoch |
| 008001be B MessanzahlNick |
| 008001bf B MessanzahlRoll |
| 008001c0 B MessanzahlGier |
| 008001c1 B messanzahl_AccNick |
| 008001c2 B messanzahl_AccRoll |
| 008001c3 B messanzahl_AccHoch |
| 008001c4 B HoeheD |
| 008001c6 B ZaehlMessungen |
| 008001c8 b state.2005 |
| 008001c9 b kanal.2004 |
| 008001ca B TestInt |
| 008001cc B DispPtr |
| 008001cd B RemoteTasten |
| 008001ce b MenuePunkt.1971 |
| 008001cf B twi_state |
| 008001d0 B motor |
| 008001d1 B motorread |
| 008001d2 b index.1971 |
| 008001d4 b AltICR.1969 |
| 008001d6 B Timeout |
| 008001d7 B AdNeutralNick |
| 008001d9 B AdNeutralRoll |
| 008001db B AdNeutralGier |
| 008001dd B NeutralAccX |
| 008001df B NeutralAccY |
| 008001e1 B NeutralAccZ |
| 008001e5 B CosinusNickWinkel |
| 008001e6 B CosinusRollWinkel |
| 008001e7 B IntegralNick |
| 008001eb B IntegralNick2 |
| 008001ef B IntegralRoll |
| 008001f3 B IntegralRoll2 |
| 008001f7 B Integral_Gier |
| 008001fb B Mess_IntegralNick |
| 008001ff B Mess_IntegralNick2 |
| 00800203 B Mess_IntegralRoll |
| 00800207 B Mess_IntegralRoll2 |
| 0080020b B Mess_Integral_Gier |
| 0080020f B Mess_Integral_Gier2 |
| 00800213 B Mess_Integral_Hoch |
| 00800217 B KompassValue |
| 00800219 B KompassStartwert |
| 0080021b B KompassRichtung |
| 0080021d B Notlandung |
| 0080021e B HoehenReglerAktiv |
| 0080021f B Poti1 |
| 00800221 B Poti2 |
| 00800223 B Poti3 |
| 00800225 B Poti4 |
| 00800227 B SenderOkay |
| 00800228 B StickNick |
| 0080022a B StickRoll |
| 0080022c B StickGier |
| 0080022e B MotorenEin |
| 0080022f B HoehenWert |
| 00800231 B SollHoehe |
| 00800233 B Parameter_UserParam1 |
| 00800234 B Parameter_UserParam2 |
| 00800235 B Parameter_UserParam3 |
| 00800236 B Parameter_UserParam4 |
| 00800237 b SignalSchlecht.2366 |
| 00800239 b NeueKompassRichtungMerken.2362 |
| 0080023a b TimerWerteausgabe.2361 |
| 0080023b b hoehenregler.2360 |
| 0080023d b modell_fliegt.2359 |
| 0080023f b delay_ausschalten.2358 |
| 00800240 b delay_einschalten.2357 |
| 00800241 b delay_neutral.2356 |
| 00800242 b RcLostTimer.2355 |
| 00800244 b IntegralFehlerRoll.2354 |
| 00800246 b IntegralFehlerNick.2353 |
| 00800248 b tmp_long2.2352 |
| 0080024c b tmp_long.2351 |
| 00800250 b sollGier.2350 |
| 00800254 b SummeRoll.2349 |
| 00800258 b SummeNick.2348 |
| 0080025c B target_x |
| 00800260 B target_y |
| 00800264 B target_z |
| 00800268 B alpha |
| 0080026a B zwn |
| 0080026e B zwe |
| 00800272 B zwn1 |
| 00800276 B zwe1 |
| 0080027a B zwn2 |
| 0080027e B zwe2 |
| 00800282 B gps_home_x |
| 00800286 B gps_home_y |
| 0080028a B komp_dreh |
| 0080028c B GPS_Nick |
| 0080028e B GPS_Roll |
| 00800290 B durchschnitt_easting |
| 00800294 B DiffRoll |
| 00800296 B Motor_Vorne |
| 00800297 B Motor_Hinten |
| 00800298 B DiffNick |
| 0080029a B Motor_Rechts |
| 0080029b B Count |
| 0080029c B durchschnitt_northing |
| 008002a0 B skal |
| 008002a2 B gps_p |
| 008002a4 B gps_d |
| 008002a6 B Motor_Links |
| 008002a7 B s |
| 008002a8 B h |
| 008002a9 B gps_gethome |
| 008002ab B m |
| 008002ac B MotorWert |
| 008002b1 B ubxEp |
| 008002b3 B MeineSlaveAdresse |
| 008002b4 B CK_A |
| 008002b5 B SendeBuffer |
| 0080034b B NMEABuffer |
| 008003e1 B Debug_Timer |
| 008003e3 B CK_B |
| 008003e4 B navStatus |
| 008003f5 B DebugIn |
| 00800400 B VersionInfo |
| 0080040a B rollOffset |
| 0080040e B ubxP |
| 00800410 B navVelECEF |
| 00800425 B RxdBuffer |
| 008004bb B ubxSp |
| 008004bd B msgLen |
| 008004bf B nickOffset |
| 008004c3 B navPosECEF |
| 008004d8 B DebugOut |
| 0080050a B actualPos |
| 00800524 B msgID |
| 00800525 B ignorePacket |
| 00800526 B PrintZiel |
| 00800527 B Aktuell_ay |
| 00800529 B Aktuell_az |
| 0080052b B StartLuftdruck |
| 0080052d B Aktuell_Nick |
| 0080052f B messanzahl_Druck |
| 00800530 B Aktuell_Roll |
| 00800532 B Aktuell_ax |
| 00800534 B DruckOffsetSetting |
| 00800535 B Aktuell_Gier |
| 00800537 B tmpLuftdruck |
| 00800539 B motor_rx |
| 00800541 B PPM_in |
| 00800557 B PPM_diff |
| 0080056d B EE_Parameter |
| 008005a7 B MesswertRoll |
| 008005a9 B MesswertNick |
| 008005ab B MIN_GAS |
| 008005ac B Mittelwert_AccHoch |
| 008005ae B IntegralFaktor |
| 008005b2 B Mittelwert_AccNick |
| 008005b4 B MAX_GAS |
| 008005b5 B MesswertGier |
| 008005b7 B GyroFaktor |
| 008005bb B Mittelwert_AccRoll |
| 008005bd B __bss_end |
| 008005bd A _end |
| 00810000 D EEPromArray |
| 00810800 D __eeprom_end |
| /branches/chris_hallo2/GPS.c |
|---|
| 0,0 → 1,89 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 08.2007 by Christopher Hartmann / Daniel Schmitz |
| // + |
| // + Bitte die read_me Datei beachten! Es handelt sich hierbei um eine erste Probeversion! |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "math.h" |
| // GPS feste Variablen++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //volatile int loop = 0; |
| //long gps_northing = 0, gps_easting = 0, gps_altitude = 0; |
| long target_x = 0, target_y = 0, target_z = 0; |
| volatile int alpha = 0; |
| long zwn = 0, zwe = 0, zwn1 = 0, zwe1 = 0, zwn2 = 0, zwe2 = 0; |
| volatile int gps_getpos = 5; |
| long gps_home_x = 0; |
| long gps_home_y = 0; |
| // GPS Einstellungen +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| volatile int komp_dreh = 0; // verdrehten Kompasseinbau kompensieren (+/-Grad) |
| volatile int gpsmax = 35; //maximal zulässiger "GPS-Steuerausschlag" |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| void gps_main(void) |
| { |
| /* |
| if (MotorenEin = 1 && gps_gethome == 0 && actualPos.state != 0){ //speichert GPS-Home-Position |
| gps_home_x = actualPos.x; |
| gps_home_y = actualPos.y; |
| beeptime = 80; |
| gps_gethome = 1; |
| }*/ |
| if (Poti1>0 && actualPos.state != 0){ //Beginn GPS-Position-Hold |
| if (gps_getpos != 0){ //Postion mit Schalter loggen |
| target_x = actualPos.x; |
| target_y = actualPos.y; |
| target_z = actualPos.z; |
| beeptime = 50; |
| gps_getpos = 0;} |
| //Regler ########################################################################################################################## |
| //P-Regler |
| zwn = ((sqrt(target_x^2+target_z^2)-sqrt(actualPos.x^2+actualPos.z^2))*gps_p)/10; //8 |
| zwe = ((target_y-actualPos.y)*gps_p)/10; |
| //D-Regler |
| zwn2= (gps_d*actualPos.vx)/-3; //-2 |
| zwe2= (gps_d*actualPos.vy)/-3; |
| GPS_Nick = (zwn+zwn2); // skal; |
| GPS_Roll = (zwe+zwe2); // skal; |
| //GPS-Mixer######################################################################################################################## |
| if (GPS_Nick>gpsmax){GPS_Nick=gpsmax;} else if (GPS_Nick<(-1*gpsmax)){GPS_Nick=(-1*gpsmax);} //min-max Wert überprüfen |
| if (GPS_Roll>gpsmax){GPS_Roll=gpsmax;} else if (GPS_Roll<(-1*gpsmax)){GPS_Roll=(-1*gpsmax);} |
| /* |
| //Rotationsmatrix################################################################################################################## |
| //Kompass ++++++++++++++++++++++++++++ |
| alpha=0; |
| alpha = komp_dreh+KompassValue; |
| if (KompassValue>300) {beeptime=50;} |
| if (alpha>359) {alpha=alpha-360;} |
| GPS_Nick=(sin(alpha)*GPS_Roll+cos(alpha)*GPS_Nick); |
| GPS_Roll=(cos(alpha)*GPS_Roll-sin(alpha)*GPS_Nick); |
| */ |
| }else { |
| gps_getpos=5; |
| GPS_Nick=0; |
| GPS_Roll=0; |
| } |
| } |
| /branches/chris_hallo2/GPS.d |
|---|
| 0,0 → 1,2 |
| GPS.o GPS.d : GPS.c main.h old_macros.h _settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/chris_hallo2/GPS.lst |
|---|
| 0,0 → 1,498 |
| 1 .file "GPS.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global gps_main |
| 13 gps_main: |
| 14 /* prologue: frame size=0 */ |
| 15 0000 6F92 push r6 |
| 16 0002 7F92 push r7 |
| 17 0004 8F92 push r8 |
| 18 0006 9F92 push r9 |
| 19 0008 AF92 push r10 |
| 20 000a BF92 push r11 |
| 21 000c CF92 push r12 |
| 22 000e DF92 push r13 |
| 23 0010 EF92 push r14 |
| 24 0012 FF92 push r15 |
| 25 0014 0F93 push r16 |
| 26 0016 1F93 push r17 |
| 27 /* prologue end (size=12) */ |
| 28 0018 8091 0000 lds r24,Poti1 |
| 29 001c 9091 0000 lds r25,(Poti1)+1 |
| 30 0020 1816 cp __zero_reg__,r24 |
| 31 0022 1906 cpc __zero_reg__,r25 |
| 32 0024 04F0 brlt .+2 |
| 33 0026 00C0 rjmp .L2 |
| 34 0028 8091 0000 lds r24,actualPos+24 |
| 35 002c 8823 tst r24 |
| 36 002e 01F4 brne .+2 |
| 37 0030 00C0 rjmp .L2 |
| 38 0032 8091 0000 lds r24,gps_getpos |
| 39 0036 9091 0000 lds r25,(gps_getpos)+1 |
| 40 003a 892B or r24,r25 |
| 41 003c 01F0 breq .L5 |
| 42 003e 8091 0000 lds r24,actualPos |
| 43 0042 9091 0000 lds r25,(actualPos)+1 |
| 44 0046 A091 0000 lds r26,(actualPos)+2 |
| 45 004a B091 0000 lds r27,(actualPos)+3 |
| 46 004e 8093 0000 sts target_x,r24 |
| 47 0052 9093 0000 sts (target_x)+1,r25 |
| 48 0056 A093 0000 sts (target_x)+2,r26 |
| 49 005a B093 0000 sts (target_x)+3,r27 |
| 50 005e 8091 0000 lds r24,actualPos+4 |
| 51 0062 9091 0000 lds r25,(actualPos+4)+1 |
| 52 0066 A091 0000 lds r26,(actualPos+4)+2 |
| 53 006a B091 0000 lds r27,(actualPos+4)+3 |
| 54 006e 8093 0000 sts target_y,r24 |
| 55 0072 9093 0000 sts (target_y)+1,r25 |
| 56 0076 A093 0000 sts (target_y)+2,r26 |
| 57 007a B093 0000 sts (target_y)+3,r27 |
| 58 007e 8091 0000 lds r24,actualPos+8 |
| 59 0082 9091 0000 lds r25,(actualPos+8)+1 |
| 60 0086 A091 0000 lds r26,(actualPos+8)+2 |
| 61 008a B091 0000 lds r27,(actualPos+8)+3 |
| 62 008e 8093 0000 sts target_z,r24 |
| 63 0092 9093 0000 sts (target_z)+1,r25 |
| 64 0096 A093 0000 sts (target_z)+2,r26 |
| 65 009a B093 0000 sts (target_z)+3,r27 |
| 66 009e 82E3 ldi r24,lo8(50) |
| 67 00a0 90E0 ldi r25,hi8(50) |
| 68 00a2 9093 0000 sts (beeptime)+1,r25 |
| 69 00a6 8093 0000 sts beeptime,r24 |
| 70 00aa 1092 0000 sts (gps_getpos)+1,__zero_reg__ |
| 71 00ae 1092 0000 sts gps_getpos,__zero_reg__ |
| 72 .L5: |
| 73 00b2 A090 0000 lds r10,gps_p |
| 74 00b6 B090 0000 lds r11,(gps_p)+1 |
| 75 00ba 6091 0000 lds r22,target_z |
| 76 00be 7091 0000 lds r23,(target_z)+1 |
| 77 00c2 8091 0000 lds r24,(target_z)+2 |
| 78 00c6 9091 0000 lds r25,(target_z)+3 |
| 79 00ca 6E5F subi r22,lo8(-(2)) |
| 80 00cc 7F4F sbci r23,hi8(-(2)) |
| 81 00ce 8F4F sbci r24,hlo8(-(2)) |
| 82 00d0 9F4F sbci r25,hhi8(-(2)) |
| 83 00d2 2091 0000 lds r18,target_x |
| 84 00d6 3091 0000 lds r19,(target_x)+1 |
| 85 00da 4091 0000 lds r20,(target_x)+2 |
| 86 00de 5091 0000 lds r21,(target_x)+3 |
| 87 00e2 E2E0 ldi r30,lo8(2) |
| 88 00e4 EE2E mov r14,r30 |
| 89 00e6 F12C mov r15,__zero_reg__ |
| 90 00e8 012D mov r16,__zero_reg__ |
| 91 00ea 112D mov r17,__zero_reg__ |
| 92 00ec 2E25 eor r18,r14 |
| 93 00ee 3F25 eor r19,r15 |
| 94 00f0 4027 eor r20,r16 |
| 95 00f2 5127 eor r21,r17 |
| 96 00f4 6227 eor r22,r18 |
| 97 00f6 7327 eor r23,r19 |
| 98 00f8 8427 eor r24,r20 |
| 99 00fa 9527 eor r25,r21 |
| 100 00fc 0E94 0000 call __floatsisf |
| 101 0100 0E94 0000 call sqrt |
| 102 0104 3B01 movw r6,r22 |
| 103 0106 4C01 movw r8,r24 |
| 104 0108 6091 0000 lds r22,actualPos+8 |
| 105 010c 7091 0000 lds r23,(actualPos+8)+1 |
| 106 0110 8091 0000 lds r24,(actualPos+8)+2 |
| 107 0114 9091 0000 lds r25,(actualPos+8)+3 |
| 108 0118 6E5F subi r22,lo8(-(2)) |
| 109 011a 7F4F sbci r23,hi8(-(2)) |
| 110 011c 8F4F sbci r24,hlo8(-(2)) |
| 111 011e 9F4F sbci r25,hhi8(-(2)) |
| 112 0120 2091 0000 lds r18,actualPos |
| 113 0124 3091 0000 lds r19,(actualPos)+1 |
| 114 0128 4091 0000 lds r20,(actualPos)+2 |
| 115 012c 5091 0000 lds r21,(actualPos)+3 |
| 116 0130 2E25 eor r18,r14 |
| 117 0132 3F25 eor r19,r15 |
| 118 0134 4027 eor r20,r16 |
| 119 0136 5127 eor r21,r17 |
| 120 0138 6227 eor r22,r18 |
| 121 013a 7327 eor r23,r19 |
| 122 013c 8427 eor r24,r20 |
| 123 013e 9527 eor r25,r21 |
| 124 0140 0E94 0000 call __floatsisf |
| 125 0144 0E94 0000 call sqrt |
| 126 0148 9B01 movw r18,r22 |
| 127 014a AC01 movw r20,r24 |
| 128 014c C401 movw r24,r8 |
| 129 014e B301 movw r22,r6 |
| 130 0150 0E94 0000 call __subsf3 |
| 131 0154 7B01 movw r14,r22 |
| 132 0156 8C01 movw r16,r24 |
| 133 0158 CC24 clr r12 |
| 134 015a B7FC sbrc r11,7 |
| 135 015c C094 com r12 |
| 136 015e DC2C mov r13,r12 |
| 137 0160 C601 movw r24,r12 |
| 138 0162 B501 movw r22,r10 |
| 139 0164 0E94 0000 call __floatsisf |
| 140 0168 9B01 movw r18,r22 |
| 141 016a AC01 movw r20,r24 |
| 142 016c C801 movw r24,r16 |
| 143 016e B701 movw r22,r14 |
| 144 0170 0E94 0000 call __mulsf3 |
| 145 0174 20E0 ldi r18,lo8(0x41200000) |
| 146 0176 30E0 ldi r19,hi8(0x41200000) |
| 147 0178 40E2 ldi r20,hlo8(0x41200000) |
| 148 017a 51E4 ldi r21,hhi8(0x41200000) |
| 149 017c 0E94 0000 call __divsf3 |
| 150 0180 0E94 0000 call __fixsfsi |
| 151 0184 3B01 movw r6,r22 |
| 152 0186 4C01 movw r8,r24 |
| 153 0188 6093 0000 sts zwn,r22 |
| 154 018c 7093 0000 sts (zwn)+1,r23 |
| 155 0190 8093 0000 sts (zwn)+2,r24 |
| 156 0194 9093 0000 sts (zwn)+3,r25 |
| 157 0198 2091 0000 lds r18,gps_p |
| 158 019c 3091 0000 lds r19,(gps_p)+1 |
| 159 01a0 6091 0000 lds r22,target_y |
| 160 01a4 7091 0000 lds r23,(target_y)+1 |
| 161 01a8 8091 0000 lds r24,(target_y)+2 |
| 162 01ac 9091 0000 lds r25,(target_y)+3 |
| 163 01b0 E090 0000 lds r14,actualPos+4 |
| 164 01b4 F090 0000 lds r15,(actualPos+4)+1 |
| 165 01b8 0091 0000 lds r16,(actualPos+4)+2 |
| 166 01bc 1091 0000 lds r17,(actualPos+4)+3 |
| 167 01c0 6E19 sub r22,r14 |
| 168 01c2 7F09 sbc r23,r15 |
| 169 01c4 800B sbc r24,r16 |
| 170 01c6 910B sbc r25,r17 |
| 171 01c8 4427 clr r20 |
| 172 01ca 37FD sbrc r19,7 |
| 173 01cc 4095 com r20 |
| 174 01ce 542F mov r21,r20 |
| 175 01d0 0E94 0000 call __mulsi3 |
| 176 01d4 2AE0 ldi r18,lo8(10) |
| 177 01d6 30E0 ldi r19,hi8(10) |
| 178 01d8 40E0 ldi r20,hlo8(10) |
| 179 01da 50E0 ldi r21,hhi8(10) |
| 180 01dc 0E94 0000 call __divmodsi4 |
| 181 01e0 5901 movw r10,r18 |
| 182 01e2 6A01 movw r12,r20 |
| 183 01e4 2093 0000 sts zwe,r18 |
| 184 01e8 3093 0000 sts (zwe)+1,r19 |
| 185 01ec 4093 0000 sts (zwe)+2,r20 |
| 186 01f0 5093 0000 sts (zwe)+3,r21 |
| 187 01f4 6091 0000 lds r22,gps_d |
| 188 01f8 7091 0000 lds r23,(gps_d)+1 |
| 189 01fc 8827 clr r24 |
| 190 01fe 77FD sbrc r23,7 |
| 191 0200 8095 com r24 |
| 192 0202 982F mov r25,r24 |
| 193 0204 2091 0000 lds r18,actualPos+12 |
| 194 0208 3091 0000 lds r19,(actualPos+12)+1 |
| 195 020c 4091 0000 lds r20,(actualPos+12)+2 |
| 196 0210 5091 0000 lds r21,(actualPos+12)+3 |
| 197 0214 0E94 0000 call __mulsi3 |
| 198 0218 2DEF ldi r18,lo8(-3) |
| 199 021a 3FEF ldi r19,hi8(-3) |
| 200 021c 4FEF ldi r20,hlo8(-3) |
| 201 021e 5FEF ldi r21,hhi8(-3) |
| 202 0220 0E94 0000 call __divmodsi4 |
| 203 0224 7901 movw r14,r18 |
| 204 0226 8A01 movw r16,r20 |
| 205 0228 2093 0000 sts zwn2,r18 |
| 206 022c 3093 0000 sts (zwn2)+1,r19 |
| 207 0230 4093 0000 sts (zwn2)+2,r20 |
| 208 0234 5093 0000 sts (zwn2)+3,r21 |
| 209 0238 6091 0000 lds r22,gps_d |
| 210 023c 7091 0000 lds r23,(gps_d)+1 |
| 211 0240 8827 clr r24 |
| 212 0242 77FD sbrc r23,7 |
| 213 0244 8095 com r24 |
| 214 0246 982F mov r25,r24 |
| 215 0248 2091 0000 lds r18,actualPos+16 |
| 216 024c 3091 0000 lds r19,(actualPos+16)+1 |
| 217 0250 4091 0000 lds r20,(actualPos+16)+2 |
| 218 0254 5091 0000 lds r21,(actualPos+16)+3 |
| 219 0258 0E94 0000 call __mulsi3 |
| 220 025c 2DEF ldi r18,lo8(-3) |
| 221 025e 3FEF ldi r19,hi8(-3) |
| 222 0260 4FEF ldi r20,hlo8(-3) |
| 223 0262 5FEF ldi r21,hhi8(-3) |
| 224 0264 0E94 0000 call __divmodsi4 |
| 225 0268 2093 0000 sts zwe2,r18 |
| 226 026c 3093 0000 sts (zwe2)+1,r19 |
| 227 0270 4093 0000 sts (zwe2)+2,r20 |
| 228 0274 5093 0000 sts (zwe2)+3,r21 |
| 229 0278 B301 movw r22,r6 |
| 230 027a 6E0D add r22,r14 |
| 231 027c 7F1D adc r23,r15 |
| 232 027e 7093 0000 sts (GPS_Nick)+1,r23 |
| 233 0282 6093 0000 sts GPS_Nick,r22 |
| 234 0286 2A0D add r18,r10 |
| 235 0288 3B1D adc r19,r11 |
| 236 028a 3093 0000 sts (GPS_Roll)+1,r19 |
| 237 028e 2093 0000 sts GPS_Roll,r18 |
| 238 0292 8091 0000 lds r24,gpsmax |
| 239 0296 9091 0000 lds r25,(gpsmax)+1 |
| 240 029a 8617 cp r24,r22 |
| 241 029c 9707 cpc r25,r23 |
| 242 029e 04F4 brge .L7 |
| 243 02a0 8091 0000 lds r24,gpsmax |
| 244 02a4 9091 0000 lds r25,(gpsmax)+1 |
| 245 02a8 00C0 rjmp .L16 |
| 246 .L7: |
| 247 02aa 8091 0000 lds r24,gpsmax |
| 248 02ae 9091 0000 lds r25,(gpsmax)+1 |
| 249 02b2 9095 com r25 |
| 250 02b4 8195 neg r24 |
| 251 02b6 9F4F sbci r25,lo8(-1) |
| 252 02b8 6817 cp r22,r24 |
| 253 02ba 7907 cpc r23,r25 |
| 254 02bc 04F4 brge .L9 |
| 255 02be 8091 0000 lds r24,gpsmax |
| 256 02c2 9091 0000 lds r25,(gpsmax)+1 |
| 257 02c6 9095 com r25 |
| 258 02c8 8195 neg r24 |
| 259 02ca 9F4F sbci r25,lo8(-1) |
| 260 .L16: |
| 261 02cc 9093 0000 sts (GPS_Nick)+1,r25 |
| 262 02d0 8093 0000 sts GPS_Nick,r24 |
| 263 .L9: |
| 264 02d4 8091 0000 lds r24,gpsmax |
| 265 02d8 9091 0000 lds r25,(gpsmax)+1 |
| 266 02dc 8217 cp r24,r18 |
| 267 02de 9307 cpc r25,r19 |
| 268 02e0 04F4 brge .L11 |
| 269 02e2 8091 0000 lds r24,gpsmax |
| 270 02e6 9091 0000 lds r25,(gpsmax)+1 |
| 271 02ea 00C0 rjmp .L17 |
| 272 .L11: |
| 273 02ec 8091 0000 lds r24,gpsmax |
| 274 02f0 9091 0000 lds r25,(gpsmax)+1 |
| 275 02f4 9095 com r25 |
| 276 02f6 8195 neg r24 |
| 277 02f8 9F4F sbci r25,lo8(-1) |
| 278 02fa 2817 cp r18,r24 |
| 279 02fc 3907 cpc r19,r25 |
| 280 02fe 04F4 brge .L15 |
| 281 0300 8091 0000 lds r24,gpsmax |
| 282 0304 9091 0000 lds r25,(gpsmax)+1 |
| 283 0308 9095 com r25 |
| 284 030a 8195 neg r24 |
| 285 030c 9F4F sbci r25,lo8(-1) |
| 286 .L17: |
| 287 030e 9093 0000 sts (GPS_Roll)+1,r25 |
| 288 0312 8093 0000 sts GPS_Roll,r24 |
| 289 0316 00C0 rjmp .L15 |
| 290 .L2: |
| 291 0318 85E0 ldi r24,lo8(5) |
| 292 031a 90E0 ldi r25,hi8(5) |
| 293 031c 9093 0000 sts (gps_getpos)+1,r25 |
| 294 0320 8093 0000 sts gps_getpos,r24 |
| 295 0324 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 296 0328 1092 0000 sts GPS_Nick,__zero_reg__ |
| 297 032c 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 298 0330 1092 0000 sts GPS_Roll,__zero_reg__ |
| 299 .L15: |
| 300 /* epilogue: frame size=0 */ |
| 301 0334 1F91 pop r17 |
| 302 0336 0F91 pop r16 |
| 303 0338 FF90 pop r15 |
| 304 033a EF90 pop r14 |
| 305 033c DF90 pop r13 |
| 306 033e CF90 pop r12 |
| 307 0340 BF90 pop r11 |
| 308 0342 AF90 pop r10 |
| 309 0344 9F90 pop r9 |
| 310 0346 8F90 pop r8 |
| 311 0348 7F90 pop r7 |
| 312 034a 6F90 pop r6 |
| 313 034c 0895 ret |
| 314 /* epilogue end (size=13) */ |
| 315 /* function gps_main size 423 (398) */ |
| 317 .global target_x |
| 318 .global target_x |
| 319 .section .bss |
| 322 target_x: |
| 323 0000 0000 0000 .skip 4,0 |
| 324 .global target_y |
| 325 .global target_y |
| 328 target_y: |
| 329 0004 0000 0000 .skip 4,0 |
| 330 .global target_z |
| 331 .global target_z |
| 334 target_z: |
| 335 0008 0000 0000 .skip 4,0 |
| 336 .global alpha |
| 337 .global alpha |
| 340 alpha: |
| 341 000c 0000 .skip 2,0 |
| 342 .global zwn |
| 343 .global zwn |
| 346 zwn: |
| 347 000e 0000 0000 .skip 4,0 |
| 348 .global zwe |
| 349 .global zwe |
| 352 zwe: |
| 353 0012 0000 0000 .skip 4,0 |
| 354 .global zwn1 |
| 355 .global zwn1 |
| 358 zwn1: |
| 359 0016 0000 0000 .skip 4,0 |
| 360 .global zwe1 |
| 361 .global zwe1 |
| 364 zwe1: |
| 365 001a 0000 0000 .skip 4,0 |
| 366 .global zwn2 |
| 367 .global zwn2 |
| 370 zwn2: |
| 371 001e 0000 0000 .skip 4,0 |
| 372 .global zwe2 |
| 373 .global zwe2 |
| 376 zwe2: |
| 377 0022 0000 0000 .skip 4,0 |
| 378 .global gps_getpos |
| 379 .data |
| 382 gps_getpos: |
| 383 0000 0500 .word 5 |
| 384 .global gps_home_x |
| 385 .global gps_home_x |
| 386 .section .bss |
| 389 gps_home_x: |
| 390 0026 0000 0000 .skip 4,0 |
| 391 .global gps_home_y |
| 392 .global gps_home_y |
| 395 gps_home_y: |
| 396 002a 0000 0000 .skip 4,0 |
| 397 .global komp_dreh |
| 398 .global komp_dreh |
| 401 komp_dreh: |
| 402 002e 0000 .skip 2,0 |
| 403 .global gpsmax |
| 404 .data |
| 407 gpsmax: |
| 408 0002 2300 .word 35 |
| 409 .global GPS_Nick |
| 410 .global GPS_Nick |
| 411 .section .bss |
| 414 GPS_Nick: |
| 415 0030 0000 .skip 2,0 |
| 416 .global GPS_Roll |
| 417 .global GPS_Roll |
| 420 GPS_Roll: |
| 421 0032 0000 .skip 2,0 |
| 422 .comm DiffNick,2,1 |
| 423 .comm DiffRoll,2,1 |
| 424 .comm SenderOkay,1,1 |
| 425 .comm CosinusNickWinkel,1,1 |
| 426 .comm CosinusRollWinkel,1,1 |
| 427 .comm durchschnitt_northing,4,1 |
| 428 .comm durchschnitt_easting,4,1 |
| 429 .comm gps_p,2,1 |
| 430 .comm gps_d,2,1 |
| 431 .comm skal,2,1 |
| 432 .comm gps_gethome,2,1 |
| 433 .comm RemoteTasten,1,1 |
| 434 .comm Timeout,1,1 |
| 435 .comm IntegralNick,4,1 |
| 436 .comm IntegralNick2,4,1 |
| 437 .comm IntegralRoll,4,1 |
| 438 .comm IntegralRoll2,4,1 |
| 439 .comm Mess_IntegralNick,4,1 |
| 440 .comm Mess_IntegralNick2,4,1 |
| 441 .comm Mess_IntegralRoll,4,1 |
| 442 .comm Mess_IntegralRoll2,4,1 |
| 443 .comm Integral_Gier,4,1 |
| 444 .comm Mess_Integral_Gier,4,1 |
| 445 .comm h,1,1 |
| 446 .comm m,1,1 |
| 447 .comm s,1,1 |
| 448 .comm Motor_Vorne,1,1 |
| 449 .comm Motor_Hinten,1,1 |
| 450 .comm Motor_Rechts,1,1 |
| 451 .comm Motor_Links,1,1 |
| 452 .comm Count,1,1 |
| 453 .comm MotorWert,5,1 |
| 454 .comm StickNick,2,1 |
| 455 .comm StickRoll,2,1 |
| 456 .comm StickGier,2,1 |
| 457 .comm MotorenEin,1,1 |
| 458 /* File "GPS.c": code 423 = 0x01a7 ( 398), prologues 12, epilogues 13 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 GPS.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:13 .text:00000000 gps_main |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:382 .data:00000000 gps_getpos |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:322 .bss:00000000 target_x |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:328 .bss:00000004 target_y |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:334 .bss:00000008 target_z |
| *COM*:00000002 gps_p |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:346 .bss:0000000e zwn |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:352 .bss:00000012 zwe |
| *COM*:00000002 gps_d |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:370 .bss:0000001e zwn2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:376 .bss:00000022 zwe2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:414 .bss:00000030 GPS_Nick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:420 .bss:00000032 GPS_Roll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:407 .data:00000002 gpsmax |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:340 .bss:0000000c alpha |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:358 .bss:00000016 zwn1 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:364 .bss:0000001a zwe1 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:389 .bss:00000026 gps_home_x |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:395 .bss:0000002a gps_home_y |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccZtEoZ3.s:401 .bss:0000002e komp_dreh |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| *COM*:00000002 StickNick |
| *COM*:00000002 StickRoll |
| *COM*:00000002 StickGier |
| *COM*:00000001 MotorenEin |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| Poti1 |
| actualPos |
| beeptime |
| __floatsisf |
| sqrt |
| __subsf3 |
| __mulsf3 |
| __divsf3 |
| __fixsfsi |
| __mulsi3 |
| __divmodsi4 |
| /branches/chris_hallo2/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/chris_hallo2/Settings.h |
|---|
| --- chris_hallo2/_Settings.h (nonexistent) |
| +++ chris_hallo2/_Settings.h (revision 171) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/chris_hallo2/analog.c |
|---|
| 0,0 → 1,155 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ay = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ay; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/chris_hallo2/analog.d |
|---|
| 0,0 → 1,2 |
| analog.o analog.d : analog.c main.h old_macros.h _settings.h printf_P.h timer0.h \ |
| uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/chris_hallo2/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/chris_hallo2/analog.lst |
|---|
| 0,0 → 1,862 |
| 1 .file "analog.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global ADC_Init |
| 13 ADC_Init: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 1092 7C00 sts 124,__zero_reg__ |
| 17 0004 8FEE ldi r24,lo8(-17) |
| 18 0006 8093 7A00 sts 122,r24 |
| 19 /* epilogue: frame size=0 */ |
| 20 000a 0895 ret |
| 21 /* epilogue end (size=1) */ |
| 22 /* function ADC_Init size 6 (5) */ |
| 24 .global __vector_24 |
| 26 __vector_24: |
| 27 /* prologue: frame size=0 */ |
| 28 000c 1F92 push __zero_reg__ |
| 29 000e 0F92 push __tmp_reg__ |
| 30 0010 0FB6 in __tmp_reg__,__SREG__ |
| 31 0012 0F92 push __tmp_reg__ |
| 32 0014 1124 clr __zero_reg__ |
| 33 0016 EF92 push r14 |
| 34 0018 FF92 push r15 |
| 35 001a 0F93 push r16 |
| 36 001c 1F93 push r17 |
| 37 001e 2F93 push r18 |
| 38 0020 3F93 push r19 |
| 39 0022 4F93 push r20 |
| 40 0024 5F93 push r21 |
| 41 0026 6F93 push r22 |
| 42 0028 7F93 push r23 |
| 43 002a 8F93 push r24 |
| 44 002c 9F93 push r25 |
| 45 002e AF93 push r26 |
| 46 0030 BF93 push r27 |
| 47 0032 CF93 push r28 |
| 48 0034 DF93 push r29 |
| 49 0036 EF93 push r30 |
| 50 0038 FF93 push r31 |
| 51 /* prologue end (size=23) */ |
| 52 003a 1092 7A00 sts 122,__zero_reg__ |
| 53 003e 4091 0000 lds r20,state.2005 |
| 54 0042 4F5F subi r20,lo8(-(1)) |
| 55 0044 4093 0000 sts state.2005,r20 |
| 56 0048 4150 subi r20,lo8(-(-1)) |
| 57 004a 4330 cpi r20,lo8(3) |
| 58 004c 01F4 brne .+2 |
| 59 004e 00C0 rjmp .L8 |
| 60 0050 4430 cpi r20,lo8(4) |
| 61 0052 00F4 brsh .L13 |
| 62 0054 4130 cpi r20,lo8(1) |
| 63 0056 01F4 brne .+2 |
| 64 0058 00C0 rjmp .L6 |
| 65 005a 4230 cpi r20,lo8(2) |
| 66 005c 00F0 brlo .+2 |
| 67 005e 00C0 rjmp .L7 |
| 68 0060 00C0 rjmp .L36 |
| 69 .L13: |
| 70 0062 4530 cpi r20,lo8(5) |
| 71 0064 01F4 brne .+2 |
| 72 0066 00C0 rjmp .L10 |
| 73 0068 4530 cpi r20,lo8(5) |
| 74 006a 00F4 brsh .+2 |
| 75 006c 00C0 rjmp .L9 |
| 76 006e 4630 cpi r20,lo8(6) |
| 77 0070 01F4 brne .+2 |
| 78 0072 00C0 rjmp .L11 |
| 79 0074 4730 cpi r20,lo8(7) |
| 80 0076 01F0 breq .+2 |
| 81 0078 00C0 rjmp .L37 |
| 82 007a 00C0 rjmp .L12 |
| 83 .L36: |
| 84 007c 2091 0000 lds r18,AdNeutralGier |
| 85 0080 3091 0000 lds r19,(AdNeutralGier)+1 |
| 86 0084 8091 7800 lds r24,120 |
| 87 0088 9091 7900 lds r25,(120)+1 |
| 88 008c 281B sub r18,r24 |
| 89 008e 390B sbc r19,r25 |
| 90 0090 8091 0000 lds r24,AccumulateGier |
| 91 0094 9091 0000 lds r25,(AccumulateGier)+1 |
| 92 0098 820F add r24,r18 |
| 93 009a 931F adc r25,r19 |
| 94 009c 9093 0000 sts (AccumulateGier)+1,r25 |
| 95 00a0 8093 0000 sts AccumulateGier,r24 |
| 96 00a4 8091 0000 lds r24,MessanzahlGier |
| 97 00a8 8F5F subi r24,lo8(-(1)) |
| 98 00aa 8093 0000 sts MessanzahlGier,r24 |
| 99 00ae 8091 0000 lds r24,Mess_Integral_Gier |
| 100 00b2 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 101 00b6 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 102 00ba B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 103 00be 4427 clr r20 |
| 104 00c0 37FD sbrc r19,7 |
| 105 00c2 4095 com r20 |
| 106 00c4 542F mov r21,r20 |
| 107 00c6 820F add r24,r18 |
| 108 00c8 931F adc r25,r19 |
| 109 00ca A41F adc r26,r20 |
| 110 00cc B51F adc r27,r21 |
| 111 00ce 8093 0000 sts Mess_Integral_Gier,r24 |
| 112 00d2 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 113 00d6 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 114 00da B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 115 00de 8091 0000 lds r24,Mess_Integral_Gier2 |
| 116 00e2 9091 0000 lds r25,(Mess_Integral_Gier2)+1 |
| 117 00e6 A091 0000 lds r26,(Mess_Integral_Gier2)+2 |
| 118 00ea B091 0000 lds r27,(Mess_Integral_Gier2)+3 |
| 119 00ee 820F add r24,r18 |
| 120 00f0 931F adc r25,r19 |
| 121 00f2 A41F adc r26,r20 |
| 122 00f4 B51F adc r27,r21 |
| 123 00f6 8093 0000 sts Mess_Integral_Gier2,r24 |
| 124 00fa 9093 0000 sts (Mess_Integral_Gier2)+1,r25 |
| 125 00fe A093 0000 sts (Mess_Integral_Gier2)+2,r26 |
| 126 0102 B093 0000 sts (Mess_Integral_Gier2)+3,r27 |
| 127 0106 81E0 ldi r24,lo8(1) |
| 128 0108 8093 0000 sts kanal.2004,r24 |
| 129 010c 8091 0000 lds r24,ZaehlMessungen |
| 130 0110 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 131 0114 0196 adiw r24,1 |
| 132 0116 9093 0000 sts (ZaehlMessungen)+1,r25 |
| 133 011a 8093 0000 sts ZaehlMessungen,r24 |
| 134 011e 00C0 rjmp .L14 |
| 135 .L6: |
| 136 0120 6091 7800 lds r22,120 |
| 137 0124 7091 7900 lds r23,(120)+1 |
| 138 0128 8091 0000 lds r24,AdNeutralRoll |
| 139 012c 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 140 0130 681B sub r22,r24 |
| 141 0132 790B sbc r23,r25 |
| 142 0134 8091 0000 lds r24,Mess_IntegralRoll |
| 143 0138 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 144 013c A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 145 0140 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 146 0144 9B01 movw r18,r22 |
| 147 0146 4427 clr r20 |
| 148 0148 37FD sbrc r19,7 |
| 149 014a 4095 com r20 |
| 150 014c 542F mov r21,r20 |
| 151 014e 820F add r24,r18 |
| 152 0150 931F adc r25,r19 |
| 153 0152 A41F adc r26,r20 |
| 154 0154 B51F adc r27,r21 |
| 155 0156 8093 0000 sts Mess_IntegralRoll,r24 |
| 156 015a 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 157 015e A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 158 0162 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 159 0166 8091 0000 lds r24,Mess_IntegralRoll2 |
| 160 016a 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 161 016e A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 162 0172 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 163 0176 820F add r24,r18 |
| 164 0178 931F adc r25,r19 |
| 165 017a A41F adc r26,r20 |
| 166 017c B51F adc r27,r21 |
| 167 017e 8093 0000 sts Mess_IntegralRoll2,r24 |
| 168 0182 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 169 0186 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 170 018a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 171 018e 8091 7800 lds r24,120 |
| 172 0192 9091 7900 lds r25,(120)+1 |
| 173 0196 0A97 sbiw r24,10 |
| 174 0198 00F4 brsh .L15 |
| 175 019a 64E4 ldi r22,lo8(-700) |
| 176 019c 7DEF ldi r23,hi8(-700) |
| 177 .L15: |
| 178 019e 8091 7800 lds r24,120 |
| 179 01a2 9091 7900 lds r25,(120)+1 |
| 180 01a6 895E subi r24,lo8(1001) |
| 181 01a8 9340 sbci r25,hi8(1001) |
| 182 01aa 00F0 brlo .L17 |
| 183 01ac 6CEB ldi r22,lo8(700) |
| 184 01ae 72E0 ldi r23,hi8(700) |
| 185 .L17: |
| 186 01b0 8091 0000 lds r24,AccumulateRoll |
| 187 01b4 9091 0000 lds r25,(AccumulateRoll)+1 |
| 188 01b8 860F add r24,r22 |
| 189 01ba 971F adc r25,r23 |
| 190 01bc 9093 0000 sts (AccumulateRoll)+1,r25 |
| 191 01c0 8093 0000 sts AccumulateRoll,r24 |
| 192 01c4 8091 0000 lds r24,MessanzahlRoll |
| 193 01c8 8F5F subi r24,lo8(-(1)) |
| 194 01ca 8093 0000 sts MessanzahlRoll,r24 |
| 195 01ce 82E0 ldi r24,lo8(2) |
| 196 01d0 00C0 rjmp .L39 |
| 197 .L7: |
| 198 01d2 6091 7800 lds r22,120 |
| 199 01d6 7091 7900 lds r23,(120)+1 |
| 200 01da 8091 0000 lds r24,AdNeutralNick |
| 201 01de 9091 0000 lds r25,(AdNeutralNick)+1 |
| 202 01e2 681B sub r22,r24 |
| 203 01e4 790B sbc r23,r25 |
| 204 01e6 8091 0000 lds r24,Mess_IntegralNick |
| 205 01ea 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 206 01ee A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 207 01f2 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 208 01f6 9B01 movw r18,r22 |
| 209 01f8 4427 clr r20 |
| 210 01fa 37FD sbrc r19,7 |
| 211 01fc 4095 com r20 |
| 212 01fe 542F mov r21,r20 |
| 213 0200 820F add r24,r18 |
| 214 0202 931F adc r25,r19 |
| 215 0204 A41F adc r26,r20 |
| 216 0206 B51F adc r27,r21 |
| 217 0208 8093 0000 sts Mess_IntegralNick,r24 |
| 218 020c 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 219 0210 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 220 0214 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 221 0218 8091 0000 lds r24,Mess_IntegralNick2 |
| 222 021c 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 223 0220 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 224 0224 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 225 0228 820F add r24,r18 |
| 226 022a 931F adc r25,r19 |
| 227 022c A41F adc r26,r20 |
| 228 022e B51F adc r27,r21 |
| 229 0230 8093 0000 sts Mess_IntegralNick2,r24 |
| 230 0234 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 231 0238 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 232 023c B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 233 0240 8091 7800 lds r24,120 |
| 234 0244 9091 7900 lds r25,(120)+1 |
| 235 0248 0A97 sbiw r24,10 |
| 236 024a 00F4 brsh .L19 |
| 237 024c 64E4 ldi r22,lo8(-700) |
| 238 024e 7DEF ldi r23,hi8(-700) |
| 239 .L19: |
| 240 0250 8091 7800 lds r24,120 |
| 241 0254 9091 7900 lds r25,(120)+1 |
| 242 0258 895E subi r24,lo8(1001) |
| 243 025a 9340 sbci r25,hi8(1001) |
| 244 025c 00F0 brlo .L21 |
| 245 025e 6CEB ldi r22,lo8(700) |
| 246 0260 72E0 ldi r23,hi8(700) |
| 247 .L21: |
| 248 0262 8091 0000 lds r24,AccumulateNick |
| 249 0266 9091 0000 lds r25,(AccumulateNick)+1 |
| 250 026a 860F add r24,r22 |
| 251 026c 971F adc r25,r23 |
| 252 026e 9093 0000 sts (AccumulateNick)+1,r25 |
| 253 0272 8093 0000 sts AccumulateNick,r24 |
| 254 0276 8091 0000 lds r24,MessanzahlNick |
| 255 027a 8F5F subi r24,lo8(-(1)) |
| 256 027c 8093 0000 sts MessanzahlNick,r24 |
| 257 0280 84E0 ldi r24,lo8(4) |
| 258 .L39: |
| 259 0282 8093 0000 sts kanal.2004,r24 |
| 260 0286 00C0 rjmp .L14 |
| 261 .L8: |
| 262 0288 4091 0000 lds r20,UBat |
| 263 028c 5091 0000 lds r21,(UBat)+1 |
| 264 0290 8091 7800 lds r24,120 |
| 265 0294 9091 7900 lds r25,(120)+1 |
| 266 0298 9A01 movw r18,r20 |
| 267 029a 220F lsl r18 |
| 268 029c 331F rol r19 |
| 269 029e 240F add r18,r20 |
| 270 02a0 351F adc r19,r21 |
| 271 02a2 63E0 ldi r22,lo8(3) |
| 272 02a4 70E0 ldi r23,hi8(3) |
| 273 02a6 0E94 0000 call __udivmodhi4 |
| 274 02aa 260F add r18,r22 |
| 275 02ac 371F adc r19,r23 |
| 276 02ae 3695 lsr r19 |
| 277 02b0 2795 ror r18 |
| 278 02b2 3695 lsr r19 |
| 279 02b4 2795 ror r18 |
| 280 02b6 3093 0000 sts (UBat)+1,r19 |
| 281 02ba 2093 0000 sts UBat,r18 |
| 282 02be 86E0 ldi r24,lo8(6) |
| 283 02c0 00C0 rjmp .L39 |
| 284 .L9: |
| 285 02c2 8091 0000 lds r24,NeutralAccY |
| 286 02c6 9091 0000 lds r25,(NeutralAccY)+1 |
| 287 02ca 2091 7800 lds r18,120 |
| 288 02ce 3091 7900 lds r19,(120)+1 |
| 289 02d2 821B sub r24,r18 |
| 290 02d4 930B sbc r25,r19 |
| 291 02d6 9093 0000 sts (Aktuell_ay)+1,r25 |
| 292 02da 8093 0000 sts Aktuell_ay,r24 |
| 293 02de 8091 0000 lds r24,accumulate_AccRoll |
| 294 02e2 9091 0000 lds r25,(accumulate_AccRoll)+1 |
| 295 02e6 2091 0000 lds r18,Aktuell_ay |
| 296 02ea 3091 0000 lds r19,(Aktuell_ay)+1 |
| 297 02ee 820F add r24,r18 |
| 298 02f0 931F adc r25,r19 |
| 299 02f2 9093 0000 sts (accumulate_AccRoll)+1,r25 |
| 300 02f6 8093 0000 sts accumulate_AccRoll,r24 |
| 301 02fa 8091 0000 lds r24,messanzahl_AccRoll |
| 302 02fe 8F5F subi r24,lo8(-(1)) |
| 303 0300 8093 0000 sts messanzahl_AccRoll,r24 |
| 304 0304 87E0 ldi r24,lo8(7) |
| 305 0306 00C0 rjmp .L39 |
| 306 .L10: |
| 307 0308 8091 7800 lds r24,120 |
| 308 030c 9091 7900 lds r25,(120)+1 |
| 309 0310 2091 0000 lds r18,NeutralAccX |
| 310 0314 3091 0000 lds r19,(NeutralAccX)+1 |
| 311 0318 821B sub r24,r18 |
| 312 031a 930B sbc r25,r19 |
| 313 031c 9093 0000 sts (Aktuell_ay)+1,r25 |
| 314 0320 8093 0000 sts Aktuell_ay,r24 |
| 315 0324 8091 0000 lds r24,accumulate_AccNick |
| 316 0328 9091 0000 lds r25,(accumulate_AccNick)+1 |
| 317 032c 2091 0000 lds r18,Aktuell_ay |
| 318 0330 3091 0000 lds r19,(Aktuell_ay)+1 |
| 319 0334 820F add r24,r18 |
| 320 0336 931F adc r25,r19 |
| 321 0338 9093 0000 sts (accumulate_AccNick)+1,r25 |
| 322 033c 8093 0000 sts accumulate_AccNick,r24 |
| 323 0340 8091 0000 lds r24,messanzahl_AccNick |
| 324 0344 8F5F subi r24,lo8(-(1)) |
| 325 0346 8093 0000 sts messanzahl_AccNick,r24 |
| 326 034a 4093 0000 sts kanal.2004,r20 |
| 327 034e 86E0 ldi r24,lo8(6) |
| 328 0350 00C0 rjmp .L40 |
| 329 .L11: |
| 330 0352 6091 7800 lds r22,120 |
| 331 0356 7091 7900 lds r23,(120)+1 |
| 332 035a E090 0000 lds r14,NeutralAccZ |
| 333 035e F090 0000 lds r15,(NeutralAccZ)+1 |
| 334 0362 0091 0000 lds r16,(NeutralAccZ)+2 |
| 335 0366 1091 0000 lds r17,(NeutralAccZ)+3 |
| 336 036a 8827 clr r24 |
| 337 036c 77FD sbrc r23,7 |
| 338 036e 8095 com r24 |
| 339 0370 982F mov r25,r24 |
| 340 0372 0E94 0000 call __floatsisf |
| 341 0376 A801 movw r20,r16 |
| 342 0378 9701 movw r18,r14 |
| 343 037a 0E94 0000 call __subsf3 |
| 344 037e 0E94 0000 call __fixsfsi |
| 345 0382 7093 0000 sts (accumulate_AccHoch)+1,r23 |
| 346 0386 6093 0000 sts accumulate_AccHoch,r22 |
| 347 038a 2091 0000 lds r18,accumulate_AccHoch |
| 348 038e 3091 0000 lds r19,(accumulate_AccHoch)+1 |
| 349 0392 E091 0000 lds r30,Aktuell_ay |
| 350 0396 F091 0000 lds r31,(Aktuell_ay)+1 |
| 351 039a 8091 0000 lds r24,Aktuell_ax |
| 352 039e 9091 0000 lds r25,(Aktuell_ax)+1 |
| 353 03a2 97FF sbrs r25,7 |
| 354 03a4 00C0 rjmp .L23 |
| 355 03a6 9095 com r25 |
| 356 03a8 8195 neg r24 |
| 357 03aa 9F4F sbci r25,lo8(-1) |
| 358 .L23: |
| 359 03ac 64E0 ldi r22,lo8(4) |
| 360 03ae 70E0 ldi r23,hi8(4) |
| 361 03b0 0E94 0000 call __divmodhi4 |
| 362 03b4 EB01 movw r28,r22 |
| 363 03b6 CF01 movw r24,r30 |
| 364 03b8 F7FF sbrs r31,7 |
| 365 03ba 00C0 rjmp .L24 |
| 366 03bc 9095 com r25 |
| 367 03be 8195 neg r24 |
| 368 03c0 9F4F sbci r25,lo8(-1) |
| 369 .L24: |
| 370 03c2 64E0 ldi r22,lo8(4) |
| 371 03c4 70E0 ldi r23,hi8(4) |
| 372 03c6 0E94 0000 call __divmodhi4 |
| 373 03ca 260F add r18,r22 |
| 374 03cc 371F adc r19,r23 |
| 375 03ce 2C0F add r18,r28 |
| 376 03d0 3D1F adc r19,r29 |
| 377 03d2 3093 0000 sts (accumulate_AccHoch)+1,r19 |
| 378 03d6 2093 0000 sts accumulate_AccHoch,r18 |
| 379 03da 8091 0000 lds r24,accumulate_AccHoch |
| 380 03de 9091 0000 lds r25,(accumulate_AccHoch)+1 |
| 381 03e2 0297 sbiw r24,2 |
| 382 03e4 04F0 brlt .L25 |
| 383 03e6 6091 0000 lds r22,NeutralAccZ |
| 384 03ea 7091 0000 lds r23,(NeutralAccZ)+1 |
| 385 03ee 8091 0000 lds r24,(NeutralAccZ)+2 |
| 386 03f2 9091 0000 lds r25,(NeutralAccZ)+3 |
| 387 03f6 20E0 ldi r18,lo8(0x44480000) |
| 388 03f8 30E0 ldi r19,hi8(0x44480000) |
| 389 03fa 48E4 ldi r20,hlo8(0x44480000) |
| 390 03fc 54E4 ldi r21,hhi8(0x44480000) |
| 391 03fe 0E94 0000 call __ltsf2 |
| 392 0402 8823 tst r24 |
| 393 0404 04F0 brlt .+2 |
| 394 0406 00C0 rjmp .L27 |
| 395 0408 6091 0000 lds r22,NeutralAccZ |
| 396 040c 7091 0000 lds r23,(NeutralAccZ)+1 |
| 397 0410 8091 0000 lds r24,(NeutralAccZ)+2 |
| 398 0414 9091 0000 lds r25,(NeutralAccZ)+3 |
| 399 0418 2AE0 ldi r18,lo8(0x3ca3d70a) |
| 400 041a 37ED ldi r19,hi8(0x3ca3d70a) |
| 401 041c 43EA ldi r20,hlo8(0x3ca3d70a) |
| 402 041e 5CE3 ldi r21,hhi8(0x3ca3d70a) |
| 403 0420 0E94 0000 call __addsf3 |
| 404 0424 00C0 rjmp .L38 |
| 405 .L25: |
| 406 0426 8091 0000 lds r24,accumulate_AccHoch |
| 407 042a 9091 0000 lds r25,(accumulate_AccHoch)+1 |
| 408 042e 8F5F subi r24,lo8(-1) |
| 409 0430 9F4F sbci r25,hi8(-1) |
| 410 0432 04F4 brge .L27 |
| 411 0434 6091 0000 lds r22,NeutralAccZ |
| 412 0438 7091 0000 lds r23,(NeutralAccZ)+1 |
| 413 043c 8091 0000 lds r24,(NeutralAccZ)+2 |
| 414 0440 9091 0000 lds r25,(NeutralAccZ)+3 |
| 415 0444 20E0 ldi r18,lo8(0x44160000) |
| 416 0446 30E0 ldi r19,hi8(0x44160000) |
| 417 0448 46E1 ldi r20,hlo8(0x44160000) |
| 418 044a 54E4 ldi r21,hhi8(0x44160000) |
| 419 044c 0E94 0000 call __gtsf2 |
| 420 0450 1816 cp __zero_reg__,r24 |
| 421 0452 04F4 brge .L27 |
| 422 0454 6091 0000 lds r22,NeutralAccZ |
| 423 0458 7091 0000 lds r23,(NeutralAccZ)+1 |
| 424 045c 8091 0000 lds r24,(NeutralAccZ)+2 |
| 425 0460 9091 0000 lds r25,(NeutralAccZ)+3 |
| 426 0464 2AE0 ldi r18,lo8(0x3ca3d70a) |
| 427 0466 37ED ldi r19,hi8(0x3ca3d70a) |
| 428 0468 43EA ldi r20,hlo8(0x3ca3d70a) |
| 429 046a 5CE3 ldi r21,hhi8(0x3ca3d70a) |
| 430 046c 0E94 0000 call __subsf3 |
| 431 .L38: |
| 432 0470 6093 0000 sts NeutralAccZ,r22 |
| 433 0474 7093 0000 sts (NeutralAccZ)+1,r23 |
| 434 0478 8093 0000 sts (NeutralAccZ)+2,r24 |
| 435 047c 9093 0000 sts (NeutralAccZ)+3,r25 |
| 436 .L27: |
| 437 0480 81E0 ldi r24,lo8(1) |
| 438 0482 8093 0000 sts messanzahl_AccHoch,r24 |
| 439 0486 8091 7800 lds r24,120 |
| 440 048a 9091 7900 lds r25,(120)+1 |
| 441 048e 9093 0000 sts (Aktuell_az)+1,r25 |
| 442 0492 8093 0000 sts Aktuell_az,r24 |
| 443 0496 2091 0000 lds r18,Mess_Integral_Hoch |
| 444 049a 3091 0000 lds r19,(Mess_Integral_Hoch)+1 |
| 445 049e 4091 0000 lds r20,(Mess_Integral_Hoch)+2 |
| 446 04a2 5091 0000 lds r21,(Mess_Integral_Hoch)+3 |
| 447 04a6 8091 0000 lds r24,accumulate_AccHoch |
| 448 04aa 9091 0000 lds r25,(accumulate_AccHoch)+1 |
| 449 04ae AA27 clr r26 |
| 450 04b0 97FD sbrc r25,7 |
| 451 04b2 A095 com r26 |
| 452 04b4 BA2F mov r27,r26 |
| 453 04b6 280F add r18,r24 |
| 454 04b8 391F adc r19,r25 |
| 455 04ba 4A1F adc r20,r26 |
| 456 04bc 5B1F adc r21,r27 |
| 457 04be 2093 0000 sts Mess_Integral_Hoch,r18 |
| 458 04c2 3093 0000 sts (Mess_Integral_Hoch)+1,r19 |
| 459 04c6 4093 0000 sts (Mess_Integral_Hoch)+2,r20 |
| 460 04ca 5093 0000 sts (Mess_Integral_Hoch)+3,r21 |
| 461 04ce E090 0000 lds r14,Mess_Integral_Hoch |
| 462 04d2 F090 0000 lds r15,(Mess_Integral_Hoch)+1 |
| 463 04d6 0091 0000 lds r16,(Mess_Integral_Hoch)+2 |
| 464 04da 1091 0000 lds r17,(Mess_Integral_Hoch)+3 |
| 465 04de 6091 0000 lds r22,Mess_Integral_Hoch |
| 466 04e2 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 467 04e6 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 468 04ea 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 469 04ee 20E0 ldi r18,lo8(1024) |
| 470 04f0 34E0 ldi r19,hi8(1024) |
| 471 04f2 40E0 ldi r20,hlo8(1024) |
| 472 04f4 50E0 ldi r21,hhi8(1024) |
| 473 04f6 0E94 0000 call __divmodsi4 |
| 474 04fa E21A sub r14,r18 |
| 475 04fc F30A sbc r15,r19 |
| 476 04fe 040B sbc r16,r20 |
| 477 0500 150B sbc r17,r21 |
| 478 0502 E092 0000 sts Mess_Integral_Hoch,r14 |
| 479 0506 F092 0000 sts (Mess_Integral_Hoch)+1,r15 |
| 480 050a 0093 0000 sts (Mess_Integral_Hoch)+2,r16 |
| 481 050e 1093 0000 sts (Mess_Integral_Hoch)+3,r17 |
| 482 0512 83E0 ldi r24,lo8(3) |
| 483 0514 8093 0000 sts kanal.2004,r24 |
| 484 0518 87E0 ldi r24,lo8(7) |
| 485 .L40: |
| 486 051a 8093 0000 sts state.2005,r24 |
| 487 051e 00C0 rjmp .L14 |
| 488 .L12: |
| 489 0520 8091 0000 lds r24,tmpLuftdruck |
| 490 0524 9091 0000 lds r25,(tmpLuftdruck)+1 |
| 491 0528 2091 7800 lds r18,120 |
| 492 052c 3091 7900 lds r19,(120)+1 |
| 493 0530 820F add r24,r18 |
| 494 0532 931F adc r25,r19 |
| 495 0534 9093 0000 sts (tmpLuftdruck)+1,r25 |
| 496 0538 8093 0000 sts tmpLuftdruck,r24 |
| 497 053c 8091 0000 lds r24,messanzahl_Druck |
| 498 0540 8F5F subi r24,lo8(-(1)) |
| 499 0542 8093 0000 sts messanzahl_Druck,r24 |
| 500 0546 8091 0000 lds r24,messanzahl_Druck |
| 501 054a 8530 cpi r24,lo8(5) |
| 502 054c 00F4 brsh .+2 |
| 503 054e 00C0 rjmp .L37 |
| 504 0550 8091 7800 lds r24,120 |
| 505 0554 9091 7900 lds r25,(120)+1 |
| 506 0558 9093 0000 sts (MessLuftdruck)+1,r25 |
| 507 055c 8093 0000 sts MessLuftdruck,r24 |
| 508 0560 1092 0000 sts messanzahl_Druck,__zero_reg__ |
| 509 0564 8091 0000 lds r24,StartLuftdruck |
| 510 0568 9091 0000 lds r25,(StartLuftdruck)+1 |
| 511 056c 2091 0000 lds r18,tmpLuftdruck |
| 512 0570 3091 0000 lds r19,(tmpLuftdruck)+1 |
| 513 0574 821B sub r24,r18 |
| 514 0576 930B sbc r25,r19 |
| 515 0578 2091 0000 lds r18,HoehenWert |
| 516 057c 3091 0000 lds r19,(HoehenWert)+1 |
| 517 0580 821B sub r24,r18 |
| 518 0582 930B sbc r25,r19 |
| 519 0584 9093 0000 sts (HoeheD)+1,r25 |
| 520 0588 8093 0000 sts HoeheD,r24 |
| 521 058c 6091 0000 lds r22,tmpLuftdruck |
| 522 0590 7091 0000 lds r23,(tmpLuftdruck)+1 |
| 523 0594 E090 0000 lds r14,Luftdruck |
| 524 0598 F090 0000 lds r15,(Luftdruck)+1 |
| 525 059c 0091 0000 lds r16,(Luftdruck)+2 |
| 526 05a0 1091 0000 lds r17,(Luftdruck)+3 |
| 527 05a4 8827 clr r24 |
| 528 05a6 77FD sbrc r23,7 |
| 529 05a8 8095 com r24 |
| 530 05aa 982F mov r25,r24 |
| 531 05ac A801 movw r20,r16 |
| 532 05ae 9701 movw r18,r14 |
| 533 05b0 220F lsl r18 |
| 534 05b2 331F rol r19 |
| 535 05b4 441F rol r20 |
| 536 05b6 551F rol r21 |
| 537 05b8 2E0D add r18,r14 |
| 538 05ba 3F1D adc r19,r15 |
| 539 05bc 401F adc r20,r16 |
| 540 05be 511F adc r21,r17 |
| 541 05c0 620F add r22,r18 |
| 542 05c2 731F adc r23,r19 |
| 543 05c4 841F adc r24,r20 |
| 544 05c6 951F adc r25,r21 |
| 545 05c8 24E0 ldi r18,lo8(4) |
| 546 05ca 30E0 ldi r19,hi8(4) |
| 547 05cc 40E0 ldi r20,hlo8(4) |
| 548 05ce 50E0 ldi r21,hhi8(4) |
| 549 05d0 0E94 0000 call __divmodsi4 |
| 550 05d4 2093 0000 sts Luftdruck,r18 |
| 551 05d8 3093 0000 sts (Luftdruck)+1,r19 |
| 552 05dc 4093 0000 sts (Luftdruck)+2,r20 |
| 553 05e0 5093 0000 sts (Luftdruck)+3,r21 |
| 554 05e4 2091 0000 lds r18,StartLuftdruck |
| 555 05e8 3091 0000 lds r19,(StartLuftdruck)+1 |
| 556 05ec 8091 0000 lds r24,Luftdruck |
| 557 05f0 9091 0000 lds r25,(Luftdruck)+1 |
| 558 05f4 A091 0000 lds r26,(Luftdruck)+2 |
| 559 05f8 B091 0000 lds r27,(Luftdruck)+3 |
| 560 05fc 281B sub r18,r24 |
| 561 05fe 390B sbc r19,r25 |
| 562 0600 3093 0000 sts (HoehenWert)+1,r19 |
| 563 0604 2093 0000 sts HoehenWert,r18 |
| 564 0608 1092 0000 sts (tmpLuftdruck)+1,__zero_reg__ |
| 565 060c 1092 0000 sts tmpLuftdruck,__zero_reg__ |
| 566 .L37: |
| 567 0610 1092 0000 sts kanal.2004,__zero_reg__ |
| 568 0614 1092 0000 sts state.2005,__zero_reg__ |
| 569 .L14: |
| 570 0618 8091 0000 lds r24,kanal.2004 |
| 571 061c 8093 7C00 sts 124,r24 |
| 572 0620 8FEE ldi r24,lo8(-17) |
| 573 0622 8093 7A00 sts 122,r24 |
| 574 /* epilogue: frame size=0 */ |
| 575 0626 FF91 pop r31 |
| 576 0628 EF91 pop r30 |
| 577 062a DF91 pop r29 |
| 578 062c CF91 pop r28 |
| 579 062e BF91 pop r27 |
| 580 0630 AF91 pop r26 |
| 581 0632 9F91 pop r25 |
| 582 0634 8F91 pop r24 |
| 583 0636 7F91 pop r23 |
| 584 0638 6F91 pop r22 |
| 585 063a 5F91 pop r21 |
| 586 063c 4F91 pop r20 |
| 587 063e 3F91 pop r19 |
| 588 0640 2F91 pop r18 |
| 589 0642 1F91 pop r17 |
| 590 0644 0F91 pop r16 |
| 591 0646 FF90 pop r15 |
| 592 0648 EF90 pop r14 |
| 593 064a 0F90 pop __tmp_reg__ |
| 594 064c 0FBE out __SREG__,__tmp_reg__ |
| 595 064e 0F90 pop __tmp_reg__ |
| 596 0650 1F90 pop __zero_reg__ |
| 597 0652 1895 reti |
| 598 /* epilogue end (size=23) */ |
| 599 /* function __vector_24 size 811 (765) */ |
| 601 .global SucheLuftruckOffset |
| 603 SucheLuftruckOffset: |
| 604 /* prologue: frame size=0 */ |
| 605 0654 CF93 push r28 |
| 606 0656 DF93 push r29 |
| 607 /* prologue end (size=2) */ |
| 608 0658 C0E0 ldi r28,lo8(0) |
| 609 065a D0E0 ldi r29,hi8(0) |
| 610 .L42: |
| 611 065c C7BD out 71-0x20,r28 |
| 612 065e 82E3 ldi r24,lo8(50) |
| 613 0660 90E0 ldi r25,hi8(50) |
| 614 0662 0E94 0000 call Delay_ms |
| 615 0666 80E0 ldi r24,lo8(__c.1990) |
| 616 0668 90E0 ldi r25,hi8(__c.1990) |
| 617 066a 9F93 push r25 |
| 618 066c 8F93 push r24 |
| 619 066e 1F92 push __zero_reg__ |
| 620 0670 0E94 0000 call _printf_P |
| 621 0674 8091 0000 lds r24,MessLuftdruck |
| 622 0678 9091 0000 lds r25,(MessLuftdruck)+1 |
| 623 067c 0F90 pop __tmp_reg__ |
| 624 067e 0F90 pop __tmp_reg__ |
| 625 0680 0F90 pop __tmp_reg__ |
| 626 0682 8458 subi r24,lo8(900) |
| 627 0684 9340 sbci r25,hi8(900) |
| 628 0686 00F0 brlo .L43 |
| 629 0688 2196 adiw r28,1 |
| 630 068a CA3F cpi r28,250 |
| 631 068c D105 cpc r29,__zero_reg__ |
| 632 068e 01F4 brne .L42 |
| 633 .L43: |
| 634 0690 C093 0000 sts DruckOffsetSetting,r28 |
| 635 0694 88EC ldi r24,lo8(200) |
| 636 0696 90E0 ldi r25,hi8(200) |
| 637 0698 0E94 0000 call Delay_ms |
| 638 /* epilogue: frame size=0 */ |
| 639 069c DF91 pop r29 |
| 640 069e CF91 pop r28 |
| 641 06a0 0895 ret |
| 642 /* epilogue end (size=3) */ |
| 643 /* function SucheLuftruckOffset size 40 (35) */ |
| 645 .global UBat |
| 646 .data |
| 649 UBat: |
| 650 0000 6400 .word 100 |
| 651 .global AccumulateNick |
| 652 .global AccumulateNick |
| 653 .section .bss |
| 656 AccumulateNick: |
| 657 0000 0000 .skip 2,0 |
| 658 .global AccumulateRoll |
| 659 .global AccumulateRoll |
| 662 AccumulateRoll: |
| 663 0002 0000 .skip 2,0 |
| 664 .global AccumulateGier |
| 665 .global AccumulateGier |
| 668 AccumulateGier: |
| 669 0004 0000 .skip 2,0 |
| 670 .global accumulate_AccRoll |
| 671 .global accumulate_AccRoll |
| 674 accumulate_AccRoll: |
| 675 0006 0000 .skip 2,0 |
| 676 .global accumulate_AccNick |
| 677 .global accumulate_AccNick |
| 680 accumulate_AccNick: |
| 681 0008 0000 .skip 2,0 |
| 682 .global accumulate_AccHoch |
| 683 .global accumulate_AccHoch |
| 686 accumulate_AccHoch: |
| 687 000a 0000 .skip 2,0 |
| 688 .global MessanzahlNick |
| 689 .global MessanzahlNick |
| 692 MessanzahlNick: |
| 693 000c 00 .skip 1,0 |
| 694 .global MessanzahlRoll |
| 695 .global MessanzahlRoll |
| 698 MessanzahlRoll: |
| 699 000d 00 .skip 1,0 |
| 700 .global MessanzahlGier |
| 701 .global MessanzahlGier |
| 704 MessanzahlGier: |
| 705 000e 00 .skip 1,0 |
| 706 .global messanzahl_AccNick |
| 707 .global messanzahl_AccNick |
| 710 messanzahl_AccNick: |
| 711 000f 00 .skip 1,0 |
| 712 .global messanzahl_AccRoll |
| 713 .global messanzahl_AccRoll |
| 716 messanzahl_AccRoll: |
| 717 0010 00 .skip 1,0 |
| 718 .global messanzahl_AccHoch |
| 719 .global messanzahl_AccHoch |
| 722 messanzahl_AccHoch: |
| 723 0011 00 .skip 1,0 |
| 724 .global Luftdruck |
| 725 .data |
| 728 Luftdruck: |
| 729 0002 00 .byte 0 |
| 730 0003 7D .byte 125 |
| 731 0004 00 .byte 0 |
| 732 0005 00 .byte 0 |
| 733 .global MessLuftdruck |
| 736 MessLuftdruck: |
| 737 0006 FF03 .word 1023 |
| 738 .global HoeheD |
| 739 .global HoeheD |
| 740 .section .bss |
| 743 HoeheD: |
| 744 0012 0000 .skip 2,0 |
| 745 .global ZaehlMessungen |
| 746 .global ZaehlMessungen |
| 749 ZaehlMessungen: |
| 750 0014 0000 .skip 2,0 |
| 751 .lcomm state.2005,1 |
| 752 .lcomm kanal.2004,1 |
| 753 .section .progmem.data,"a",@progbits |
| 756 __c.1990: |
| 757 0000 2E00 .string "." |
| 758 .comm DiffNick,2,1 |
| 759 .comm DiffRoll,2,1 |
| 760 .comm SenderOkay,1,1 |
| 761 .comm CosinusNickWinkel,1,1 |
| 762 .comm CosinusRollWinkel,1,1 |
| 763 .comm durchschnitt_northing,4,1 |
| 764 .comm durchschnitt_easting,4,1 |
| 765 .comm gps_p,2,1 |
| 766 .comm gps_d,2,1 |
| 767 .comm skal,2,1 |
| 768 .comm gps_gethome,2,1 |
| 769 .comm Aktuell_Nick,2,1 |
| 770 .comm Aktuell_Roll,2,1 |
| 771 .comm Aktuell_Gier,2,1 |
| 772 .comm Aktuell_ax,2,1 |
| 773 .comm Aktuell_ay,2,1 |
| 774 .comm Aktuell_az,2,1 |
| 775 .comm messanzahl_Druck,1,1 |
| 776 .comm DruckOffsetSetting,1,1 |
| 777 .comm StartLuftdruck,2,1 |
| 778 .comm RemoteTasten,1,1 |
| 779 .comm Timeout,1,1 |
| 780 .comm IntegralNick,4,1 |
| 781 .comm IntegralNick2,4,1 |
| 782 .comm IntegralRoll,4,1 |
| 783 .comm IntegralRoll2,4,1 |
| 784 .comm Mess_IntegralNick,4,1 |
| 785 .comm Mess_IntegralNick2,4,1 |
| 786 .comm Mess_IntegralRoll,4,1 |
| 787 .comm Mess_IntegralRoll2,4,1 |
| 788 .comm Integral_Gier,4,1 |
| 789 .comm Mess_Integral_Gier,4,1 |
| 790 .comm h,1,1 |
| 791 .comm m,1,1 |
| 792 .comm s,1,1 |
| 793 .comm Motor_Vorne,1,1 |
| 794 .comm Motor_Hinten,1,1 |
| 795 .comm Motor_Rechts,1,1 |
| 796 .comm Motor_Links,1,1 |
| 797 .comm Count,1,1 |
| 798 .comm MotorWert,5,1 |
| 799 .comm StickNick,2,1 |
| 800 .comm StickRoll,2,1 |
| 801 .comm StickGier,2,1 |
| 802 .comm MotorenEin,1,1 |
| 803 .comm tmpLuftdruck,2,1 |
| 804 /* File "analog.c": code 857 = 0x0359 ( 805), prologues 25, epilogues 27 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 analog.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:13 .text:00000000 ADC_Init |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:26 .text:0000000c __vector_24 |
| .bss:00000016 state.2005 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:668 .bss:00000004 AccumulateGier |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:704 .bss:0000000e MessanzahlGier |
| *COM*:00000004 Mess_Integral_Gier |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:751 .bss:00000017 kanal.2004 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:749 .bss:00000014 ZaehlMessungen |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:662 .bss:00000002 AccumulateRoll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:698 .bss:0000000d MessanzahlRoll |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:656 .bss:00000000 AccumulateNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:692 .bss:0000000c MessanzahlNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:649 .data:00000000 UBat |
| *COM*:00000002 Aktuell_ay |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:674 .bss:00000006 accumulate_AccRoll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:716 .bss:00000010 messanzahl_AccRoll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:680 .bss:00000008 accumulate_AccNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:710 .bss:0000000f messanzahl_AccNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:686 .bss:0000000a accumulate_AccHoch |
| *COM*:00000002 Aktuell_ax |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:722 .bss:00000011 messanzahl_AccHoch |
| *COM*:00000002 Aktuell_az |
| *COM*:00000002 tmpLuftdruck |
| *COM*:00000001 messanzahl_Druck |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:736 .data:00000006 MessLuftdruck |
| *COM*:00000002 StartLuftdruck |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:743 .bss:00000012 HoeheD |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:728 .data:00000002 Luftdruck |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:603 .text:00000654 SucheLuftruckOffset |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc6sAnBf.s:756 .progmem.data:00000000 __c.1990 |
| *COM*:00000001 DruckOffsetSetting |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 gps_p |
| *COM*:00000002 gps_d |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000002 Aktuell_Nick |
| *COM*:00000002 Aktuell_Roll |
| *COM*:00000002 Aktuell_Gier |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| *COM*:00000002 StickNick |
| *COM*:00000002 StickRoll |
| *COM*:00000002 StickGier |
| *COM*:00000001 MotorenEin |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| AdNeutralGier |
| Mess_Integral_Gier2 |
| AdNeutralRoll |
| AdNeutralNick |
| __udivmodhi4 |
| NeutralAccY |
| NeutralAccX |
| NeutralAccZ |
| __floatsisf |
| __subsf3 |
| __fixsfsi |
| __divmodhi4 |
| __ltsf2 |
| __addsf3 |
| __gtsf2 |
| Mess_Integral_Hoch |
| __divmodsi4 |
| HoehenWert |
| Delay_ms |
| _printf_P |
| /branches/chris_hallo2/eeprom.c |
|---|
| --- chris_hallo2/fc.c (nonexistent) |
| +++ chris_hallo2/fc.c (revision 171) |
| @@ -0,0 +1,828 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + DebugOut.Analog[12] = Motor_Vorne; |
| + DebugOut.Analog[13] = Motor_Hinten; |
| + DebugOut.Analog[14] = Motor_Links; |
| + DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| + unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| + unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| + |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 35) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + //KompassValue = 12; |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + int w,v; |
| + static int SignalSchlecht = 0; |
| + w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| + v = abs(IntegralRoll /512); |
| + if(v > w) w = v; // grösste Neigung ermitteln |
| + if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| + w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| + if(w > 0) |
| + { |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + if(SignalSchlecht) SignalSchlecht--; |
| + } |
| + else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// GPS |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| +{ |
| + gps_p = Parameter_UserParam1; |
| + gps_d = Parameter_UserParam2; |
| + |
| + gps_main(); |
| +} |
| +else |
| +{ |
| + GPS_Nick = 0; |
| + GPS_Roll = 0; |
| +} |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| +// DebugOut.Analog[0] = MesswertNick; |
| +// DebugOut.Analog[1] = MesswertRoll; |
| +// DebugOut.Analog[2] = MesswertGier; |
| + DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[2] = Mittelwert_AccNick; |
| + DebugOut.Analog[3] = Mittelwert_AccRoll; |
| + DebugOut.Analog[4] = MesswertGier; |
| + DebugOut.Analog[5] = HoehenWert; |
| + DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| + DebugOut.Analog[7] = GasMischanteil; |
| + DebugOut.Analog[8] = KompassValue; |
| +// DebugOut.Analog[9] = SollHoehe; |
| +// DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| +// DebugOut.Analog[11] = KompassStartwert; |
| +// DebugOut.Analog[10] = Parameter_Gyro_I; |
| +// DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| +// DebugOut.Analog[9] = KompassRichtung; |
| +// DebugOut.Analog[10] = GasMischanteil; |
| +// DebugOut.Analog[3] = HoeheD * 32; |
| +// DebugOut.Analog[4] = hoehenregler; |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| + SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/chris_hallo2/fc.d |
|---|
| 0,0 → 1,2 |
| fc.o fc.d : fc.c main.h old_macros.h _settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/chris_hallo2/fc.h |
|---|
| 0,0 → 1,106 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/chris_hallo2/fc.lst |
|---|
| 0,0 → 1,4487 |
| 1 .file "fc.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global Mittelwert |
| 13 Mittelwert: |
| 14 /* prologue: frame size=0 */ |
| 15 0000 AF92 push r10 |
| 16 0002 BF92 push r11 |
| 17 0004 CF92 push r12 |
| 18 0006 DF92 push r13 |
| 19 0008 EF92 push r14 |
| 20 000a FF92 push r15 |
| 21 000c 0F93 push r16 |
| 22 000e 1F93 push r17 |
| 23 /* prologue end (size=8) */ |
| 24 0010 1092 7A00 sts 122,__zero_reg__ |
| 25 0014 8091 0000 lds r24,MessanzahlNick |
| 26 0018 8823 tst r24 |
| 27 001a 01F0 breq .L2 |
| 28 001c 8091 0000 lds r24,AccumulateNick |
| 29 0020 9091 0000 lds r25,(AccumulateNick)+1 |
| 30 0024 6091 0000 lds r22,MessanzahlNick |
| 31 0028 7727 clr r23 |
| 32 002a 0E94 0000 call __divmodhi4 |
| 33 002e 7093 0000 sts (MesswertNick)+1,r23 |
| 34 0032 6093 0000 sts MesswertNick,r22 |
| 35 .L2: |
| 36 0036 8091 0000 lds r24,MessanzahlRoll |
| 37 003a 8823 tst r24 |
| 38 003c 01F0 breq .L4 |
| 39 003e 8091 0000 lds r24,AccumulateRoll |
| 40 0042 9091 0000 lds r25,(AccumulateRoll)+1 |
| 41 0046 6091 0000 lds r22,MessanzahlRoll |
| 42 004a 7727 clr r23 |
| 43 004c 0E94 0000 call __divmodhi4 |
| 44 0050 7093 0000 sts (MesswertRoll)+1,r23 |
| 45 0054 6093 0000 sts MesswertRoll,r22 |
| 46 .L4: |
| 47 0058 8091 0000 lds r24,MessanzahlGier |
| 48 005c 8823 tst r24 |
| 49 005e 01F0 breq .L6 |
| 50 0060 8091 0000 lds r24,AccumulateGier |
| 51 0064 9091 0000 lds r25,(AccumulateGier)+1 |
| 52 0068 6091 0000 lds r22,MessanzahlGier |
| 53 006c 7727 clr r23 |
| 54 006e 0E94 0000 call __divmodhi4 |
| 55 0072 7093 0000 sts (MesswertGier)+1,r23 |
| 56 0076 6093 0000 sts MesswertGier,r22 |
| 57 .L6: |
| 58 007a 8091 0000 lds r24,messanzahl_AccNick |
| 59 007e 8823 tst r24 |
| 60 0080 01F0 breq .L8 |
| 61 0082 E090 0000 lds r14,Mittelwert_AccNick |
| 62 0086 F090 0000 lds r15,(Mittelwert_AccNick)+1 |
| 63 008a 6091 0000 lds r22,accumulate_AccNick |
| 64 008e 7091 0000 lds r23,(accumulate_AccNick)+1 |
| 65 0092 2091 0000 lds r18,messanzahl_AccNick |
| 66 0096 0027 clr r16 |
| 67 0098 F7FC sbrc r15,7 |
| 68 009a 0095 com r16 |
| 69 009c 102F mov r17,r16 |
| 70 009e 5701 movw r10,r14 |
| 71 00a0 6801 movw r12,r16 |
| 72 00a2 43E0 ldi r20,3 |
| 73 00a4 AA0C 1: lsl r10 |
| 74 00a6 BB1C rol r11 |
| 75 00a8 CC1C rol r12 |
| 76 00aa DD1C rol r13 |
| 77 00ac 4A95 dec r20 |
| 78 00ae 01F4 brne 1b |
| 79 00b0 AE18 sub r10,r14 |
| 80 00b2 BF08 sbc r11,r15 |
| 81 00b4 C00A sbc r12,r16 |
| 82 00b6 D10A sbc r13,r17 |
| 83 00b8 8827 clr r24 |
| 84 00ba 77FD sbrc r23,7 |
| 85 00bc 8095 com r24 |
| 86 00be 982F mov r25,r24 |
| 87 00c0 34E0 ldi r19,4 |
| 88 00c2 660F 1: lsl r22 |
| 89 00c4 771F rol r23 |
| 90 00c6 881F rol r24 |
| 91 00c8 991F rol r25 |
| 92 00ca 3A95 dec r19 |
| 93 00cc 01F4 brne 1b |
| 94 00ce 3327 clr r19 |
| 95 00d0 4427 clr r20 |
| 96 00d2 5527 clr r21 |
| 97 00d4 0E94 0000 call __divmodsi4 |
| 98 00d8 A20E add r10,r18 |
| 99 00da B31E adc r11,r19 |
| 100 00dc C41E adc r12,r20 |
| 101 00de D51E adc r13,r21 |
| 102 00e0 C601 movw r24,r12 |
| 103 00e2 B501 movw r22,r10 |
| 104 00e4 28E0 ldi r18,lo8(8) |
| 105 00e6 30E0 ldi r19,hi8(8) |
| 106 00e8 40E0 ldi r20,hlo8(8) |
| 107 00ea 50E0 ldi r21,hhi8(8) |
| 108 00ec 0E94 0000 call __divmodsi4 |
| 109 00f0 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 110 00f4 2093 0000 sts Mittelwert_AccNick,r18 |
| 111 .L8: |
| 112 00f8 8091 0000 lds r24,messanzahl_AccRoll |
| 113 00fc 8823 tst r24 |
| 114 00fe 01F0 breq .L10 |
| 115 0100 E090 0000 lds r14,Mittelwert_AccRoll |
| 116 0104 F090 0000 lds r15,(Mittelwert_AccRoll)+1 |
| 117 0108 6091 0000 lds r22,accumulate_AccRoll |
| 118 010c 7091 0000 lds r23,(accumulate_AccRoll)+1 |
| 119 0110 2091 0000 lds r18,messanzahl_AccRoll |
| 120 0114 0027 clr r16 |
| 121 0116 F7FC sbrc r15,7 |
| 122 0118 0095 com r16 |
| 123 011a 102F mov r17,r16 |
| 124 011c 5701 movw r10,r14 |
| 125 011e 6801 movw r12,r16 |
| 126 0120 83E0 ldi r24,3 |
| 127 0122 AA0C 1: lsl r10 |
| 128 0124 BB1C rol r11 |
| 129 0126 CC1C rol r12 |
| 130 0128 DD1C rol r13 |
| 131 012a 8A95 dec r24 |
| 132 012c 01F4 brne 1b |
| 133 012e AE18 sub r10,r14 |
| 134 0130 BF08 sbc r11,r15 |
| 135 0132 C00A sbc r12,r16 |
| 136 0134 D10A sbc r13,r17 |
| 137 0136 8827 clr r24 |
| 138 0138 77FD sbrc r23,7 |
| 139 013a 8095 com r24 |
| 140 013c 982F mov r25,r24 |
| 141 013e B4E0 ldi r27,4 |
| 142 0140 660F 1: lsl r22 |
| 143 0142 771F rol r23 |
| 144 0144 881F rol r24 |
| 145 0146 991F rol r25 |
| 146 0148 BA95 dec r27 |
| 147 014a 01F4 brne 1b |
| 148 014c 3327 clr r19 |
| 149 014e 4427 clr r20 |
| 150 0150 5527 clr r21 |
| 151 0152 0E94 0000 call __divmodsi4 |
| 152 0156 A20E add r10,r18 |
| 153 0158 B31E adc r11,r19 |
| 154 015a C41E adc r12,r20 |
| 155 015c D51E adc r13,r21 |
| 156 015e C601 movw r24,r12 |
| 157 0160 B501 movw r22,r10 |
| 158 0162 28E0 ldi r18,lo8(8) |
| 159 0164 30E0 ldi r19,hi8(8) |
| 160 0166 40E0 ldi r20,hlo8(8) |
| 161 0168 50E0 ldi r21,hhi8(8) |
| 162 016a 0E94 0000 call __divmodsi4 |
| 163 016e 3093 0000 sts (Mittelwert_AccRoll)+1,r19 |
| 164 0172 2093 0000 sts Mittelwert_AccRoll,r18 |
| 165 .L10: |
| 166 0176 8091 0000 lds r24,messanzahl_AccHoch |
| 167 017a 8823 tst r24 |
| 168 017c 01F0 breq .L12 |
| 169 017e E090 0000 lds r14,Mittelwert_AccHoch |
| 170 0182 F090 0000 lds r15,(Mittelwert_AccHoch)+1 |
| 171 0186 6091 0000 lds r22,accumulate_AccHoch |
| 172 018a 7091 0000 lds r23,(accumulate_AccHoch)+1 |
| 173 018e 2091 0000 lds r18,messanzahl_AccHoch |
| 174 0192 0027 clr r16 |
| 175 0194 F7FC sbrc r15,7 |
| 176 0196 0095 com r16 |
| 177 0198 102F mov r17,r16 |
| 178 019a 5701 movw r10,r14 |
| 179 019c 6801 movw r12,r16 |
| 180 019e A3E0 ldi r26,3 |
| 181 01a0 AA0C 1: lsl r10 |
| 182 01a2 BB1C rol r11 |
| 183 01a4 CC1C rol r12 |
| 184 01a6 DD1C rol r13 |
| 185 01a8 AA95 dec r26 |
| 186 01aa 01F4 brne 1b |
| 187 01ac AE18 sub r10,r14 |
| 188 01ae BF08 sbc r11,r15 |
| 189 01b0 C00A sbc r12,r16 |
| 190 01b2 D10A sbc r13,r17 |
| 191 01b4 8827 clr r24 |
| 192 01b6 77FD sbrc r23,7 |
| 193 01b8 8095 com r24 |
| 194 01ba 982F mov r25,r24 |
| 195 01bc 3327 clr r19 |
| 196 01be 4427 clr r20 |
| 197 01c0 5527 clr r21 |
| 198 01c2 0E94 0000 call __divmodsi4 |
| 199 01c6 A20E add r10,r18 |
| 200 01c8 B31E adc r11,r19 |
| 201 01ca C41E adc r12,r20 |
| 202 01cc D51E adc r13,r21 |
| 203 01ce C601 movw r24,r12 |
| 204 01d0 B501 movw r22,r10 |
| 205 01d2 28E0 ldi r18,lo8(8) |
| 206 01d4 30E0 ldi r19,hi8(8) |
| 207 01d6 40E0 ldi r20,hlo8(8) |
| 208 01d8 50E0 ldi r21,hhi8(8) |
| 209 01da 0E94 0000 call __divmodsi4 |
| 210 01de 3093 0000 sts (Mittelwert_AccHoch)+1,r19 |
| 211 01e2 2093 0000 sts Mittelwert_AccHoch,r18 |
| 212 .L12: |
| 213 01e6 1092 0000 sts (AccumulateNick)+1,__zero_reg__ |
| 214 01ea 1092 0000 sts AccumulateNick,__zero_reg__ |
| 215 01ee 1092 0000 sts MessanzahlNick,__zero_reg__ |
| 216 01f2 1092 0000 sts (AccumulateRoll)+1,__zero_reg__ |
| 217 01f6 1092 0000 sts AccumulateRoll,__zero_reg__ |
| 218 01fa 1092 0000 sts MessanzahlRoll,__zero_reg__ |
| 219 01fe 1092 0000 sts (AccumulateGier)+1,__zero_reg__ |
| 220 0202 1092 0000 sts AccumulateGier,__zero_reg__ |
| 221 0206 1092 0000 sts MessanzahlGier,__zero_reg__ |
| 222 020a 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__ |
| 223 020e 1092 0000 sts accumulate_AccRoll,__zero_reg__ |
| 224 0212 1092 0000 sts messanzahl_AccRoll,__zero_reg__ |
| 225 0216 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__ |
| 226 021a 1092 0000 sts accumulate_AccNick,__zero_reg__ |
| 227 021e 1092 0000 sts messanzahl_AccNick,__zero_reg__ |
| 228 0222 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__ |
| 229 0226 1092 0000 sts accumulate_AccHoch,__zero_reg__ |
| 230 022a 1092 0000 sts messanzahl_AccHoch,__zero_reg__ |
| 231 022e 8091 0000 lds r24,Mess_Integral_Gier |
| 232 0232 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 233 0236 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 234 023a B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 235 023e 8093 0000 sts Integral_Gier,r24 |
| 236 0242 9093 0000 sts (Integral_Gier)+1,r25 |
| 237 0246 A093 0000 sts (Integral_Gier)+2,r26 |
| 238 024a B093 0000 sts (Integral_Gier)+3,r27 |
| 239 024e 8091 0000 lds r24,Mess_IntegralNick |
| 240 0252 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 241 0256 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 242 025a B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 243 025e 8093 0000 sts IntegralNick,r24 |
| 244 0262 9093 0000 sts (IntegralNick)+1,r25 |
| 245 0266 A093 0000 sts (IntegralNick)+2,r26 |
| 246 026a B093 0000 sts (IntegralNick)+3,r27 |
| 247 026e 8091 0000 lds r24,Mess_IntegralRoll |
| 248 0272 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 249 0276 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 250 027a B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 251 027e 8093 0000 sts IntegralRoll,r24 |
| 252 0282 9093 0000 sts (IntegralRoll)+1,r25 |
| 253 0286 A093 0000 sts (IntegralRoll)+2,r26 |
| 254 028a B093 0000 sts (IntegralRoll)+3,r27 |
| 255 028e 8091 0000 lds r24,Mess_IntegralNick2 |
| 256 0292 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 257 0296 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 258 029a B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 259 029e 8093 0000 sts IntegralNick2,r24 |
| 260 02a2 9093 0000 sts (IntegralNick2)+1,r25 |
| 261 02a6 A093 0000 sts (IntegralNick2)+2,r26 |
| 262 02aa B093 0000 sts (IntegralNick2)+3,r27 |
| 263 02ae 8091 0000 lds r24,Mess_IntegralRoll2 |
| 264 02b2 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 265 02b6 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 266 02ba B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 267 02be 8093 0000 sts IntegralRoll2,r24 |
| 268 02c2 9093 0000 sts (IntegralRoll2)+1,r25 |
| 269 02c6 A093 0000 sts (IntegralRoll2)+2,r26 |
| 270 02ca B093 0000 sts (IntegralRoll2)+3,r27 |
| 271 02ce 8FEE ldi r24,lo8(-17) |
| 272 02d0 8093 7A00 sts 122,r24 |
| 273 02d4 8091 0000 lds r24,MesswertNick |
| 274 02d8 9091 0000 lds r25,(MesswertNick)+1 |
| 275 02dc 893C cpi r24,201 |
| 276 02de 9105 cpc r25,__zero_reg__ |
| 277 02e0 04F0 brlt .L14 |
| 278 02e2 2091 0000 lds r18,MesswertNick |
| 279 02e6 3091 0000 lds r19,(MesswertNick)+1 |
| 280 02ea 8091 0000 lds r24,MesswertNick |
| 281 02ee 9091 0000 lds r25,(MesswertNick)+1 |
| 282 02f2 880F lsl r24 |
| 283 02f4 991F rol r25 |
| 284 02f6 880F lsl r24 |
| 285 02f8 991F rol r25 |
| 286 02fa 2052 subi r18,lo8(-(-800)) |
| 287 02fc 3340 sbci r19,hi8(-(-800)) |
| 288 02fe 00C0 rjmp .L59 |
| 289 .L14: |
| 290 0300 8091 0000 lds r24,MesswertNick |
| 291 0304 9091 0000 lds r25,(MesswertNick)+1 |
| 292 0308 8853 subi r24,lo8(-200) |
| 293 030a 9F4F sbci r25,hi8(-200) |
| 294 030c 04F4 brge .L16 |
| 295 030e 2091 0000 lds r18,MesswertNick |
| 296 0312 3091 0000 lds r19,(MesswertNick)+1 |
| 297 0316 8091 0000 lds r24,MesswertNick |
| 298 031a 9091 0000 lds r25,(MesswertNick)+1 |
| 299 031e 880F lsl r24 |
| 300 0320 991F rol r25 |
| 301 0322 880F lsl r24 |
| 302 0324 991F rol r25 |
| 303 0326 205E subi r18,lo8(-(800)) |
| 304 0328 3C4F sbci r19,hi8(-(800)) |
| 305 .L59: |
| 306 032a 820F add r24,r18 |
| 307 032c 931F adc r25,r19 |
| 308 032e 9093 0000 sts (MesswertNick)+1,r25 |
| 309 0332 8093 0000 sts MesswertNick,r24 |
| 310 .L16: |
| 311 0336 8091 0000 lds r24,MesswertRoll |
| 312 033a 9091 0000 lds r25,(MesswertRoll)+1 |
| 313 033e 893C cpi r24,201 |
| 314 0340 9105 cpc r25,__zero_reg__ |
| 315 0342 04F0 brlt .L18 |
| 316 0344 2091 0000 lds r18,MesswertRoll |
| 317 0348 3091 0000 lds r19,(MesswertRoll)+1 |
| 318 034c 8091 0000 lds r24,MesswertRoll |
| 319 0350 9091 0000 lds r25,(MesswertRoll)+1 |
| 320 0354 880F lsl r24 |
| 321 0356 991F rol r25 |
| 322 0358 880F lsl r24 |
| 323 035a 991F rol r25 |
| 324 035c 2052 subi r18,lo8(-(-800)) |
| 325 035e 3340 sbci r19,hi8(-(-800)) |
| 326 0360 00C0 rjmp .L60 |
| 327 .L18: |
| 328 0362 8091 0000 lds r24,MesswertRoll |
| 329 0366 9091 0000 lds r25,(MesswertRoll)+1 |
| 330 036a 8853 subi r24,lo8(-200) |
| 331 036c 9F4F sbci r25,hi8(-200) |
| 332 036e 04F4 brge .L20 |
| 333 0370 2091 0000 lds r18,MesswertRoll |
| 334 0374 3091 0000 lds r19,(MesswertRoll)+1 |
| 335 0378 8091 0000 lds r24,MesswertRoll |
| 336 037c 9091 0000 lds r25,(MesswertRoll)+1 |
| 337 0380 880F lsl r24 |
| 338 0382 991F rol r25 |
| 339 0384 880F lsl r24 |
| 340 0386 991F rol r25 |
| 341 0388 205E subi r18,lo8(-(800)) |
| 342 038a 3C4F sbci r19,hi8(-(800)) |
| 343 .L60: |
| 344 038c 820F add r24,r18 |
| 345 038e 931F adc r25,r19 |
| 346 0390 9093 0000 sts (MesswertRoll)+1,r25 |
| 347 0394 8093 0000 sts MesswertRoll,r24 |
| 348 .L20: |
| 349 0398 2091 0000 lds r18,Poti1 |
| 350 039c 3091 0000 lds r19,(Poti1)+1 |
| 351 03a0 8091 0000 lds r24,EE_Parameter+4 |
| 352 03a4 E82F mov r30,r24 |
| 353 03a6 FF27 clr r31 |
| 354 03a8 EE0F lsl r30 |
| 355 03aa FF1F rol r31 |
| 356 03ac E050 subi r30,lo8(-(PPM_in)) |
| 357 03ae F040 sbci r31,hi8(-(PPM_in)) |
| 358 03b0 8081 ld r24,Z |
| 359 03b2 9181 ldd r25,Z+1 |
| 360 03b4 8259 subi r24,lo8(-(110)) |
| 361 03b6 9F4F sbci r25,hi8(-(110)) |
| 362 03b8 2817 cp r18,r24 |
| 363 03ba 3907 cpc r19,r25 |
| 364 03bc 04F4 brge .L22 |
| 365 03be 2F5F subi r18,lo8(-(1)) |
| 366 03c0 3F4F sbci r19,hi8(-(1)) |
| 367 03c2 00C0 rjmp .L61 |
| 368 .L22: |
| 369 03c4 8081 ld r24,Z |
| 370 03c6 9181 ldd r25,Z+1 |
| 371 03c8 8259 subi r24,lo8(-(110)) |
| 372 03ca 9F4F sbci r25,hi8(-(110)) |
| 373 03cc 8217 cp r24,r18 |
| 374 03ce 9307 cpc r25,r19 |
| 375 03d0 04F4 brge .L24 |
| 376 03d2 2115 cp r18,__zero_reg__ |
| 377 03d4 3105 cpc r19,__zero_reg__ |
| 378 03d6 01F0 breq .L24 |
| 379 03d8 2150 subi r18,lo8(-(-1)) |
| 380 03da 3040 sbci r19,hi8(-(-1)) |
| 381 .L61: |
| 382 03dc 3093 0000 sts (Poti1)+1,r19 |
| 383 03e0 2093 0000 sts Poti1,r18 |
| 384 .L24: |
| 385 03e4 2091 0000 lds r18,Poti2 |
| 386 03e8 3091 0000 lds r19,(Poti2)+1 |
| 387 03ec 8091 0000 lds r24,EE_Parameter+5 |
| 388 03f0 E82F mov r30,r24 |
| 389 03f2 FF27 clr r31 |
| 390 03f4 EE0F lsl r30 |
| 391 03f6 FF1F rol r31 |
| 392 03f8 E050 subi r30,lo8(-(PPM_in)) |
| 393 03fa F040 sbci r31,hi8(-(PPM_in)) |
| 394 03fc 8081 ld r24,Z |
| 395 03fe 9181 ldd r25,Z+1 |
| 396 0400 8259 subi r24,lo8(-(110)) |
| 397 0402 9F4F sbci r25,hi8(-(110)) |
| 398 0404 2817 cp r18,r24 |
| 399 0406 3907 cpc r19,r25 |
| 400 0408 04F4 brge .L27 |
| 401 040a 2F5F subi r18,lo8(-(1)) |
| 402 040c 3F4F sbci r19,hi8(-(1)) |
| 403 040e 00C0 rjmp .L62 |
| 404 .L27: |
| 405 0410 8081 ld r24,Z |
| 406 0412 9181 ldd r25,Z+1 |
| 407 0414 8259 subi r24,lo8(-(110)) |
| 408 0416 9F4F sbci r25,hi8(-(110)) |
| 409 0418 8217 cp r24,r18 |
| 410 041a 9307 cpc r25,r19 |
| 411 041c 04F4 brge .L29 |
| 412 041e 2115 cp r18,__zero_reg__ |
| 413 0420 3105 cpc r19,__zero_reg__ |
| 414 0422 01F0 breq .L29 |
| 415 0424 2150 subi r18,lo8(-(-1)) |
| 416 0426 3040 sbci r19,hi8(-(-1)) |
| 417 .L62: |
| 418 0428 3093 0000 sts (Poti2)+1,r19 |
| 419 042c 2093 0000 sts Poti2,r18 |
| 420 .L29: |
| 421 0430 2091 0000 lds r18,Poti3 |
| 422 0434 3091 0000 lds r19,(Poti3)+1 |
| 423 0438 8091 0000 lds r24,EE_Parameter+6 |
| 424 043c E82F mov r30,r24 |
| 425 043e FF27 clr r31 |
| 426 0440 EE0F lsl r30 |
| 427 0442 FF1F rol r31 |
| 428 0444 E050 subi r30,lo8(-(PPM_in)) |
| 429 0446 F040 sbci r31,hi8(-(PPM_in)) |
| 430 0448 8081 ld r24,Z |
| 431 044a 9181 ldd r25,Z+1 |
| 432 044c 8259 subi r24,lo8(-(110)) |
| 433 044e 9F4F sbci r25,hi8(-(110)) |
| 434 0450 2817 cp r18,r24 |
| 435 0452 3907 cpc r19,r25 |
| 436 0454 04F4 brge .L32 |
| 437 0456 2F5F subi r18,lo8(-(1)) |
| 438 0458 3F4F sbci r19,hi8(-(1)) |
| 439 045a 00C0 rjmp .L63 |
| 440 .L32: |
| 441 045c 8081 ld r24,Z |
| 442 045e 9181 ldd r25,Z+1 |
| 443 0460 8259 subi r24,lo8(-(110)) |
| 444 0462 9F4F sbci r25,hi8(-(110)) |
| 445 0464 8217 cp r24,r18 |
| 446 0466 9307 cpc r25,r19 |
| 447 0468 04F4 brge .L34 |
| 448 046a 2115 cp r18,__zero_reg__ |
| 449 046c 3105 cpc r19,__zero_reg__ |
| 450 046e 01F0 breq .L34 |
| 451 0470 2150 subi r18,lo8(-(-1)) |
| 452 0472 3040 sbci r19,hi8(-(-1)) |
| 453 .L63: |
| 454 0474 3093 0000 sts (Poti3)+1,r19 |
| 455 0478 2093 0000 sts Poti3,r18 |
| 456 .L34: |
| 457 047c 2091 0000 lds r18,Poti4 |
| 458 0480 3091 0000 lds r19,(Poti4)+1 |
| 459 0484 8091 0000 lds r24,EE_Parameter+7 |
| 460 0488 E82F mov r30,r24 |
| 461 048a FF27 clr r31 |
| 462 048c EE0F lsl r30 |
| 463 048e FF1F rol r31 |
| 464 0490 E050 subi r30,lo8(-(PPM_in)) |
| 465 0492 F040 sbci r31,hi8(-(PPM_in)) |
| 466 0494 8081 ld r24,Z |
| 467 0496 9181 ldd r25,Z+1 |
| 468 0498 8259 subi r24,lo8(-(110)) |
| 469 049a 9F4F sbci r25,hi8(-(110)) |
| 470 049c 2817 cp r18,r24 |
| 471 049e 3907 cpc r19,r25 |
| 472 04a0 04F4 brge .L37 |
| 473 04a2 2F5F subi r18,lo8(-(1)) |
| 474 04a4 3F4F sbci r19,hi8(-(1)) |
| 475 04a6 00C0 rjmp .L64 |
| 476 .L37: |
| 477 04a8 8081 ld r24,Z |
| 478 04aa 9181 ldd r25,Z+1 |
| 479 04ac 8259 subi r24,lo8(-(110)) |
| 480 04ae 9F4F sbci r25,hi8(-(110)) |
| 481 04b0 8217 cp r24,r18 |
| 482 04b2 9307 cpc r25,r19 |
| 483 04b4 04F4 brge .L39 |
| 484 04b6 2115 cp r18,__zero_reg__ |
| 485 04b8 3105 cpc r19,__zero_reg__ |
| 486 04ba 01F0 breq .L39 |
| 487 04bc 2150 subi r18,lo8(-(-1)) |
| 488 04be 3040 sbci r19,hi8(-(-1)) |
| 489 .L64: |
| 490 04c0 3093 0000 sts (Poti4)+1,r19 |
| 491 04c4 2093 0000 sts Poti4,r18 |
| 492 .L39: |
| 493 04c8 8091 0000 lds r24,Poti1 |
| 494 04cc 9091 0000 lds r25,(Poti1)+1 |
| 495 04d0 97FF sbrs r25,7 |
| 496 04d2 00C0 rjmp .L42 |
| 497 04d4 1092 0000 sts (Poti1)+1,__zero_reg__ |
| 498 04d8 1092 0000 sts Poti1,__zero_reg__ |
| 499 04dc 00C0 rjmp .L44 |
| 500 .L42: |
| 501 04de 8F3F cpi r24,255 |
| 502 04e0 9105 cpc r25,__zero_reg__ |
| 503 04e2 01F0 breq .L44 |
| 504 04e4 04F0 brlt .L44 |
| 505 04e6 8FEF ldi r24,lo8(255) |
| 506 04e8 90E0 ldi r25,hi8(255) |
| 507 04ea 9093 0000 sts (Poti1)+1,r25 |
| 508 04ee 8093 0000 sts Poti1,r24 |
| 509 .L44: |
| 510 04f2 8091 0000 lds r24,Poti2 |
| 511 04f6 9091 0000 lds r25,(Poti2)+1 |
| 512 04fa 97FF sbrs r25,7 |
| 513 04fc 00C0 rjmp .L46 |
| 514 04fe 1092 0000 sts (Poti2)+1,__zero_reg__ |
| 515 0502 1092 0000 sts Poti2,__zero_reg__ |
| 516 0506 00C0 rjmp .L48 |
| 517 .L46: |
| 518 0508 8F3F cpi r24,255 |
| 519 050a 9105 cpc r25,__zero_reg__ |
| 520 050c 01F0 breq .L48 |
| 521 050e 04F0 brlt .L48 |
| 522 0510 8FEF ldi r24,lo8(255) |
| 523 0512 90E0 ldi r25,hi8(255) |
| 524 0514 9093 0000 sts (Poti2)+1,r25 |
| 525 0518 8093 0000 sts Poti2,r24 |
| 526 .L48: |
| 527 051c 8091 0000 lds r24,Poti3 |
| 528 0520 9091 0000 lds r25,(Poti3)+1 |
| 529 0524 97FF sbrs r25,7 |
| 530 0526 00C0 rjmp .L50 |
| 531 0528 1092 0000 sts (Poti3)+1,__zero_reg__ |
| 532 052c 1092 0000 sts Poti3,__zero_reg__ |
| 533 0530 00C0 rjmp .L52 |
| 534 .L50: |
| 535 0532 8F3F cpi r24,255 |
| 536 0534 9105 cpc r25,__zero_reg__ |
| 537 0536 01F0 breq .L52 |
| 538 0538 04F0 brlt .L52 |
| 539 053a 8FEF ldi r24,lo8(255) |
| 540 053c 90E0 ldi r25,hi8(255) |
| 541 053e 9093 0000 sts (Poti3)+1,r25 |
| 542 0542 8093 0000 sts Poti3,r24 |
| 543 .L52: |
| 544 0546 8091 0000 lds r24,Poti4 |
| 545 054a 9091 0000 lds r25,(Poti4)+1 |
| 546 054e 97FF sbrs r25,7 |
| 547 0550 00C0 rjmp .L54 |
| 548 0552 1092 0000 sts (Poti4)+1,__zero_reg__ |
| 549 0556 1092 0000 sts Poti4,__zero_reg__ |
| 550 055a 00C0 rjmp .L58 |
| 551 .L54: |
| 552 055c 8F3F cpi r24,255 |
| 553 055e 9105 cpc r25,__zero_reg__ |
| 554 0560 01F0 breq .L58 |
| 555 0562 04F0 brlt .L58 |
| 556 0564 8FEF ldi r24,lo8(255) |
| 557 0566 90E0 ldi r25,hi8(255) |
| 558 0568 9093 0000 sts (Poti4)+1,r25 |
| 559 056c 8093 0000 sts Poti4,r24 |
| 560 .L58: |
| 561 /* epilogue: frame size=0 */ |
| 562 0570 1F91 pop r17 |
| 563 0572 0F91 pop r16 |
| 564 0574 FF90 pop r15 |
| 565 0576 EF90 pop r14 |
| 566 0578 DF90 pop r13 |
| 567 057a CF90 pop r12 |
| 568 057c BF90 pop r11 |
| 569 057e AF90 pop r10 |
| 570 0580 0895 ret |
| 571 /* epilogue end (size=9) */ |
| 572 /* function Mittelwert size 707 (690) */ |
| 574 .global CalibrierMittelwert |
| 576 CalibrierMittelwert: |
| 577 /* prologue: frame size=0 */ |
| 578 /* prologue end (size=0) */ |
| 579 0582 1092 7A00 sts 122,__zero_reg__ |
| 580 0586 8091 0000 lds r24,MessanzahlNick |
| 581 058a 8823 tst r24 |
| 582 058c 01F0 breq .L66 |
| 583 058e 8091 0000 lds r24,AccumulateNick |
| 584 0592 9091 0000 lds r25,(AccumulateNick)+1 |
| 585 0596 6091 0000 lds r22,MessanzahlNick |
| 586 059a 7727 clr r23 |
| 587 059c 0E94 0000 call __divmodhi4 |
| 588 05a0 7093 0000 sts (MesswertNick)+1,r23 |
| 589 05a4 6093 0000 sts MesswertNick,r22 |
| 590 .L66: |
| 591 05a8 8091 0000 lds r24,MessanzahlRoll |
| 592 05ac 8823 tst r24 |
| 593 05ae 01F0 breq .L68 |
| 594 05b0 8091 0000 lds r24,AccumulateRoll |
| 595 05b4 9091 0000 lds r25,(AccumulateRoll)+1 |
| 596 05b8 6091 0000 lds r22,MessanzahlRoll |
| 597 05bc 7727 clr r23 |
| 598 05be 0E94 0000 call __divmodhi4 |
| 599 05c2 7093 0000 sts (MesswertRoll)+1,r23 |
| 600 05c6 6093 0000 sts MesswertRoll,r22 |
| 601 .L68: |
| 602 05ca 8091 0000 lds r24,MessanzahlGier |
| 603 05ce 8823 tst r24 |
| 604 05d0 01F0 breq .L70 |
| 605 05d2 8091 0000 lds r24,AccumulateGier |
| 606 05d6 9091 0000 lds r25,(AccumulateGier)+1 |
| 607 05da 6091 0000 lds r22,MessanzahlGier |
| 608 05de 7727 clr r23 |
| 609 05e0 0E94 0000 call __divmodhi4 |
| 610 05e4 7093 0000 sts (MesswertGier)+1,r23 |
| 611 05e8 6093 0000 sts MesswertGier,r22 |
| 612 .L70: |
| 613 05ec 8091 0000 lds r24,messanzahl_AccNick |
| 614 05f0 8823 tst r24 |
| 615 05f2 01F0 breq .L72 |
| 616 05f4 6091 0000 lds r22,accumulate_AccNick |
| 617 05f8 7091 0000 lds r23,(accumulate_AccNick)+1 |
| 618 05fc 2091 0000 lds r18,messanzahl_AccNick |
| 619 0600 8827 clr r24 |
| 620 0602 77FD sbrc r23,7 |
| 621 0604 8095 com r24 |
| 622 0606 982F mov r25,r24 |
| 623 0608 34E0 ldi r19,4 |
| 624 060a 660F 1: lsl r22 |
| 625 060c 771F rol r23 |
| 626 060e 881F rol r24 |
| 627 0610 991F rol r25 |
| 628 0612 3A95 dec r19 |
| 629 0614 01F4 brne 1b |
| 630 0616 3327 clr r19 |
| 631 0618 4427 clr r20 |
| 632 061a 5527 clr r21 |
| 633 061c 0E94 0000 call __divmodsi4 |
| 634 0620 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 635 0624 2093 0000 sts Mittelwert_AccNick,r18 |
| 636 .L72: |
| 637 0628 8091 0000 lds r24,messanzahl_AccRoll |
| 638 062c 8823 tst r24 |
| 639 062e 01F0 breq .L74 |
| 640 0630 6091 0000 lds r22,accumulate_AccRoll |
| 641 0634 7091 0000 lds r23,(accumulate_AccRoll)+1 |
| 642 0638 2091 0000 lds r18,messanzahl_AccRoll |
| 643 063c 8827 clr r24 |
| 644 063e 77FD sbrc r23,7 |
| 645 0640 8095 com r24 |
| 646 0642 982F mov r25,r24 |
| 647 0644 B4E0 ldi r27,4 |
| 648 0646 660F 1: lsl r22 |
| 649 0648 771F rol r23 |
| 650 064a 881F rol r24 |
| 651 064c 991F rol r25 |
| 652 064e BA95 dec r27 |
| 653 0650 01F4 brne 1b |
| 654 0652 3327 clr r19 |
| 655 0654 4427 clr r20 |
| 656 0656 5527 clr r21 |
| 657 0658 0E94 0000 call __divmodsi4 |
| 658 065c 3093 0000 sts (Mittelwert_AccRoll)+1,r19 |
| 659 0660 2093 0000 sts Mittelwert_AccRoll,r18 |
| 660 .L74: |
| 661 0664 8091 0000 lds r24,messanzahl_AccHoch |
| 662 0668 8823 tst r24 |
| 663 066a 01F0 breq .L76 |
| 664 066c 6091 0000 lds r22,accumulate_AccHoch |
| 665 0670 7091 0000 lds r23,(accumulate_AccHoch)+1 |
| 666 0674 2091 0000 lds r18,messanzahl_AccHoch |
| 667 0678 8827 clr r24 |
| 668 067a 77FD sbrc r23,7 |
| 669 067c 8095 com r24 |
| 670 067e 982F mov r25,r24 |
| 671 0680 3327 clr r19 |
| 672 0682 4427 clr r20 |
| 673 0684 5527 clr r21 |
| 674 0686 0E94 0000 call __divmodsi4 |
| 675 068a 3093 0000 sts (Mittelwert_AccHoch)+1,r19 |
| 676 068e 2093 0000 sts Mittelwert_AccHoch,r18 |
| 677 .L76: |
| 678 0692 1092 0000 sts (AccumulateNick)+1,__zero_reg__ |
| 679 0696 1092 0000 sts AccumulateNick,__zero_reg__ |
| 680 069a 1092 0000 sts MessanzahlNick,__zero_reg__ |
| 681 069e 1092 0000 sts (AccumulateRoll)+1,__zero_reg__ |
| 682 06a2 1092 0000 sts AccumulateRoll,__zero_reg__ |
| 683 06a6 1092 0000 sts MessanzahlRoll,__zero_reg__ |
| 684 06aa 1092 0000 sts (AccumulateGier)+1,__zero_reg__ |
| 685 06ae 1092 0000 sts AccumulateGier,__zero_reg__ |
| 686 06b2 1092 0000 sts MessanzahlGier,__zero_reg__ |
| 687 06b6 1092 0000 sts (accumulate_AccRoll)+1,__zero_reg__ |
| 688 06ba 1092 0000 sts accumulate_AccRoll,__zero_reg__ |
| 689 06be 1092 0000 sts messanzahl_AccRoll,__zero_reg__ |
| 690 06c2 1092 0000 sts (accumulate_AccNick)+1,__zero_reg__ |
| 691 06c6 1092 0000 sts accumulate_AccNick,__zero_reg__ |
| 692 06ca 1092 0000 sts messanzahl_AccNick,__zero_reg__ |
| 693 06ce 1092 0000 sts (accumulate_AccHoch)+1,__zero_reg__ |
| 694 06d2 1092 0000 sts accumulate_AccHoch,__zero_reg__ |
| 695 06d6 1092 0000 sts messanzahl_AccHoch,__zero_reg__ |
| 696 06da 8FEE ldi r24,lo8(-17) |
| 697 06dc 8093 7A00 sts 122,r24 |
| 698 06e0 2091 0000 lds r18,Poti1 |
| 699 06e4 3091 0000 lds r19,(Poti1)+1 |
| 700 06e8 8091 0000 lds r24,EE_Parameter+4 |
| 701 06ec E82F mov r30,r24 |
| 702 06ee FF27 clr r31 |
| 703 06f0 EE0F lsl r30 |
| 704 06f2 FF1F rol r31 |
| 705 06f4 E050 subi r30,lo8(-(PPM_in)) |
| 706 06f6 F040 sbci r31,hi8(-(PPM_in)) |
| 707 06f8 8081 ld r24,Z |
| 708 06fa 9181 ldd r25,Z+1 |
| 709 06fc 8259 subi r24,lo8(-(110)) |
| 710 06fe 9F4F sbci r25,hi8(-(110)) |
| 711 0700 2817 cp r18,r24 |
| 712 0702 3907 cpc r19,r25 |
| 713 0704 04F4 brge .L78 |
| 714 0706 2F5F subi r18,lo8(-(1)) |
| 715 0708 3F4F sbci r19,hi8(-(1)) |
| 716 070a 00C0 rjmp .L115 |
| 717 .L78: |
| 718 070c 8081 ld r24,Z |
| 719 070e 9181 ldd r25,Z+1 |
| 720 0710 8259 subi r24,lo8(-(110)) |
| 721 0712 9F4F sbci r25,hi8(-(110)) |
| 722 0714 8217 cp r24,r18 |
| 723 0716 9307 cpc r25,r19 |
| 724 0718 04F4 brge .L80 |
| 725 071a 2115 cp r18,__zero_reg__ |
| 726 071c 3105 cpc r19,__zero_reg__ |
| 727 071e 01F0 breq .L80 |
| 728 0720 2150 subi r18,lo8(-(-1)) |
| 729 0722 3040 sbci r19,hi8(-(-1)) |
| 730 .L115: |
| 731 0724 3093 0000 sts (Poti1)+1,r19 |
| 732 0728 2093 0000 sts Poti1,r18 |
| 733 .L80: |
| 734 072c 2091 0000 lds r18,Poti2 |
| 735 0730 3091 0000 lds r19,(Poti2)+1 |
| 736 0734 8091 0000 lds r24,EE_Parameter+5 |
| 737 0738 E82F mov r30,r24 |
| 738 073a FF27 clr r31 |
| 739 073c EE0F lsl r30 |
| 740 073e FF1F rol r31 |
| 741 0740 E050 subi r30,lo8(-(PPM_in)) |
| 742 0742 F040 sbci r31,hi8(-(PPM_in)) |
| 743 0744 8081 ld r24,Z |
| 744 0746 9181 ldd r25,Z+1 |
| 745 0748 8259 subi r24,lo8(-(110)) |
| 746 074a 9F4F sbci r25,hi8(-(110)) |
| 747 074c 2817 cp r18,r24 |
| 748 074e 3907 cpc r19,r25 |
| 749 0750 04F4 brge .L83 |
| 750 0752 2F5F subi r18,lo8(-(1)) |
| 751 0754 3F4F sbci r19,hi8(-(1)) |
| 752 0756 00C0 rjmp .L116 |
| 753 .L83: |
| 754 0758 8081 ld r24,Z |
| 755 075a 9181 ldd r25,Z+1 |
| 756 075c 8259 subi r24,lo8(-(110)) |
| 757 075e 9F4F sbci r25,hi8(-(110)) |
| 758 0760 8217 cp r24,r18 |
| 759 0762 9307 cpc r25,r19 |
| 760 0764 04F4 brge .L85 |
| 761 0766 2115 cp r18,__zero_reg__ |
| 762 0768 3105 cpc r19,__zero_reg__ |
| 763 076a 01F0 breq .L85 |
| 764 076c 2150 subi r18,lo8(-(-1)) |
| 765 076e 3040 sbci r19,hi8(-(-1)) |
| 766 .L116: |
| 767 0770 3093 0000 sts (Poti2)+1,r19 |
| 768 0774 2093 0000 sts Poti2,r18 |
| 769 .L85: |
| 770 0778 2091 0000 lds r18,Poti3 |
| 771 077c 3091 0000 lds r19,(Poti3)+1 |
| 772 0780 8091 0000 lds r24,EE_Parameter+6 |
| 773 0784 E82F mov r30,r24 |
| 774 0786 FF27 clr r31 |
| 775 0788 EE0F lsl r30 |
| 776 078a FF1F rol r31 |
| 777 078c E050 subi r30,lo8(-(PPM_in)) |
| 778 078e F040 sbci r31,hi8(-(PPM_in)) |
| 779 0790 8081 ld r24,Z |
| 780 0792 9181 ldd r25,Z+1 |
| 781 0794 8259 subi r24,lo8(-(110)) |
| 782 0796 9F4F sbci r25,hi8(-(110)) |
| 783 0798 2817 cp r18,r24 |
| 784 079a 3907 cpc r19,r25 |
| 785 079c 04F4 brge .L88 |
| 786 079e 2F5F subi r18,lo8(-(1)) |
| 787 07a0 3F4F sbci r19,hi8(-(1)) |
| 788 07a2 00C0 rjmp .L117 |
| 789 .L88: |
| 790 07a4 8081 ld r24,Z |
| 791 07a6 9181 ldd r25,Z+1 |
| 792 07a8 8259 subi r24,lo8(-(110)) |
| 793 07aa 9F4F sbci r25,hi8(-(110)) |
| 794 07ac 8217 cp r24,r18 |
| 795 07ae 9307 cpc r25,r19 |
| 796 07b0 04F4 brge .L90 |
| 797 07b2 2115 cp r18,__zero_reg__ |
| 798 07b4 3105 cpc r19,__zero_reg__ |
| 799 07b6 01F0 breq .L90 |
| 800 07b8 2150 subi r18,lo8(-(-1)) |
| 801 07ba 3040 sbci r19,hi8(-(-1)) |
| 802 .L117: |
| 803 07bc 3093 0000 sts (Poti3)+1,r19 |
| 804 07c0 2093 0000 sts Poti3,r18 |
| 805 .L90: |
| 806 07c4 2091 0000 lds r18,Poti4 |
| 807 07c8 3091 0000 lds r19,(Poti4)+1 |
| 808 07cc 8091 0000 lds r24,EE_Parameter+7 |
| 809 07d0 E82F mov r30,r24 |
| 810 07d2 FF27 clr r31 |
| 811 07d4 EE0F lsl r30 |
| 812 07d6 FF1F rol r31 |
| 813 07d8 E050 subi r30,lo8(-(PPM_in)) |
| 814 07da F040 sbci r31,hi8(-(PPM_in)) |
| 815 07dc 8081 ld r24,Z |
| 816 07de 9181 ldd r25,Z+1 |
| 817 07e0 8259 subi r24,lo8(-(110)) |
| 818 07e2 9F4F sbci r25,hi8(-(110)) |
| 819 07e4 2817 cp r18,r24 |
| 820 07e6 3907 cpc r19,r25 |
| 821 07e8 04F4 brge .L93 |
| 822 07ea 2F5F subi r18,lo8(-(1)) |
| 823 07ec 3F4F sbci r19,hi8(-(1)) |
| 824 07ee 00C0 rjmp .L118 |
| 825 .L93: |
| 826 07f0 8081 ld r24,Z |
| 827 07f2 9181 ldd r25,Z+1 |
| 828 07f4 8259 subi r24,lo8(-(110)) |
| 829 07f6 9F4F sbci r25,hi8(-(110)) |
| 830 07f8 8217 cp r24,r18 |
| 831 07fa 9307 cpc r25,r19 |
| 832 07fc 04F4 brge .L95 |
| 833 07fe 2115 cp r18,__zero_reg__ |
| 834 0800 3105 cpc r19,__zero_reg__ |
| 835 0802 01F0 breq .L95 |
| 836 0804 2150 subi r18,lo8(-(-1)) |
| 837 0806 3040 sbci r19,hi8(-(-1)) |
| 838 .L118: |
| 839 0808 3093 0000 sts (Poti4)+1,r19 |
| 840 080c 2093 0000 sts Poti4,r18 |
| 841 .L95: |
| 842 0810 8091 0000 lds r24,Poti1 |
| 843 0814 9091 0000 lds r25,(Poti1)+1 |
| 844 0818 97FF sbrs r25,7 |
| 845 081a 00C0 rjmp .L98 |
| 846 081c 1092 0000 sts (Poti1)+1,__zero_reg__ |
| 847 0820 1092 0000 sts Poti1,__zero_reg__ |
| 848 0824 00C0 rjmp .L100 |
| 849 .L98: |
| 850 0826 8F3F cpi r24,255 |
| 851 0828 9105 cpc r25,__zero_reg__ |
| 852 082a 01F0 breq .L100 |
| 853 082c 04F0 brlt .L100 |
| 854 082e 8FEF ldi r24,lo8(255) |
| 855 0830 90E0 ldi r25,hi8(255) |
| 856 0832 9093 0000 sts (Poti1)+1,r25 |
| 857 0836 8093 0000 sts Poti1,r24 |
| 858 .L100: |
| 859 083a 8091 0000 lds r24,Poti2 |
| 860 083e 9091 0000 lds r25,(Poti2)+1 |
| 861 0842 97FF sbrs r25,7 |
| 862 0844 00C0 rjmp .L102 |
| 863 0846 1092 0000 sts (Poti2)+1,__zero_reg__ |
| 864 084a 1092 0000 sts Poti2,__zero_reg__ |
| 865 084e 00C0 rjmp .L104 |
| 866 .L102: |
| 867 0850 8F3F cpi r24,255 |
| 868 0852 9105 cpc r25,__zero_reg__ |
| 869 0854 01F0 breq .L104 |
| 870 0856 04F0 brlt .L104 |
| 871 0858 8FEF ldi r24,lo8(255) |
| 872 085a 90E0 ldi r25,hi8(255) |
| 873 085c 9093 0000 sts (Poti2)+1,r25 |
| 874 0860 8093 0000 sts Poti2,r24 |
| 875 .L104: |
| 876 0864 8091 0000 lds r24,Poti3 |
| 877 0868 9091 0000 lds r25,(Poti3)+1 |
| 878 086c 97FF sbrs r25,7 |
| 879 086e 00C0 rjmp .L106 |
| 880 0870 1092 0000 sts (Poti3)+1,__zero_reg__ |
| 881 0874 1092 0000 sts Poti3,__zero_reg__ |
| 882 0878 00C0 rjmp .L108 |
| 883 .L106: |
| 884 087a 8F3F cpi r24,255 |
| 885 087c 9105 cpc r25,__zero_reg__ |
| 886 087e 01F0 breq .L108 |
| 887 0880 04F0 brlt .L108 |
| 888 0882 8FEF ldi r24,lo8(255) |
| 889 0884 90E0 ldi r25,hi8(255) |
| 890 0886 9093 0000 sts (Poti3)+1,r25 |
| 891 088a 8093 0000 sts Poti3,r24 |
| 892 .L108: |
| 893 088e 8091 0000 lds r24,Poti4 |
| 894 0892 9091 0000 lds r25,(Poti4)+1 |
| 895 0896 97FF sbrs r25,7 |
| 896 0898 00C0 rjmp .L110 |
| 897 089a 1092 0000 sts (Poti4)+1,__zero_reg__ |
| 898 089e 1092 0000 sts Poti4,__zero_reg__ |
| 899 08a2 0895 ret |
| 900 .L110: |
| 901 08a4 8F3F cpi r24,255 |
| 902 08a6 9105 cpc r25,__zero_reg__ |
| 903 08a8 01F0 breq .L114 |
| 904 08aa 04F0 brlt .L114 |
| 905 08ac 8FEF ldi r24,lo8(255) |
| 906 08ae 90E0 ldi r25,hi8(255) |
| 907 08b0 9093 0000 sts (Poti4)+1,r25 |
| 908 08b4 8093 0000 sts Poti4,r24 |
| 909 .L114: |
| 910 08b8 0895 ret |
| 911 /* epilogue: frame size=0 */ |
| 912 /* epilogue: noreturn */ |
| 913 /* epilogue end (size=0) */ |
| 914 /* function CalibrierMittelwert size 412 (412) */ |
| 916 .global ParameterZuordnung |
| 918 ParameterZuordnung: |
| 919 /* prologue: frame size=0 */ |
| 920 08ba 1F93 push r17 |
| 921 /* prologue end (size=1) */ |
| 922 08bc 8091 0000 lds r24,EE_Parameter+11 |
| 923 08c0 8B3F cpi r24,lo8(-5) |
| 924 08c2 00F0 brlo .L120 |
| 925 08c4 8B3F cpi r24,lo8(-5) |
| 926 08c6 01F4 brne .L122 |
| 927 08c8 8091 0000 lds r24,Poti1 |
| 928 08cc 00C0 rjmp .L120 |
| 929 .L122: |
| 930 08ce 8C3F cpi r24,lo8(-4) |
| 931 08d0 01F4 brne .L125 |
| 932 08d2 8091 0000 lds r24,Poti2 |
| 933 08d6 00C0 rjmp .L120 |
| 934 .L125: |
| 935 08d8 8D3F cpi r24,lo8(-3) |
| 936 08da 01F4 brne .L127 |
| 937 08dc 8091 0000 lds r24,Poti3 |
| 938 08e0 00C0 rjmp .L120 |
| 939 .L127: |
| 940 08e2 8E3F cpi r24,lo8(-2) |
| 941 08e4 01F4 brne .L124 |
| 942 08e6 8091 0000 lds r24,Poti4 |
| 943 .L120: |
| 944 08ea 8093 0000 sts Parameter_MaxHoehe,r24 |
| 945 .L124: |
| 946 08ee 8091 0000 lds r24,Parameter_MaxHoehe |
| 947 08f2 8823 tst r24 |
| 948 08f4 01F4 brne .L130 |
| 949 08f6 1092 0000 sts Parameter_MaxHoehe,__zero_reg__ |
| 950 08fa 00C0 rjmp .L132 |
| 951 .L130: |
| 952 08fc 8F3F cpi r24,lo8(-1) |
| 953 08fe 01F4 brne .L132 |
| 954 0900 8093 0000 sts Parameter_MaxHoehe,r24 |
| 955 .L132: |
| 956 0904 8091 0000 lds r24,EE_Parameter+10 |
| 957 0908 8B3F cpi r24,lo8(-5) |
| 958 090a 00F0 brlo .L134 |
| 959 090c 8B3F cpi r24,lo8(-5) |
| 960 090e 01F4 brne .L136 |
| 961 0910 8091 0000 lds r24,Poti1 |
| 962 0914 00C0 rjmp .L134 |
| 963 .L136: |
| 964 0916 8C3F cpi r24,lo8(-4) |
| 965 0918 01F4 brne .L139 |
| 966 091a 8091 0000 lds r24,Poti2 |
| 967 091e 00C0 rjmp .L134 |
| 968 .L139: |
| 969 0920 8D3F cpi r24,lo8(-3) |
| 970 0922 01F4 brne .L141 |
| 971 0924 8091 0000 lds r24,Poti3 |
| 972 0928 00C0 rjmp .L134 |
| 973 .L141: |
| 974 092a 8E3F cpi r24,lo8(-2) |
| 975 092c 01F4 brne .L138 |
| 976 092e 8091 0000 lds r24,Poti4 |
| 977 .L134: |
| 978 0932 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 979 .L138: |
| 980 0936 8091 0000 lds r24,Parameter_Luftdruck_D |
| 981 093a 8823 tst r24 |
| 982 093c 01F4 brne .L144 |
| 983 093e 1092 0000 sts Parameter_Luftdruck_D,__zero_reg__ |
| 984 0942 00C0 rjmp .L146 |
| 985 .L144: |
| 986 0944 8436 cpi r24,lo8(100) |
| 987 0946 00F0 brlo .L146 |
| 988 0948 84E6 ldi r24,lo8(100) |
| 989 094a 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 990 .L146: |
| 991 094e 8091 0000 lds r24,EE_Parameter+12 |
| 992 0952 8B3F cpi r24,lo8(-5) |
| 993 0954 00F0 brlo .L148 |
| 994 0956 8B3F cpi r24,lo8(-5) |
| 995 0958 01F4 brne .L150 |
| 996 095a 8091 0000 lds r24,Poti1 |
| 997 095e 00C0 rjmp .L148 |
| 998 .L150: |
| 999 0960 8C3F cpi r24,lo8(-4) |
| 1000 0962 01F4 brne .L153 |
| 1001 0964 8091 0000 lds r24,Poti2 |
| 1002 0968 00C0 rjmp .L148 |
| 1003 .L153: |
| 1004 096a 8D3F cpi r24,lo8(-3) |
| 1005 096c 01F4 brne .L155 |
| 1006 096e 8091 0000 lds r24,Poti3 |
| 1007 0972 00C0 rjmp .L148 |
| 1008 .L155: |
| 1009 0974 8E3F cpi r24,lo8(-2) |
| 1010 0976 01F4 brne .L152 |
| 1011 0978 8091 0000 lds r24,Poti4 |
| 1012 .L148: |
| 1013 097c 8093 0000 sts Parameter_Hoehe_P,r24 |
| 1014 .L152: |
| 1015 0980 8091 0000 lds r24,Parameter_Hoehe_P |
| 1016 0984 8823 tst r24 |
| 1017 0986 01F4 brne .L158 |
| 1018 0988 1092 0000 sts Parameter_Hoehe_P,__zero_reg__ |
| 1019 098c 00C0 rjmp .L160 |
| 1020 .L158: |
| 1021 098e 8436 cpi r24,lo8(100) |
| 1022 0990 00F0 brlo .L160 |
| 1023 0992 84E6 ldi r24,lo8(100) |
| 1024 0994 8093 0000 sts Parameter_Hoehe_P,r24 |
| 1025 .L160: |
| 1026 0998 8091 0000 lds r24,EE_Parameter+14 |
| 1027 099c 8B3F cpi r24,lo8(-5) |
| 1028 099e 00F0 brlo .L162 |
| 1029 09a0 8B3F cpi r24,lo8(-5) |
| 1030 09a2 01F4 brne .L164 |
| 1031 09a4 8091 0000 lds r24,Poti1 |
| 1032 09a8 00C0 rjmp .L162 |
| 1033 .L164: |
| 1034 09aa 8C3F cpi r24,lo8(-4) |
| 1035 09ac 01F4 brne .L167 |
| 1036 09ae 8091 0000 lds r24,Poti2 |
| 1037 09b2 00C0 rjmp .L162 |
| 1038 .L167: |
| 1039 09b4 8D3F cpi r24,lo8(-3) |
| 1040 09b6 01F4 brne .L169 |
| 1041 09b8 8091 0000 lds r24,Poti3 |
| 1042 09bc 00C0 rjmp .L162 |
| 1043 .L169: |
| 1044 09be 8E3F cpi r24,lo8(-2) |
| 1045 09c0 01F4 brne .L166 |
| 1046 09c2 8091 0000 lds r24,Poti4 |
| 1047 .L162: |
| 1048 09c6 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 1049 .L166: |
| 1050 09ca 8091 0000 lds r24,Parameter_Hoehe_ACC_Wirkung |
| 1051 09ce 8823 tst r24 |
| 1052 09d0 01F4 brne .L172 |
| 1053 09d2 1092 0000 sts Parameter_Hoehe_ACC_Wirkung,__zero_reg__ |
| 1054 09d6 00C0 rjmp .L174 |
| 1055 .L172: |
| 1056 09d8 8F3F cpi r24,lo8(-1) |
| 1057 09da 01F4 brne .L174 |
| 1058 09dc 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 1059 .L174: |
| 1060 09e0 8091 0000 lds r24,EE_Parameter+21 |
| 1061 09e4 8B3F cpi r24,lo8(-5) |
| 1062 09e6 00F0 brlo .L176 |
| 1063 09e8 8B3F cpi r24,lo8(-5) |
| 1064 09ea 01F4 brne .L178 |
| 1065 09ec 8091 0000 lds r24,Poti1 |
| 1066 09f0 00C0 rjmp .L176 |
| 1067 .L178: |
| 1068 09f2 8C3F cpi r24,lo8(-4) |
| 1069 09f4 01F4 brne .L181 |
| 1070 09f6 8091 0000 lds r24,Poti2 |
| 1071 09fa 00C0 rjmp .L176 |
| 1072 .L181: |
| 1073 09fc 8D3F cpi r24,lo8(-3) |
| 1074 09fe 01F4 brne .L183 |
| 1075 0a00 8091 0000 lds r24,Poti3 |
| 1076 0a04 00C0 rjmp .L176 |
| 1077 .L183: |
| 1078 0a06 8E3F cpi r24,lo8(-2) |
| 1079 0a08 01F4 brne .L180 |
| 1080 0a0a 8091 0000 lds r24,Poti4 |
| 1081 .L176: |
| 1082 0a0e 8093 0000 sts Parameter_KompassWirkung,r24 |
| 1083 .L180: |
| 1084 0a12 8091 0000 lds r24,Parameter_KompassWirkung |
| 1085 0a16 8823 tst r24 |
| 1086 0a18 01F4 brne .L186 |
| 1087 0a1a 1092 0000 sts Parameter_KompassWirkung,__zero_reg__ |
| 1088 0a1e 00C0 rjmp .L188 |
| 1089 .L186: |
| 1090 0a20 8F3F cpi r24,lo8(-1) |
| 1091 0a22 01F4 brne .L188 |
| 1092 0a24 8093 0000 sts Parameter_KompassWirkung,r24 |
| 1093 .L188: |
| 1094 0a28 8091 0000 lds r24,EE_Parameter+22 |
| 1095 0a2c 8B3F cpi r24,lo8(-5) |
| 1096 0a2e 00F0 brlo .L190 |
| 1097 0a30 8B3F cpi r24,lo8(-5) |
| 1098 0a32 01F4 brne .L192 |
| 1099 0a34 8091 0000 lds r24,Poti1 |
| 1100 0a38 00C0 rjmp .L190 |
| 1101 .L192: |
| 1102 0a3a 8C3F cpi r24,lo8(-4) |
| 1103 0a3c 01F4 brne .L195 |
| 1104 0a3e 8091 0000 lds r24,Poti2 |
| 1105 0a42 00C0 rjmp .L190 |
| 1106 .L195: |
| 1107 0a44 8D3F cpi r24,lo8(-3) |
| 1108 0a46 01F4 brne .L197 |
| 1109 0a48 8091 0000 lds r24,Poti3 |
| 1110 0a4c 00C0 rjmp .L190 |
| 1111 .L197: |
| 1112 0a4e 8E3F cpi r24,lo8(-2) |
| 1113 0a50 01F4 brne .L194 |
| 1114 0a52 8091 0000 lds r24,Poti4 |
| 1115 .L190: |
| 1116 0a56 8093 0000 sts Parameter_Gyro_P,r24 |
| 1117 .L194: |
| 1118 0a5a 8091 0000 lds r24,Parameter_Gyro_P |
| 1119 0a5e 8B30 cpi r24,lo8(11) |
| 1120 0a60 00F4 brsh .L200 |
| 1121 0a62 8AE0 ldi r24,lo8(10) |
| 1122 0a64 00C0 rjmp .L332 |
| 1123 .L200: |
| 1124 0a66 8F3F cpi r24,lo8(-1) |
| 1125 0a68 01F4 brne .L202 |
| 1126 .L332: |
| 1127 0a6a 8093 0000 sts Parameter_Gyro_P,r24 |
| 1128 .L202: |
| 1129 0a6e 8091 0000 lds r24,EE_Parameter+23 |
| 1130 0a72 8B3F cpi r24,lo8(-5) |
| 1131 0a74 00F0 brlo .L204 |
| 1132 0a76 8B3F cpi r24,lo8(-5) |
| 1133 0a78 01F4 brne .L206 |
| 1134 0a7a 8091 0000 lds r24,Poti1 |
| 1135 0a7e 00C0 rjmp .L204 |
| 1136 .L206: |
| 1137 0a80 8C3F cpi r24,lo8(-4) |
| 1138 0a82 01F4 brne .L209 |
| 1139 0a84 8091 0000 lds r24,Poti2 |
| 1140 0a88 00C0 rjmp .L204 |
| 1141 .L209: |
| 1142 0a8a 8D3F cpi r24,lo8(-3) |
| 1143 0a8c 01F4 brne .L211 |
| 1144 0a8e 8091 0000 lds r24,Poti3 |
| 1145 0a92 00C0 rjmp .L204 |
| 1146 .L211: |
| 1147 0a94 8E3F cpi r24,lo8(-2) |
| 1148 0a96 01F4 brne .L208 |
| 1149 0a98 8091 0000 lds r24,Poti4 |
| 1150 .L204: |
| 1151 0a9c 8093 0000 sts Parameter_Gyro_I,r24 |
| 1152 .L208: |
| 1153 0aa0 8091 0000 lds r24,Parameter_Gyro_I |
| 1154 0aa4 8823 tst r24 |
| 1155 0aa6 01F4 brne .L214 |
| 1156 0aa8 1092 0000 sts Parameter_Gyro_I,__zero_reg__ |
| 1157 0aac 00C0 rjmp .L216 |
| 1158 .L214: |
| 1159 0aae 8F3F cpi r24,lo8(-1) |
| 1160 0ab0 01F4 brne .L216 |
| 1161 0ab2 8093 0000 sts Parameter_Gyro_I,r24 |
| 1162 .L216: |
| 1163 0ab6 8091 0000 lds r24,EE_Parameter+28 |
| 1164 0aba 8B3F cpi r24,lo8(-5) |
| 1165 0abc 00F0 brlo .L218 |
| 1166 0abe 8B3F cpi r24,lo8(-5) |
| 1167 0ac0 01F4 brne .L220 |
| 1168 0ac2 8091 0000 lds r24,Poti1 |
| 1169 0ac6 00C0 rjmp .L218 |
| 1170 .L220: |
| 1171 0ac8 8C3F cpi r24,lo8(-4) |
| 1172 0aca 01F4 brne .L223 |
| 1173 0acc 8091 0000 lds r24,Poti2 |
| 1174 0ad0 00C0 rjmp .L218 |
| 1175 .L223: |
| 1176 0ad2 8D3F cpi r24,lo8(-3) |
| 1177 0ad4 01F4 brne .L225 |
| 1178 0ad6 8091 0000 lds r24,Poti3 |
| 1179 0ada 00C0 rjmp .L218 |
| 1180 .L225: |
| 1181 0adc 8E3F cpi r24,lo8(-2) |
| 1182 0ade 01F4 brne .L222 |
| 1183 0ae0 8091 0000 lds r24,Poti4 |
| 1184 .L218: |
| 1185 0ae4 8093 0000 sts Parameter_I_Faktor,r24 |
| 1186 .L222: |
| 1187 0ae8 8091 0000 lds r24,Parameter_I_Faktor |
| 1188 0aec 8823 tst r24 |
| 1189 0aee 01F4 brne .L228 |
| 1190 0af0 1092 0000 sts Parameter_I_Faktor,__zero_reg__ |
| 1191 0af4 00C0 rjmp .L230 |
| 1192 .L228: |
| 1193 0af6 8F3F cpi r24,lo8(-1) |
| 1194 0af8 01F4 brne .L230 |
| 1195 0afa 8093 0000 sts Parameter_I_Faktor,r24 |
| 1196 .L230: |
| 1197 0afe 8091 0000 lds r24,EE_Parameter+29 |
| 1198 0b02 8B3F cpi r24,lo8(-5) |
| 1199 0b04 00F0 brlo .L232 |
| 1200 0b06 8B3F cpi r24,lo8(-5) |
| 1201 0b08 01F4 brne .L234 |
| 1202 0b0a 8091 0000 lds r24,Poti1 |
| 1203 0b0e 00C0 rjmp .L232 |
| 1204 .L234: |
| 1205 0b10 8C3F cpi r24,lo8(-4) |
| 1206 0b12 01F4 brne .L237 |
| 1207 0b14 8091 0000 lds r24,Poti2 |
| 1208 0b18 00C0 rjmp .L232 |
| 1209 .L237: |
| 1210 0b1a 8D3F cpi r24,lo8(-3) |
| 1211 0b1c 01F4 brne .L239 |
| 1212 0b1e 8091 0000 lds r24,Poti3 |
| 1213 0b22 00C0 rjmp .L232 |
| 1214 .L239: |
| 1215 0b24 8E3F cpi r24,lo8(-2) |
| 1216 0b26 01F4 brne .L236 |
| 1217 0b28 8091 0000 lds r24,Poti4 |
| 1218 .L232: |
| 1219 0b2c 8093 0000 sts Parameter_UserParam1,r24 |
| 1220 .L236: |
| 1221 0b30 8091 0000 lds r24,Parameter_UserParam1 |
| 1222 0b34 8823 tst r24 |
| 1223 0b36 01F4 brne .L242 |
| 1224 0b38 1092 0000 sts Parameter_UserParam1,__zero_reg__ |
| 1225 0b3c 00C0 rjmp .L244 |
| 1226 .L242: |
| 1227 0b3e 8F3F cpi r24,lo8(-1) |
| 1228 0b40 01F4 brne .L244 |
| 1229 0b42 8093 0000 sts Parameter_UserParam1,r24 |
| 1230 .L244: |
| 1231 0b46 8091 0000 lds r24,EE_Parameter+30 |
| 1232 0b4a 8B3F cpi r24,lo8(-5) |
| 1233 0b4c 00F0 brlo .L246 |
| 1234 0b4e 8B3F cpi r24,lo8(-5) |
| 1235 0b50 01F4 brne .L248 |
| 1236 0b52 8091 0000 lds r24,Poti1 |
| 1237 0b56 00C0 rjmp .L246 |
| 1238 .L248: |
| 1239 0b58 8C3F cpi r24,lo8(-4) |
| 1240 0b5a 01F4 brne .L251 |
| 1241 0b5c 8091 0000 lds r24,Poti2 |
| 1242 0b60 00C0 rjmp .L246 |
| 1243 .L251: |
| 1244 0b62 8D3F cpi r24,lo8(-3) |
| 1245 0b64 01F4 brne .L253 |
| 1246 0b66 8091 0000 lds r24,Poti3 |
| 1247 0b6a 00C0 rjmp .L246 |
| 1248 .L253: |
| 1249 0b6c 8E3F cpi r24,lo8(-2) |
| 1250 0b6e 01F4 brne .L250 |
| 1251 0b70 8091 0000 lds r24,Poti4 |
| 1252 .L246: |
| 1253 0b74 8093 0000 sts Parameter_UserParam2,r24 |
| 1254 .L250: |
| 1255 0b78 8091 0000 lds r24,Parameter_UserParam2 |
| 1256 0b7c 8823 tst r24 |
| 1257 0b7e 01F4 brne .L256 |
| 1258 0b80 1092 0000 sts Parameter_UserParam2,__zero_reg__ |
| 1259 0b84 00C0 rjmp .L258 |
| 1260 .L256: |
| 1261 0b86 8F3F cpi r24,lo8(-1) |
| 1262 0b88 01F4 brne .L258 |
| 1263 0b8a 8093 0000 sts Parameter_UserParam2,r24 |
| 1264 .L258: |
| 1265 0b8e 8091 0000 lds r24,EE_Parameter+31 |
| 1266 0b92 8B3F cpi r24,lo8(-5) |
| 1267 0b94 00F0 brlo .L260 |
| 1268 0b96 8B3F cpi r24,lo8(-5) |
| 1269 0b98 01F4 brne .L262 |
| 1270 0b9a 8091 0000 lds r24,Poti1 |
| 1271 0b9e 00C0 rjmp .L260 |
| 1272 .L262: |
| 1273 0ba0 8C3F cpi r24,lo8(-4) |
| 1274 0ba2 01F4 brne .L265 |
| 1275 0ba4 8091 0000 lds r24,Poti2 |
| 1276 0ba8 00C0 rjmp .L260 |
| 1277 .L265: |
| 1278 0baa 8D3F cpi r24,lo8(-3) |
| 1279 0bac 01F4 brne .L267 |
| 1280 0bae 8091 0000 lds r24,Poti3 |
| 1281 0bb2 00C0 rjmp .L260 |
| 1282 .L267: |
| 1283 0bb4 8E3F cpi r24,lo8(-2) |
| 1284 0bb6 01F4 brne .L264 |
| 1285 0bb8 8091 0000 lds r24,Poti4 |
| 1286 .L260: |
| 1287 0bbc 8093 0000 sts Parameter_UserParam3,r24 |
| 1288 .L264: |
| 1289 0bc0 8091 0000 lds r24,Parameter_UserParam3 |
| 1290 0bc4 8823 tst r24 |
| 1291 0bc6 01F4 brne .L270 |
| 1292 0bc8 1092 0000 sts Parameter_UserParam3,__zero_reg__ |
| 1293 0bcc 00C0 rjmp .L272 |
| 1294 .L270: |
| 1295 0bce 8F3F cpi r24,lo8(-1) |
| 1296 0bd0 01F4 brne .L272 |
| 1297 0bd2 8093 0000 sts Parameter_UserParam3,r24 |
| 1298 .L272: |
| 1299 0bd6 8091 0000 lds r24,EE_Parameter+32 |
| 1300 0bda 8B3F cpi r24,lo8(-5) |
| 1301 0bdc 00F0 brlo .L274 |
| 1302 0bde 8B3F cpi r24,lo8(-5) |
| 1303 0be0 01F4 brne .L276 |
| 1304 0be2 8091 0000 lds r24,Poti1 |
| 1305 0be6 00C0 rjmp .L274 |
| 1306 .L276: |
| 1307 0be8 8C3F cpi r24,lo8(-4) |
| 1308 0bea 01F4 brne .L279 |
| 1309 0bec 8091 0000 lds r24,Poti2 |
| 1310 0bf0 00C0 rjmp .L274 |
| 1311 .L279: |
| 1312 0bf2 8D3F cpi r24,lo8(-3) |
| 1313 0bf4 01F4 brne .L281 |
| 1314 0bf6 8091 0000 lds r24,Poti3 |
| 1315 0bfa 00C0 rjmp .L274 |
| 1316 .L281: |
| 1317 0bfc 8E3F cpi r24,lo8(-2) |
| 1318 0bfe 01F4 brne .L278 |
| 1319 0c00 8091 0000 lds r24,Poti4 |
| 1320 .L274: |
| 1321 0c04 8093 0000 sts Parameter_UserParam4,r24 |
| 1322 .L278: |
| 1323 0c08 8091 0000 lds r24,Parameter_UserParam4 |
| 1324 0c0c 8823 tst r24 |
| 1325 0c0e 01F4 brne .L284 |
| 1326 0c10 1092 0000 sts Parameter_UserParam4,__zero_reg__ |
| 1327 0c14 00C0 rjmp .L286 |
| 1328 .L284: |
| 1329 0c16 8F3F cpi r24,lo8(-1) |
| 1330 0c18 01F4 brne .L286 |
| 1331 0c1a 8093 0000 sts Parameter_UserParam4,r24 |
| 1332 .L286: |
| 1333 0c1e 9091 0000 lds r25,EE_Parameter+33 |
| 1334 0c22 9B3F cpi r25,lo8(-5) |
| 1335 0c24 00F0 brlo .L288 |
| 1336 0c26 9B3F cpi r25,lo8(-5) |
| 1337 0c28 01F4 brne .L290 |
| 1338 0c2a 8091 0000 lds r24,Poti1 |
| 1339 0c2e 00C0 rjmp .L333 |
| 1340 .L290: |
| 1341 0c30 9C3F cpi r25,lo8(-4) |
| 1342 0c32 01F4 brne .L293 |
| 1343 0c34 8091 0000 lds r24,Poti2 |
| 1344 .L333: |
| 1345 0c38 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1346 0c3c 00C0 rjmp .L292 |
| 1347 .L293: |
| 1348 0c3e 9D3F cpi r25,lo8(-3) |
| 1349 0c40 01F4 brne .L295 |
| 1350 0c42 8091 0000 lds r24,Poti3 |
| 1351 0c46 00C0 rjmp .L333 |
| 1352 .L295: |
| 1353 0c48 9E3F cpi r25,lo8(-2) |
| 1354 0c4a 01F4 brne .L292 |
| 1355 0c4c 8091 0000 lds r24,Poti4 |
| 1356 0c50 00C0 rjmp .L333 |
| 1357 .L288: |
| 1358 0c52 9093 0000 sts Parameter_ServoNickControl,r25 |
| 1359 .L292: |
| 1360 0c56 8091 0000 lds r24,Parameter_ServoNickControl |
| 1361 0c5a 8823 tst r24 |
| 1362 0c5c 01F4 brne .L298 |
| 1363 0c5e 1092 0000 sts Parameter_ServoNickControl,__zero_reg__ |
| 1364 0c62 00C0 rjmp .L300 |
| 1365 .L298: |
| 1366 0c64 8F3F cpi r24,lo8(-1) |
| 1367 0c66 01F4 brne .L300 |
| 1368 0c68 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1369 .L300: |
| 1370 0c6c 9B3F cpi r25,lo8(-5) |
| 1371 0c6e 00F0 brlo .L302 |
| 1372 0c70 9B3F cpi r25,lo8(-5) |
| 1373 0c72 01F4 brne .L304 |
| 1374 0c74 8091 0000 lds r24,Poti1 |
| 1375 0c78 00C0 rjmp .L334 |
| 1376 .L304: |
| 1377 0c7a 9C3F cpi r25,lo8(-4) |
| 1378 0c7c 01F4 brne .L307 |
| 1379 0c7e 8091 0000 lds r24,Poti2 |
| 1380 .L334: |
| 1381 0c82 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1382 0c86 00C0 rjmp .L306 |
| 1383 .L307: |
| 1384 0c88 9D3F cpi r25,lo8(-3) |
| 1385 0c8a 01F4 brne .L309 |
| 1386 0c8c 8091 0000 lds r24,Poti3 |
| 1387 0c90 00C0 rjmp .L334 |
| 1388 .L309: |
| 1389 0c92 9E3F cpi r25,lo8(-2) |
| 1390 0c94 01F4 brne .L306 |
| 1391 0c96 8091 0000 lds r24,Poti4 |
| 1392 0c9a 00C0 rjmp .L334 |
| 1393 .L302: |
| 1394 0c9c 9093 0000 sts Parameter_ServoNickControl,r25 |
| 1395 .L306: |
| 1396 0ca0 8091 0000 lds r24,Parameter_ServoNickControl |
| 1397 0ca4 8823 tst r24 |
| 1398 0ca6 01F4 brne .L312 |
| 1399 0ca8 1092 0000 sts Parameter_ServoNickControl,__zero_reg__ |
| 1400 0cac 00C0 rjmp .L314 |
| 1401 .L312: |
| 1402 0cae 8F3F cpi r24,lo8(-1) |
| 1403 0cb0 01F4 brne .L314 |
| 1404 0cb2 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1405 .L314: |
| 1406 0cb6 9B3F cpi r25,lo8(-5) |
| 1407 0cb8 00F0 brlo .L316 |
| 1408 0cba 9B3F cpi r25,lo8(-5) |
| 1409 0cbc 01F4 brne .L318 |
| 1410 0cbe 8091 0000 lds r24,Poti1 |
| 1411 0cc2 00C0 rjmp .L335 |
| 1412 .L318: |
| 1413 0cc4 9C3F cpi r25,lo8(-4) |
| 1414 0cc6 01F4 brne .L321 |
| 1415 0cc8 8091 0000 lds r24,Poti2 |
| 1416 .L335: |
| 1417 0ccc 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1418 0cd0 00C0 rjmp .L320 |
| 1419 .L321: |
| 1420 0cd2 9D3F cpi r25,lo8(-3) |
| 1421 0cd4 01F4 brne .L323 |
| 1422 0cd6 8091 0000 lds r24,Poti3 |
| 1423 0cda 00C0 rjmp .L335 |
| 1424 .L323: |
| 1425 0cdc 9E3F cpi r25,lo8(-2) |
| 1426 0cde 01F4 brne .L320 |
| 1427 0ce0 8091 0000 lds r24,Poti4 |
| 1428 0ce4 00C0 rjmp .L335 |
| 1429 .L316: |
| 1430 0ce6 9093 0000 sts Parameter_ServoNickControl,r25 |
| 1431 .L320: |
| 1432 0cea 8091 0000 lds r24,Parameter_ServoNickControl |
| 1433 0cee 8823 tst r24 |
| 1434 0cf0 01F4 brne .L326 |
| 1435 0cf2 1092 0000 sts Parameter_ServoNickControl,__zero_reg__ |
| 1436 0cf6 00C0 rjmp .L328 |
| 1437 .L326: |
| 1438 0cf8 8F3F cpi r24,lo8(-1) |
| 1439 0cfa 01F4 brne .L328 |
| 1440 0cfc 8093 0000 sts Parameter_ServoNickControl,r24 |
| 1441 .L328: |
| 1442 0d00 1091 0000 lds r17,Parameter_I_Faktor |
| 1443 0d04 612F mov r22,r17 |
| 1444 0d06 7727 clr r23 |
| 1445 0d08 67FD sbrc r22,7 |
| 1446 0d0a 7095 com r23 |
| 1447 0d0c 872F mov r24,r23 |
| 1448 0d0e 972F mov r25,r23 |
| 1449 0d10 0E94 0000 call __floatsisf |
| 1450 0d14 17FF sbrs r17,7 |
| 1451 0d16 00C0 rjmp .L330 |
| 1452 0d18 20E0 ldi r18,lo8(0x43800000) |
| 1453 0d1a 30E0 ldi r19,hi8(0x43800000) |
| 1454 0d1c 40E8 ldi r20,hlo8(0x43800000) |
| 1455 0d1e 53E4 ldi r21,hhi8(0x43800000) |
| 1456 0d20 0E94 0000 call __addsf3 |
| 1457 .L330: |
| 1458 0d24 27E1 ldi r18,lo8(0x38d1b717) |
| 1459 0d26 37EB ldi r19,hi8(0x38d1b717) |
| 1460 0d28 41ED ldi r20,hlo8(0x38d1b717) |
| 1461 0d2a 58E3 ldi r21,hhi8(0x38d1b717) |
| 1462 0d2c 0E94 0000 call __mulsf3 |
| 1463 0d30 6093 0000 sts Ki,r22 |
| 1464 0d34 7093 0000 sts (Ki)+1,r23 |
| 1465 0d38 8093 0000 sts (Ki)+2,r24 |
| 1466 0d3c 9093 0000 sts (Ki)+3,r25 |
| 1467 0d40 8091 0000 lds r24,EE_Parameter+19 |
| 1468 0d44 8093 0000 sts MAX_GAS,r24 |
| 1469 0d48 8091 0000 lds r24,EE_Parameter+18 |
| 1470 0d4c 8093 0000 sts MIN_GAS,r24 |
| 1471 /* epilogue: frame size=0 */ |
| 1472 0d50 1F91 pop r17 |
| 1473 0d52 0895 ret |
| 1474 /* epilogue end (size=2) */ |
| 1475 /* function ParameterZuordnung size 589 (586) */ |
| 1477 .data |
| 1478 .LC0: |
| 1479 0000 4B61 6D65 .string "Kamera" |
| 1479 7261 00 |
| 1480 0007 00 .string "" |
| 1481 .text |
| 1482 .global DefaultKonstanten2 |
| 1484 DefaultKonstanten2: |
| 1485 /* prologue: frame size=0 */ |
| 1486 /* prologue end (size=0) */ |
| 1487 0d54 81E0 ldi r24,lo8(1) |
| 1488 0d56 8093 0000 sts EE_Parameter,r24 |
| 1489 0d5a 42E0 ldi r20,lo8(2) |
| 1490 0d5c 4093 0000 sts EE_Parameter+1,r20 |
| 1491 0d60 83E0 ldi r24,lo8(3) |
| 1492 0d62 8093 0000 sts EE_Parameter+2,r24 |
| 1493 0d66 24E0 ldi r18,lo8(4) |
| 1494 0d68 2093 0000 sts EE_Parameter+3,r18 |
| 1495 0d6c 35E0 ldi r19,lo8(5) |
| 1496 0d6e 3093 0000 sts EE_Parameter+4,r19 |
| 1497 0d72 86E0 ldi r24,lo8(6) |
| 1498 0d74 8093 0000 sts EE_Parameter+5,r24 |
| 1499 0d78 87E0 ldi r24,lo8(7) |
| 1500 0d7a 8093 0000 sts EE_Parameter+6,r24 |
| 1501 0d7e 1092 0000 sts EE_Parameter+8,__zero_reg__ |
| 1502 0d82 8EE1 ldi r24,lo8(30) |
| 1503 0d84 8093 0000 sts EE_Parameter+9,r24 |
| 1504 0d88 8BEF ldi r24,lo8(-5) |
| 1505 0d8a 8093 0000 sts EE_Parameter+11,r24 |
| 1506 0d8e 8AE0 ldi r24,lo8(10) |
| 1507 0d90 8093 0000 sts EE_Parameter+12,r24 |
| 1508 0d94 92E3 ldi r25,lo8(50) |
| 1509 0d96 9093 0000 sts EE_Parameter+10,r25 |
| 1510 0d9a 9093 0000 sts EE_Parameter+14,r25 |
| 1511 0d9e 4093 0000 sts EE_Parameter+13,r20 |
| 1512 0da2 2093 0000 sts EE_Parameter+15,r18 |
| 1513 0da6 1092 0000 sts EE_Parameter+16,__zero_reg__ |
| 1514 0daa 80E1 ldi r24,lo8(16) |
| 1515 0dac 8093 0000 sts EE_Parameter+17,r24 |
| 1516 0db0 8FE0 ldi r24,lo8(15) |
| 1517 0db2 8093 0000 sts EE_Parameter+18,r24 |
| 1518 0db6 8AEF ldi r24,lo8(-6) |
| 1519 0db8 8093 0000 sts EE_Parameter+19,r24 |
| 1520 0dbc 8AE1 ldi r24,lo8(26) |
| 1521 0dbe 8093 0000 sts EE_Parameter+20,r24 |
| 1522 0dc2 80E8 ldi r24,lo8(-128) |
| 1523 0dc4 8093 0000 sts EE_Parameter+21,r24 |
| 1524 0dc8 8FEA ldi r24,lo8(-81) |
| 1525 0dca 8093 0000 sts EE_Parameter+22,r24 |
| 1526 0dce 8093 0000 sts EE_Parameter+23,r24 |
| 1527 0dd2 8AE5 ldi r24,lo8(90) |
| 1528 0dd4 8093 0000 sts EE_Parameter+24,r24 |
| 1529 0dd8 83E2 ldi r24,lo8(35) |
| 1530 0dda 8093 0000 sts EE_Parameter+25,r24 |
| 1531 0dde 84E1 ldi r24,lo8(20) |
| 1532 0de0 8093 0000 sts EE_Parameter+26,r24 |
| 1533 0de4 1092 0000 sts EE_Parameter+27,__zero_reg__ |
| 1534 0de8 3093 0000 sts EE_Parameter+28,r19 |
| 1535 0dec 1092 0000 sts EE_Parameter+29,__zero_reg__ |
| 1536 0df0 1092 0000 sts EE_Parameter+30,__zero_reg__ |
| 1537 0df4 1092 0000 sts EE_Parameter+31,__zero_reg__ |
| 1538 0df8 1092 0000 sts EE_Parameter+32,__zero_reg__ |
| 1539 0dfc 84E6 ldi r24,lo8(100) |
| 1540 0dfe 8093 0000 sts EE_Parameter+33,r24 |
| 1541 0e02 88E2 ldi r24,lo8(40) |
| 1542 0e04 8093 0000 sts EE_Parameter+34,r24 |
| 1543 0e08 1092 0000 sts EE_Parameter+38,__zero_reg__ |
| 1544 0e0c 9093 0000 sts EE_Parameter+35,r25 |
| 1545 0e10 86E9 ldi r24,lo8(-106) |
| 1546 0e12 8093 0000 sts EE_Parameter+36,r24 |
| 1547 0e16 3093 0000 sts EE_Parameter+37,r19 |
| 1548 0e1a A0E0 ldi r26,lo8(EE_Parameter+46) |
| 1549 0e1c B0E0 ldi r27,hi8(EE_Parameter+46) |
| 1550 0e1e E0E0 ldi r30,lo8(.LC0) |
| 1551 0e20 F0E0 ldi r31,hi8(.LC0) |
| 1552 0e22 8CE0 ldi r24,lo8(12) |
| 1553 .L337: |
| 1554 0e24 0190 ld r0,Z+ |
| 1555 0e26 0D92 st X+,r0 |
| 1556 0e28 8150 subi r24,lo8(-(-1)) |
| 1557 0e2a 01F4 brne .L337 |
| 1558 /* epilogue: frame size=0 */ |
| 1559 0e2c 0895 ret |
| 1560 /* epilogue end (size=1) */ |
| 1561 /* function DefaultKonstanten2 size 110 (109) */ |
| 1563 .data |
| 1564 .LC1: |
| 1565 0008 4E6F 726D .string "Normal" |
| 1565 616C 00 |
| 1566 000f 00 .string "" |
| 1567 .text |
| 1568 .global DefaultKonstanten1 |
| 1570 DefaultKonstanten1: |
| 1571 /* prologue: frame size=0 */ |
| 1572 /* prologue end (size=0) */ |
| 1573 0e2e 81E0 ldi r24,lo8(1) |
| 1574 0e30 8093 0000 sts EE_Parameter,r24 |
| 1575 0e34 52E0 ldi r21,lo8(2) |
| 1576 0e36 5093 0000 sts EE_Parameter+1,r21 |
| 1577 0e3a 83E0 ldi r24,lo8(3) |
| 1578 0e3c 8093 0000 sts EE_Parameter+2,r24 |
| 1579 0e40 44E0 ldi r20,lo8(4) |
| 1580 0e42 4093 0000 sts EE_Parameter+3,r20 |
| 1581 0e46 35E0 ldi r19,lo8(5) |
| 1582 0e48 3093 0000 sts EE_Parameter+4,r19 |
| 1583 0e4c 86E0 ldi r24,lo8(6) |
| 1584 0e4e 8093 0000 sts EE_Parameter+5,r24 |
| 1585 0e52 87E0 ldi r24,lo8(7) |
| 1586 0e54 8093 0000 sts EE_Parameter+6,r24 |
| 1587 0e58 28E0 ldi r18,lo8(8) |
| 1588 0e5a 2093 0000 sts EE_Parameter+7,r18 |
| 1589 0e5e 1092 0000 sts EE_Parameter+8,__zero_reg__ |
| 1590 0e62 9EE1 ldi r25,lo8(30) |
| 1591 0e64 9093 0000 sts EE_Parameter+9,r25 |
| 1592 0e68 8BEF ldi r24,lo8(-5) |
| 1593 0e6a 8093 0000 sts EE_Parameter+11,r24 |
| 1594 0e6e 8AE0 ldi r24,lo8(10) |
| 1595 0e70 8093 0000 sts EE_Parameter+12,r24 |
| 1596 0e74 86E4 ldi r24,lo8(70) |
| 1597 0e76 8093 0000 sts EE_Parameter+10,r24 |
| 1598 0e7a 9093 0000 sts EE_Parameter+14,r25 |
| 1599 0e7e 5093 0000 sts EE_Parameter+13,r21 |
| 1600 0e82 4093 0000 sts EE_Parameter+15,r20 |
| 1601 0e86 2093 0000 sts EE_Parameter+16,r18 |
| 1602 0e8a 80E1 ldi r24,lo8(16) |
| 1603 0e8c 8093 0000 sts EE_Parameter+17,r24 |
| 1604 0e90 8FE0 ldi r24,lo8(15) |
| 1605 0e92 8093 0000 sts EE_Parameter+18,r24 |
| 1606 0e96 8AEF ldi r24,lo8(-6) |
| 1607 0e98 8093 0000 sts EE_Parameter+19,r24 |
| 1608 0e9c 8AE1 ldi r24,lo8(26) |
| 1609 0e9e 8093 0000 sts EE_Parameter+20,r24 |
| 1610 0ea2 80E8 ldi r24,lo8(-128) |
| 1611 0ea4 8093 0000 sts EE_Parameter+21,r24 |
| 1612 0ea8 88E7 ldi r24,lo8(120) |
| 1613 0eaa 8093 0000 sts EE_Parameter+22,r24 |
| 1614 0eae 96E9 ldi r25,lo8(-106) |
| 1615 0eb0 9093 0000 sts EE_Parameter+23,r25 |
| 1616 0eb4 8AE5 ldi r24,lo8(90) |
| 1617 0eb6 8093 0000 sts EE_Parameter+24,r24 |
| 1618 0eba 83E2 ldi r24,lo8(35) |
| 1619 0ebc 8093 0000 sts EE_Parameter+25,r24 |
| 1620 0ec0 84E1 ldi r24,lo8(20) |
| 1621 0ec2 8093 0000 sts EE_Parameter+26,r24 |
| 1622 0ec6 1092 0000 sts EE_Parameter+27,__zero_reg__ |
| 1623 0eca 3093 0000 sts EE_Parameter+28,r19 |
| 1624 0ece 1092 0000 sts EE_Parameter+29,__zero_reg__ |
| 1625 0ed2 1092 0000 sts EE_Parameter+30,__zero_reg__ |
| 1626 0ed6 1092 0000 sts EE_Parameter+31,__zero_reg__ |
| 1627 0eda 1092 0000 sts EE_Parameter+32,__zero_reg__ |
| 1628 0ede 84E6 ldi r24,lo8(100) |
| 1629 0ee0 8093 0000 sts EE_Parameter+33,r24 |
| 1630 0ee4 88E2 ldi r24,lo8(40) |
| 1631 0ee6 8093 0000 sts EE_Parameter+34,r24 |
| 1632 0eea 1092 0000 sts EE_Parameter+38,__zero_reg__ |
| 1633 0eee 82E3 ldi r24,lo8(50) |
| 1634 0ef0 8093 0000 sts EE_Parameter+35,r24 |
| 1635 0ef4 9093 0000 sts EE_Parameter+36,r25 |
| 1636 0ef8 3093 0000 sts EE_Parameter+37,r19 |
| 1637 0efc A0E0 ldi r26,lo8(EE_Parameter+46) |
| 1638 0efe B0E0 ldi r27,hi8(EE_Parameter+46) |
| 1639 0f00 E0E0 ldi r30,lo8(.LC1) |
| 1640 0f02 F0E0 ldi r31,hi8(.LC1) |
| 1641 0f04 8CE0 ldi r24,lo8(12) |
| 1642 .L342: |
| 1643 0f06 0190 ld r0,Z+ |
| 1644 0f08 0D92 st X+,r0 |
| 1645 0f0a 8150 subi r24,lo8(-(-1)) |
| 1646 0f0c 01F4 brne .L342 |
| 1647 /* epilogue: frame size=0 */ |
| 1648 0f0e 0895 ret |
| 1649 /* epilogue end (size=1) */ |
| 1650 /* function DefaultKonstanten1 size 114 (113) */ |
| 1652 .global SendMotorData |
| 1654 SendMotorData: |
| 1655 /* prologue: frame size=0 */ |
| 1656 /* prologue end (size=0) */ |
| 1657 0f10 8091 0000 lds r24,MotorenEin |
| 1658 0f14 8823 tst r24 |
| 1659 0f16 01F4 brne .L347 |
| 1660 0f18 1092 0000 sts Motor_Hinten,__zero_reg__ |
| 1661 0f1c 1092 0000 sts Motor_Vorne,__zero_reg__ |
| 1662 0f20 1092 0000 sts Motor_Rechts,__zero_reg__ |
| 1663 0f24 1092 0000 sts Motor_Links,__zero_reg__ |
| 1664 0f28 8091 0000 lds r24,MotorTest |
| 1665 0f2c 8823 tst r24 |
| 1666 0f2e 01F0 breq .L349 |
| 1667 0f30 8093 0000 sts Motor_Vorne,r24 |
| 1668 .L349: |
| 1669 0f34 8091 0000 lds r24,MotorTest+1 |
| 1670 0f38 8823 tst r24 |
| 1671 0f3a 01F0 breq .L351 |
| 1672 0f3c 8093 0000 sts Motor_Hinten,r24 |
| 1673 .L351: |
| 1674 0f40 8091 0000 lds r24,MotorTest+2 |
| 1675 0f44 8823 tst r24 |
| 1676 0f46 01F0 breq .L353 |
| 1677 0f48 8093 0000 sts Motor_Links,r24 |
| 1678 .L353: |
| 1679 0f4c 8091 0000 lds r24,MotorTest+3 |
| 1680 0f50 8823 tst r24 |
| 1681 0f52 01F0 breq .L347 |
| 1682 0f54 8093 0000 sts Motor_Rechts,r24 |
| 1683 .L347: |
| 1684 0f58 8091 0000 lds r24,Motor_Vorne |
| 1685 0f5c 9927 clr r25 |
| 1686 0f5e 9093 0000 sts (DebugOut+42)+1,r25 |
| 1687 0f62 8093 0000 sts DebugOut+42,r24 |
| 1688 0f66 8091 0000 lds r24,Motor_Hinten |
| 1689 0f6a 9927 clr r25 |
| 1690 0f6c 9093 0000 sts (DebugOut+44)+1,r25 |
| 1691 0f70 8093 0000 sts DebugOut+44,r24 |
| 1692 0f74 8091 0000 lds r24,Motor_Links |
| 1693 0f78 9927 clr r25 |
| 1694 0f7a 9093 0000 sts (DebugOut+46)+1,r25 |
| 1695 0f7e 8093 0000 sts DebugOut+46,r24 |
| 1696 0f82 8091 0000 lds r24,Motor_Rechts |
| 1697 0f86 9927 clr r25 |
| 1698 0f88 9093 0000 sts (DebugOut+48)+1,r25 |
| 1699 0f8c 8093 0000 sts DebugOut+48,r24 |
| 1700 0f90 1092 0000 sts twi_state,__zero_reg__ |
| 1701 0f94 1092 0000 sts motor,__zero_reg__ |
| 1702 0f98 0E94 0000 call i2c_start |
| 1703 /* epilogue: frame size=0 */ |
| 1704 0f9c 0895 ret |
| 1705 /* epilogue end (size=1) */ |
| 1706 /* function SendMotorData size 71 (70) */ |
| 1708 .global SetNeutral |
| 1710 SetNeutral: |
| 1711 /* prologue: frame size=0 */ |
| 1712 0f9e CF93 push r28 |
| 1713 0fa0 DF93 push r29 |
| 1714 /* prologue end (size=2) */ |
| 1715 0fa2 1092 0000 sts (NeutralAccX)+1,__zero_reg__ |
| 1716 0fa6 1092 0000 sts NeutralAccX,__zero_reg__ |
| 1717 0faa 1092 0000 sts (NeutralAccY)+1,__zero_reg__ |
| 1718 0fae 1092 0000 sts NeutralAccY,__zero_reg__ |
| 1719 0fb2 80E0 ldi r24,lo8(0x0) |
| 1720 0fb4 90E0 ldi r25,hi8(0x0) |
| 1721 0fb6 A0E0 ldi r26,hlo8(0x0) |
| 1722 0fb8 B0E0 ldi r27,hhi8(0x0) |
| 1723 0fba 8093 0000 sts NeutralAccZ,r24 |
| 1724 0fbe 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1725 0fc2 A093 0000 sts (NeutralAccZ)+2,r26 |
| 1726 0fc6 B093 0000 sts (NeutralAccZ)+3,r27 |
| 1727 0fca 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
| 1728 0fce 1092 0000 sts AdNeutralNick,__zero_reg__ |
| 1729 0fd2 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
| 1730 0fd6 1092 0000 sts AdNeutralRoll,__zero_reg__ |
| 1731 0fda 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
| 1732 0fde 1092 0000 sts AdNeutralGier,__zero_reg__ |
| 1733 0fe2 0E94 0000 call CalibrierMittelwert |
| 1734 0fe6 85E0 ldi r24,lo8(5) |
| 1735 0fe8 90E0 ldi r25,hi8(5) |
| 1736 0fea 0E94 0000 call SetDelay |
| 1737 0fee EC01 movw r28,r24 |
| 1738 .L358: |
| 1739 0ff0 CE01 movw r24,r28 |
| 1740 0ff2 0E94 0000 call CheckDelay |
| 1741 0ff6 8823 tst r24 |
| 1742 0ff8 01F0 breq .L358 |
| 1743 0ffa 0E94 0000 call CalibrierMittelwert |
| 1744 0ffe 8091 0000 lds r24,EE_Parameter+8 |
| 1745 1002 80FF sbrs r24,0 |
| 1746 1004 00C0 rjmp .L360 |
| 1747 1006 8091 0000 lds r24,MessLuftdruck |
| 1748 100a 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1749 100e 875B subi r24,lo8(951) |
| 1750 1010 9340 sbci r25,hi8(951) |
| 1751 1012 00F4 brsh .L362 |
| 1752 1014 8091 0000 lds r24,MessLuftdruck |
| 1753 1018 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1754 101c 8E5E subi r24,lo8(750) |
| 1755 101e 9240 sbci r25,hi8(750) |
| 1756 1020 00F4 brsh .L360 |
| 1757 .L362: |
| 1758 1022 0E94 0000 call SucheLuftruckOffset |
| 1759 .L360: |
| 1760 1026 8091 0000 lds r24,MesswertNick |
| 1761 102a 9091 0000 lds r25,(MesswertNick)+1 |
| 1762 102e 97FF sbrs r25,7 |
| 1763 1030 00C0 rjmp .L364 |
| 1764 1032 9095 com r25 |
| 1765 1034 8195 neg r24 |
| 1766 1036 9F4F sbci r25,lo8(-1) |
| 1767 .L364: |
| 1768 1038 9093 0000 sts (AdNeutralNick)+1,r25 |
| 1769 103c 8093 0000 sts AdNeutralNick,r24 |
| 1770 1040 8091 0000 lds r24,MesswertRoll |
| 1771 1044 9091 0000 lds r25,(MesswertRoll)+1 |
| 1772 1048 97FF sbrs r25,7 |
| 1773 104a 00C0 rjmp .L365 |
| 1774 104c 9095 com r25 |
| 1775 104e 8195 neg r24 |
| 1776 1050 9F4F sbci r25,lo8(-1) |
| 1777 .L365: |
| 1778 1052 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 1779 1056 8093 0000 sts AdNeutralRoll,r24 |
| 1780 105a 8091 0000 lds r24,MesswertGier |
| 1781 105e 9091 0000 lds r25,(MesswertGier)+1 |
| 1782 1062 97FF sbrs r25,7 |
| 1783 1064 00C0 rjmp .L366 |
| 1784 1066 9095 com r25 |
| 1785 1068 8195 neg r24 |
| 1786 106a 9F4F sbci r25,lo8(-1) |
| 1787 .L366: |
| 1788 106c 9093 0000 sts (AdNeutralGier)+1,r25 |
| 1789 1070 8093 0000 sts AdNeutralGier,r24 |
| 1790 1074 8091 0000 lds r24,Mittelwert_AccRoll |
| 1791 1078 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1792 107c 97FF sbrs r25,7 |
| 1793 107e 00C0 rjmp .L367 |
| 1794 1080 9095 com r25 |
| 1795 1082 8195 neg r24 |
| 1796 1084 9F4F sbci r25,lo8(-1) |
| 1797 .L367: |
| 1798 1086 60E1 ldi r22,lo8(16) |
| 1799 1088 70E0 ldi r23,hi8(16) |
| 1800 108a 0E94 0000 call __divmodhi4 |
| 1801 108e 7093 0000 sts (NeutralAccY)+1,r23 |
| 1802 1092 6093 0000 sts NeutralAccY,r22 |
| 1803 1096 8091 0000 lds r24,Mittelwert_AccNick |
| 1804 109a 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1805 109e 97FF sbrs r25,7 |
| 1806 10a0 00C0 rjmp .L368 |
| 1807 10a2 9095 com r25 |
| 1808 10a4 8195 neg r24 |
| 1809 10a6 9F4F sbci r25,lo8(-1) |
| 1810 .L368: |
| 1811 10a8 60E1 ldi r22,lo8(16) |
| 1812 10aa 70E0 ldi r23,hi8(16) |
| 1813 10ac 0E94 0000 call __divmodhi4 |
| 1814 10b0 7093 0000 sts (NeutralAccX)+1,r23 |
| 1815 10b4 6093 0000 sts NeutralAccX,r22 |
| 1816 10b8 6091 0000 lds r22,Aktuell_az |
| 1817 10bc 7091 0000 lds r23,(Aktuell_az)+1 |
| 1818 10c0 8827 clr r24 |
| 1819 10c2 77FD sbrc r23,7 |
| 1820 10c4 8095 com r24 |
| 1821 10c6 982F mov r25,r24 |
| 1822 10c8 0E94 0000 call __floatsisf |
| 1823 10cc 6093 0000 sts NeutralAccZ,r22 |
| 1824 10d0 7093 0000 sts (NeutralAccZ)+1,r23 |
| 1825 10d4 8093 0000 sts (NeutralAccZ)+2,r24 |
| 1826 10d8 9093 0000 sts (NeutralAccZ)+3,r25 |
| 1827 10dc 1092 0000 sts Mess_IntegralNick,__zero_reg__ |
| 1828 10e0 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__ |
| 1829 10e4 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__ |
| 1830 10e8 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__ |
| 1831 10ec 1092 0000 sts Mess_IntegralNick2,__zero_reg__ |
| 1832 10f0 1092 0000 sts (Mess_IntegralNick2)+1,__zero_reg__ |
| 1833 10f4 1092 0000 sts (Mess_IntegralNick2)+2,__zero_reg__ |
| 1834 10f8 1092 0000 sts (Mess_IntegralNick2)+3,__zero_reg__ |
| 1835 10fc 1092 0000 sts Mess_IntegralRoll,__zero_reg__ |
| 1836 1100 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__ |
| 1837 1104 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__ |
| 1838 1108 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__ |
| 1839 110c 1092 0000 sts Mess_IntegralRoll2,__zero_reg__ |
| 1840 1110 1092 0000 sts (Mess_IntegralRoll2)+1,__zero_reg__ |
| 1841 1114 1092 0000 sts (Mess_IntegralRoll2)+2,__zero_reg__ |
| 1842 1118 1092 0000 sts (Mess_IntegralRoll2)+3,__zero_reg__ |
| 1843 111c 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 1844 1120 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 1845 1124 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 1846 1128 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 1847 112c 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
| 1848 1130 1092 0000 sts MesswertNick,__zero_reg__ |
| 1849 1134 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
| 1850 1138 1092 0000 sts MesswertRoll,__zero_reg__ |
| 1851 113c 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
| 1852 1140 1092 0000 sts MesswertGier,__zero_reg__ |
| 1853 1144 8091 0000 lds r24,Luftdruck |
| 1854 1148 9091 0000 lds r25,(Luftdruck)+1 |
| 1855 114c A091 0000 lds r26,(Luftdruck)+2 |
| 1856 1150 B091 0000 lds r27,(Luftdruck)+3 |
| 1857 1154 9093 0000 sts (StartLuftdruck)+1,r25 |
| 1858 1158 8093 0000 sts StartLuftdruck,r24 |
| 1859 115c 1092 0000 sts (HoeheD)+1,__zero_reg__ |
| 1860 1160 1092 0000 sts HoeheD,__zero_reg__ |
| 1861 1164 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
| 1862 1168 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
| 1863 116c 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
| 1864 1170 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
| 1865 1174 8091 0000 lds r24,KompassValue |
| 1866 1178 9091 0000 lds r25,(KompassValue)+1 |
| 1867 117c 9093 0000 sts (KompassStartwert)+1,r25 |
| 1868 1180 8093 0000 sts KompassStartwert,r24 |
| 1869 1184 82E3 ldi r24,lo8(50) |
| 1870 1186 90E0 ldi r25,hi8(50) |
| 1871 1188 9093 0000 sts (beeptime)+1,r25 |
| 1872 118c 8093 0000 sts beeptime,r24 |
| 1873 /* epilogue: frame size=0 */ |
| 1874 1190 DF91 pop r29 |
| 1875 1192 CF91 pop r28 |
| 1876 1194 0895 ret |
| 1877 /* epilogue end (size=3) */ |
| 1878 /* function SetNeutral size 254 (249) */ |
| 1880 .global Piep |
| 1882 Piep: |
| 1883 /* prologue: frame size=0 */ |
| 1884 1196 1F93 push r17 |
| 1885 /* prologue end (size=1) */ |
| 1886 1198 182F mov r17,r24 |
| 1887 119a 00C0 rjmp .L373 |
| 1888 .L374: |
| 1889 119c 8091 0000 lds r24,MotorenEin |
| 1890 11a0 8823 tst r24 |
| 1891 11a2 01F4 brne .L377 |
| 1892 11a4 84E6 ldi r24,lo8(100) |
| 1893 11a6 90E0 ldi r25,hi8(100) |
| 1894 11a8 9093 0000 sts (beeptime)+1,r25 |
| 1895 11ac 8093 0000 sts beeptime,r24 |
| 1896 11b0 8AEF ldi r24,lo8(250) |
| 1897 11b2 90E0 ldi r25,hi8(250) |
| 1898 11b4 0E94 0000 call Delay_ms |
| 1899 .L373: |
| 1900 11b8 1150 subi r17,1 |
| 1901 11ba 00F4 brcc .L374 |
| 1902 .L377: |
| 1903 /* epilogue: frame size=0 */ |
| 1904 11bc 1F91 pop r17 |
| 1905 11be 0895 ret |
| 1906 /* epilogue end (size=2) */ |
| 1907 /* function Piep size 22 (19) */ |
| 1909 .global MotorRegler |
| 1911 MotorRegler: |
| 1912 /* prologue: frame size=4 */ |
| 1913 11c0 2F92 push r2 |
| 1914 11c2 3F92 push r3 |
| 1915 11c4 4F92 push r4 |
| 1916 11c6 5F92 push r5 |
| 1917 11c8 6F92 push r6 |
| 1918 11ca 7F92 push r7 |
| 1919 11cc 8F92 push r8 |
| 1920 11ce 9F92 push r9 |
| 1921 11d0 AF92 push r10 |
| 1922 11d2 BF92 push r11 |
| 1923 11d4 CF92 push r12 |
| 1924 11d6 DF92 push r13 |
| 1925 11d8 EF92 push r14 |
| 1926 11da FF92 push r15 |
| 1927 11dc 0F93 push r16 |
| 1928 11de 1F93 push r17 |
| 1929 11e0 CF93 push r28 |
| 1930 11e2 DF93 push r29 |
| 1931 11e4 CDB7 in r28,__SP_L__ |
| 1932 11e6 DEB7 in r29,__SP_H__ |
| 1933 11e8 2497 sbiw r28,4 |
| 1934 11ea 0FB6 in __tmp_reg__,__SREG__ |
| 1935 11ec F894 cli |
| 1936 11ee DEBF out __SP_H__,r29 |
| 1937 11f0 0FBE out __SREG__,__tmp_reg__ |
| 1938 11f2 CDBF out __SP_L__,r28 |
| 1939 /* prologue end (size=26) */ |
| 1940 11f4 0E94 0000 call Mittelwert |
| 1941 11f8 299A sbi 37-0x20,1 |
| 1942 11fa E091 0000 lds r30,EE_Parameter+2 |
| 1943 11fe AE2F mov r26,r30 |
| 1944 1200 BB27 clr r27 |
| 1945 1202 AA0F lsl r26 |
| 1946 1204 BB1F rol r27 |
| 1947 1206 A050 subi r26,lo8(-(PPM_in)) |
| 1948 1208 B040 sbci r27,hi8(-(PPM_in)) |
| 1949 120a 0D90 ld __tmp_reg__,X+ |
| 1950 120c BC91 ld r27,X |
| 1951 120e A02D mov r26,__tmp_reg__ |
| 1952 1210 9D01 movw r18,r26 |
| 1953 1212 2858 subi r18,lo8(-(120)) |
| 1954 1214 3F4F sbci r19,hi8(-(120)) |
| 1955 1216 3A83 std Y+2,r19 |
| 1956 1218 2983 std Y+1,r18 |
| 1957 121a 37FF sbrs r19,7 |
| 1958 121c 00C0 rjmp .L379 |
| 1959 121e 1A82 std Y+2,__zero_reg__ |
| 1960 1220 1982 std Y+1,__zero_reg__ |
| 1961 .L379: |
| 1962 1222 8091 0000 lds r24,SenderOkay |
| 1963 1226 8436 cpi r24,lo8(100) |
| 1964 1228 00F0 brlo .+2 |
| 1965 122a 00C0 rjmp .L380 |
| 1966 122c 8091 0000 lds r24,PcZugriff |
| 1967 1230 8823 tst r24 |
| 1968 1232 01F4 brne .L382 |
| 1969 1234 84EF ldi r24,lo8(500) |
| 1970 1236 91E0 ldi r25,hi8(500) |
| 1971 1238 9093 0000 sts (beeptime)+1,r25 |
| 1972 123c 8093 0000 sts beeptime,r24 |
| 1973 .L382: |
| 1974 1240 8091 0000 lds r24,RcLostTimer.2355 |
| 1975 1244 9091 0000 lds r25,(RcLostTimer.2355)+1 |
| 1976 1248 0097 sbiw r24,0 |
| 1977 124a 01F0 breq .L384 |
| 1978 124c 0197 sbiw r24,1 |
| 1979 124e 9093 0000 sts (RcLostTimer.2355)+1,r25 |
| 1980 1252 8093 0000 sts RcLostTimer.2355,r24 |
| 1981 1256 00C0 rjmp .L386 |
| 1982 .L384: |
| 1983 1258 1092 0000 sts MotorenEin,__zero_reg__ |
| 1984 125c 1092 0000 sts Notlandung,__zero_reg__ |
| 1985 .L386: |
| 1986 1260 289A sbi 37-0x20,0 |
| 1987 1262 8091 0000 lds r24,modell_fliegt.2359 |
| 1988 1266 9091 0000 lds r25,(modell_fliegt.2359)+1 |
| 1989 126a 815D subi r24,lo8(2001) |
| 1990 126c 9740 sbci r25,hi8(2001) |
| 1991 126e 00F0 brlo .L387 |
| 1992 1270 8091 0000 lds r24,EE_Parameter+25 |
| 1993 1274 482F mov r20,r24 |
| 1994 1276 5527 clr r21 |
| 1995 1278 5A83 std Y+2,r21 |
| 1996 127a 4983 std Y+1,r20 |
| 1997 127c 81E0 ldi r24,lo8(1) |
| 1998 127e 8093 0000 sts Notlandung,r24 |
| 1999 1282 E091 0000 lds r30,EE_Parameter |
| 2000 1286 FF27 clr r31 |
| 2001 1288 EE0F lsl r30 |
| 2002 128a FF1F rol r31 |
| 2003 128c E050 subi r30,lo8(-(PPM_in)) |
| 2004 128e F040 sbci r31,hi8(-(PPM_in)) |
| 2005 1290 1182 std Z+1,__zero_reg__ |
| 2006 1292 1082 st Z,__zero_reg__ |
| 2007 1294 E091 0000 lds r30,EE_Parameter+1 |
| 2008 1298 FF27 clr r31 |
| 2009 129a EE0F lsl r30 |
| 2010 129c FF1F rol r31 |
| 2011 129e E050 subi r30,lo8(-(PPM_in)) |
| 2012 12a0 F040 sbci r31,hi8(-(PPM_in)) |
| 2013 12a2 1182 std Z+1,__zero_reg__ |
| 2014 12a4 1082 st Z,__zero_reg__ |
| 2015 12a6 E091 0000 lds r30,EE_Parameter+3 |
| 2016 12aa FF27 clr r31 |
| 2017 12ac EE0F lsl r30 |
| 2018 12ae FF1F rol r31 |
| 2019 12b0 E050 subi r30,lo8(-(PPM_in)) |
| 2020 12b2 F040 sbci r31,hi8(-(PPM_in)) |
| 2021 12b4 1182 std Z+1,__zero_reg__ |
| 2022 12b6 1082 st Z,__zero_reg__ |
| 2023 12b8 00C0 rjmp .L389 |
| 2024 .L387: |
| 2025 12ba 1092 0000 sts MotorenEin,__zero_reg__ |
| 2026 12be 00C0 rjmp .L389 |
| 2027 .L380: |
| 2028 12c0 8091 0000 lds r24,SenderOkay |
| 2029 12c4 8D38 cpi r24,lo8(-115) |
| 2030 12c6 00F4 brsh .+2 |
| 2031 12c8 00C0 rjmp .L389 |
| 2032 12ca 1092 0000 sts Notlandung,__zero_reg__ |
| 2033 12ce 8091 0000 lds r24,EE_Parameter+26 |
| 2034 12d2 22E3 ldi r18,lo8(50) |
| 2035 12d4 829F mul r24,r18 |
| 2036 12d6 C001 movw r24,r0 |
| 2037 12d8 1124 clr r1 |
| 2038 12da 9093 0000 sts (RcLostTimer.2355)+1,r25 |
| 2039 12de 8093 0000 sts RcLostTimer.2355,r24 |
| 2040 12e2 6981 ldd r22,Y+1 |
| 2041 12e4 7A81 ldd r23,Y+2 |
| 2042 12e6 6932 cpi r22,41 |
| 2043 12e8 7105 cpc r23,__zero_reg__ |
| 2044 12ea 04F0 brlt .L391 |
| 2045 12ec 8091 0000 lds r24,modell_fliegt.2359 |
| 2046 12f0 9091 0000 lds r25,(modell_fliegt.2359)+1 |
| 2047 12f4 7FEF ldi r23,hi8(-1) |
| 2048 12f6 8F3F cpi r24,lo8(-1) |
| 2049 12f8 9707 cpc r25,r23 |
| 2050 12fa 01F0 breq .L393 |
| 2051 12fc 0196 adiw r24,1 |
| 2052 12fe 9093 0000 sts (modell_fliegt.2359)+1,r25 |
| 2053 1302 8093 0000 sts modell_fliegt.2359,r24 |
| 2054 .L391: |
| 2055 1306 8091 0000 lds r24,modell_fliegt.2359 |
| 2056 130a 9091 0000 lds r25,(modell_fliegt.2359)+1 |
| 2057 130e 883C cpi r24,200 |
| 2058 1310 9105 cpc r25,__zero_reg__ |
| 2059 1312 00F0 brlo .L395 |
| 2060 1314 8981 ldd r24,Y+1 |
| 2061 1316 9A81 ldd r25,Y+2 |
| 2062 1318 8897 sbiw r24,40 |
| 2063 131a 04F4 brge .L393 |
| 2064 .L395: |
| 2065 131c 1092 0000 sts SummeNick.2348,__zero_reg__ |
| 2066 1320 1092 0000 sts (SummeNick.2348)+1,__zero_reg__ |
| 2067 1324 1092 0000 sts (SummeNick.2348)+2,__zero_reg__ |
| 2068 1328 1092 0000 sts (SummeNick.2348)+3,__zero_reg__ |
| 2069 132c 1092 0000 sts SummeRoll.2349,__zero_reg__ |
| 2070 1330 1092 0000 sts (SummeRoll.2349)+1,__zero_reg__ |
| 2071 1334 1092 0000 sts (SummeRoll.2349)+2,__zero_reg__ |
| 2072 1338 1092 0000 sts (SummeRoll.2349)+3,__zero_reg__ |
| 2073 133c 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 2074 1340 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 2075 1344 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 2076 1348 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 2077 134c 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 2078 1350 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 2079 1354 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 2080 1358 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 2081 .L393: |
| 2082 135c E981 ldd r30,Y+1 |
| 2083 135e FA81 ldd r31,Y+2 |
| 2084 1360 E93C cpi r30,201 |
| 2085 1362 F105 cpc r31,__zero_reg__ |
| 2086 1364 04F4 brge .+2 |
| 2087 1366 00C0 rjmp .L397 |
| 2088 1368 8091 0000 lds r24,MotorenEin |
| 2089 136c 8823 tst r24 |
| 2090 136e 01F0 breq .+2 |
| 2091 1370 00C0 rjmp .L389 |
| 2092 1372 E091 0000 lds r30,EE_Parameter+3 |
| 2093 1376 FF27 clr r31 |
| 2094 1378 EE0F lsl r30 |
| 2095 137a FF1F rol r31 |
| 2096 137c E050 subi r30,lo8(-(PPM_in)) |
| 2097 137e F040 sbci r31,hi8(-(PPM_in)) |
| 2098 1380 8081 ld r24,Z |
| 2099 1382 9181 ldd r25,Z+1 |
| 2100 1384 8C34 cpi r24,76 |
| 2101 1386 9105 cpc r25,__zero_reg__ |
| 2102 1388 04F4 brge .+2 |
| 2103 138a 00C0 rjmp .L400 |
| 2104 138c 8091 0000 lds r24,delay_neutral.2356 |
| 2105 1390 8F5F subi r24,lo8(-(1)) |
| 2106 1392 8093 0000 sts delay_neutral.2356,r24 |
| 2107 1396 893C cpi r24,lo8(-55) |
| 2108 1398 00F4 brsh .+2 |
| 2109 139a 00C0 rjmp .L389 |
| 2110 139c 2998 cbi 37-0x20,1 |
| 2111 139e 0E94 0000 call SetNeutral |
| 2112 13a2 1092 0000 sts MotorenEin,__zero_reg__ |
| 2113 13a6 1092 0000 sts delay_neutral.2356,__zero_reg__ |
| 2114 13aa 1092 0000 sts (modell_fliegt.2359)+1,__zero_reg__ |
| 2115 13ae 1092 0000 sts modell_fliegt.2359,__zero_reg__ |
| 2116 13b2 8091 0000 lds r24,EE_Parameter |
| 2117 13b6 282F mov r18,r24 |
| 2118 13b8 3327 clr r19 |
| 2119 13ba F901 movw r30,r18 |
| 2120 13bc EE0F lsl r30 |
| 2121 13be FF1F rol r31 |
| 2122 13c0 E050 subi r30,lo8(-(PPM_in)) |
| 2123 13c2 F040 sbci r31,hi8(-(PPM_in)) |
| 2124 13c4 8081 ld r24,Z |
| 2125 13c6 9181 ldd r25,Z+1 |
| 2126 13c8 8734 cpi r24,71 |
| 2127 13ca 9105 cpc r25,__zero_reg__ |
| 2128 13cc 04F4 brge .L403 |
| 2129 13ce E091 0000 lds r30,EE_Parameter+1 |
| 2130 13d2 FF27 clr r31 |
| 2131 13d4 EE0F lsl r30 |
| 2132 13d6 FF1F rol r31 |
| 2133 13d8 E050 subi r30,lo8(-(PPM_in)) |
| 2134 13da F040 sbci r31,hi8(-(PPM_in)) |
| 2135 13dc 0190 ld __tmp_reg__,Z+ |
| 2136 13de F081 ld r31,Z |
| 2137 13e0 E02D mov r30,__tmp_reg__ |
| 2138 13e2 F7FF sbrs r31,7 |
| 2139 13e4 00C0 rjmp .L406 |
| 2140 13e6 F095 com r31 |
| 2141 13e8 E195 neg r30 |
| 2142 13ea FF4F sbci r31,lo8(-1) |
| 2143 .L406: |
| 2144 13ec E734 cpi r30,71 |
| 2145 13ee F105 cpc r31,__zero_reg__ |
| 2146 13f0 04F4 brge .+2 |
| 2147 13f2 00C0 rjmp .L405 |
| 2148 .L403: |
| 2149 13f4 8091 0000 lds r24,EE_Parameter+1 |
| 2150 13f8 682F mov r22,r24 |
| 2151 13fa 7727 clr r23 |
| 2152 13fc DB01 movw r26,r22 |
| 2153 13fe AA0F lsl r26 |
| 2154 1400 BB1F rol r27 |
| 2155 1402 A050 subi r26,lo8(-(PPM_in)) |
| 2156 1404 B040 sbci r27,hi8(-(PPM_in)) |
| 2157 1406 8D91 ld r24,X+ |
| 2158 1408 9C91 ld r25,X |
| 2159 140a 1197 sbiw r26,1 |
| 2160 140c 8734 cpi r24,71 |
| 2161 140e 9105 cpc r25,__zero_reg__ |
| 2162 1410 04F0 brlt .L407 |
| 2163 1412 F901 movw r30,r18 |
| 2164 1414 EE0F lsl r30 |
| 2165 1416 FF1F rol r31 |
| 2166 1418 E050 subi r30,lo8(-(PPM_in)) |
| 2167 141a F040 sbci r31,hi8(-(PPM_in)) |
| 2168 141c 8081 ld r24,Z |
| 2169 141e 9181 ldd r25,Z+1 |
| 2170 .L407: |
| 2171 1420 8D91 ld r24,X+ |
| 2172 1422 9C91 ld r25,X |
| 2173 1424 8734 cpi r24,71 |
| 2174 1426 9105 cpc r25,__zero_reg__ |
| 2175 1428 04F0 brlt .L409 |
| 2176 142a F901 movw r30,r18 |
| 2177 142c EE0F lsl r30 |
| 2178 142e FF1F rol r31 |
| 2179 1430 E050 subi r30,lo8(-(PPM_in)) |
| 2180 1432 F040 sbci r31,hi8(-(PPM_in)) |
| 2181 1434 8081 ld r24,Z |
| 2182 1436 9181 ldd r25,Z+1 |
| 2183 1438 8734 cpi r24,71 |
| 2184 143a 9105 cpc r25,__zero_reg__ |
| 2185 143c 04F0 brlt .L409 |
| 2186 143e 42E0 ldi r20,lo8(2) |
| 2187 1440 00C0 rjmp .L412 |
| 2188 .L409: |
| 2189 1442 41E0 ldi r20,lo8(1) |
| 2190 .L412: |
| 2191 1444 FB01 movw r30,r22 |
| 2192 1446 EE0F lsl r30 |
| 2193 1448 FF1F rol r31 |
| 2194 144a E050 subi r30,lo8(-(PPM_in)) |
| 2195 144c F040 sbci r31,hi8(-(PPM_in)) |
| 2196 144e 8081 ld r24,Z |
| 2197 1450 9181 ldd r25,Z+1 |
| 2198 1452 8634 cpi r24,70 |
| 2199 1454 9105 cpc r25,__zero_reg__ |
| 2200 1456 04F4 brge .L413 |
| 2201 1458 F901 movw r30,r18 |
| 2202 145a EE0F lsl r30 |
| 2203 145c FF1F rol r31 |
| 2204 145e E050 subi r30,lo8(-(PPM_in)) |
| 2205 1460 F040 sbci r31,hi8(-(PPM_in)) |
| 2206 1462 8081 ld r24,Z |
| 2207 1464 9181 ldd r25,Z+1 |
| 2208 1466 8734 cpi r24,71 |
| 2209 1468 9105 cpc r25,__zero_reg__ |
| 2210 146a 04F0 brlt .L413 |
| 2211 146c 43E0 ldi r20,lo8(3) |
| 2212 .L413: |
| 2213 146e FB01 movw r30,r22 |
| 2214 1470 EE0F lsl r30 |
| 2215 1472 FF1F rol r31 |
| 2216 1474 E050 subi r30,lo8(-(PPM_in)) |
| 2217 1476 F040 sbci r31,hi8(-(PPM_in)) |
| 2218 1478 8081 ld r24,Z |
| 2219 147a 9181 ldd r25,Z+1 |
| 2220 147c 8A5B subi r24,lo8(-70) |
| 2221 147e 9F4F sbci r25,hi8(-70) |
| 2222 1480 04F4 brge .L416 |
| 2223 1482 F901 movw r30,r18 |
| 2224 1484 EE0F lsl r30 |
| 2225 1486 FF1F rol r31 |
| 2226 1488 E050 subi r30,lo8(-(PPM_in)) |
| 2227 148a F040 sbci r31,hi8(-(PPM_in)) |
| 2228 148c 8081 ld r24,Z |
| 2229 148e 9181 ldd r25,Z+1 |
| 2230 1490 8734 cpi r24,71 |
| 2231 1492 9105 cpc r25,__zero_reg__ |
| 2232 1494 04F0 brlt .L416 |
| 2233 1496 44E0 ldi r20,lo8(4) |
| 2234 .L416: |
| 2235 1498 660F lsl r22 |
| 2236 149a 771F rol r23 |
| 2237 149c 6050 subi r22,lo8(-(PPM_in)) |
| 2238 149e 7040 sbci r23,hi8(-(PPM_in)) |
| 2239 14a0 FB01 movw r30,r22 |
| 2240 14a2 8081 ld r24,Z |
| 2241 14a4 9181 ldd r25,Z+1 |
| 2242 14a6 8A5B subi r24,lo8(-70) |
| 2243 14a8 9F4F sbci r25,hi8(-70) |
| 2244 14aa 04F4 brge .L419 |
| 2245 14ac 220F lsl r18 |
| 2246 14ae 331F rol r19 |
| 2247 14b0 2050 subi r18,lo8(-(PPM_in)) |
| 2248 14b2 3040 sbci r19,hi8(-(PPM_in)) |
| 2249 14b4 F901 movw r30,r18 |
| 2250 14b6 8081 ld r24,Z |
| 2251 14b8 9181 ldd r25,Z+1 |
| 2252 14ba 8634 cpi r24,70 |
| 2253 14bc 9105 cpc r25,__zero_reg__ |
| 2254 14be 04F4 brge .L419 |
| 2255 14c0 45E0 ldi r20,lo8(5) |
| 2256 .L419: |
| 2257 14c2 A0E0 ldi r26,lo8(EEPromArray+2) |
| 2258 14c4 B0E0 ldi r27,hi8(EEPromArray+2) |
| 2259 /* #APP */ |
| 2260 14c6 042E mov __tmp_reg__,r20 |
| 2261 14c8 0E94 0000 call __eeprom_write_byte_1F2021 |
| 2262 /* #NOAPP */ |
| 2263 .L405: |
| 2264 14cc 0E94 0000 call GetActiveParamSetNumber |
| 2265 14d0 4AE3 ldi r20,lo8(58) |
| 2266 14d2 60E0 ldi r22,lo8(EE_Parameter) |
| 2267 14d4 70E0 ldi r23,hi8(EE_Parameter) |
| 2268 14d6 0E94 0000 call ReadParameterSet |
| 2269 14da 0E94 0000 call GetActiveParamSetNumber |
| 2270 14de 0E94 0000 call Piep |
| 2271 14e2 8091 0000 lds r24,EE_Parameter+8 |
| 2272 14e6 80FF sbrs r24,0 |
| 2273 14e8 00C0 rjmp .L389 |
| 2274 14ea 8091 0000 lds r24,MessLuftdruck |
| 2275 14ee 9091 0000 lds r25,(MessLuftdruck)+1 |
| 2276 14f2 875B subi r24,lo8(951) |
| 2277 14f4 9340 sbci r25,hi8(951) |
| 2278 14f6 00F4 brsh .L423 |
| 2279 14f8 8091 0000 lds r24,MessLuftdruck |
| 2280 14fc 9091 0000 lds r25,(MessLuftdruck)+1 |
| 2281 1500 8E5E subi r24,lo8(750) |
| 2282 1502 9240 sbci r25,hi8(750) |
| 2283 1504 00F0 brlo .+2 |
| 2284 1506 00C0 rjmp .L389 |
| 2285 .L423: |
| 2286 1508 0E94 0000 call SucheLuftruckOffset |
| 2287 150c 00C0 rjmp .L389 |
| 2288 .L400: |
| 2289 150e 1092 0000 sts delay_neutral.2356,__zero_reg__ |
| 2290 1512 00C0 rjmp .L389 |
| 2291 .L397: |
| 2292 1514 4981 ldd r20,Y+1 |
| 2293 1516 5A81 ldd r21,Y+2 |
| 2294 1518 4332 cpi r20,35 |
| 2295 151a 5105 cpc r21,__zero_reg__ |
| 2296 151c 04F0 brlt .+2 |
| 2297 151e 00C0 rjmp .L389 |
| 2298 1520 8091 0000 lds r24,EE_Parameter+3 |
| 2299 1524 482F mov r20,r24 |
| 2300 1526 5527 clr r21 |
| 2301 1528 FA01 movw r30,r20 |
| 2302 152a EE0F lsl r30 |
| 2303 152c FF1F rol r31 |
| 2304 152e E050 subi r30,lo8(-(PPM_in)) |
| 2305 1530 F040 sbci r31,hi8(-(PPM_in)) |
| 2306 1532 8081 ld r24,Z |
| 2307 1534 9181 ldd r25,Z+1 |
| 2308 1536 855B subi r24,lo8(-75) |
| 2309 1538 9F4F sbci r25,hi8(-75) |
| 2310 153a 04F0 brlt .+2 |
| 2311 153c 00C0 rjmp .L426 |
| 2312 153e 8091 0000 lds r24,delay_einschalten.2357 |
| 2313 1542 8F5F subi r24,lo8(-(1)) |
| 2314 1544 8093 0000 sts delay_einschalten.2357,r24 |
| 2315 1548 893C cpi r24,lo8(-55) |
| 2316 154a 00F4 brsh .+2 |
| 2317 154c 00C0 rjmp .L428 |
| 2318 154e 88EC ldi r24,lo8(-56) |
| 2319 1550 8093 0000 sts delay_einschalten.2357,r24 |
| 2320 1554 81E0 ldi r24,lo8(1) |
| 2321 1556 90E0 ldi r25,hi8(1) |
| 2322 1558 9093 0000 sts (modell_fliegt.2359)+1,r25 |
| 2323 155c 8093 0000 sts modell_fliegt.2359,r24 |
| 2324 1560 81E0 ldi r24,lo8(1) |
| 2325 1562 8093 0000 sts MotorenEin,r24 |
| 2326 1566 1092 0000 sts sollGier.2350,__zero_reg__ |
| 2327 156a 1092 0000 sts (sollGier.2350)+1,__zero_reg__ |
| 2328 156e 1092 0000 sts (sollGier.2350)+2,__zero_reg__ |
| 2329 1572 1092 0000 sts (sollGier.2350)+3,__zero_reg__ |
| 2330 1576 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 2331 157a 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 2332 157e 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 2333 1582 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 2334 1586 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 2335 158a 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 2336 158e 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 2337 1592 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 2338 1596 1092 0000 sts Mess_IntegralNick,__zero_reg__ |
| 2339 159a 1092 0000 sts (Mess_IntegralNick)+1,__zero_reg__ |
| 2340 159e 1092 0000 sts (Mess_IntegralNick)+2,__zero_reg__ |
| 2341 15a2 1092 0000 sts (Mess_IntegralNick)+3,__zero_reg__ |
| 2342 15a6 1092 0000 sts Mess_IntegralRoll,__zero_reg__ |
| 2343 15aa 1092 0000 sts (Mess_IntegralRoll)+1,__zero_reg__ |
| 2344 15ae 1092 0000 sts (Mess_IntegralRoll)+2,__zero_reg__ |
| 2345 15b2 1092 0000 sts (Mess_IntegralRoll)+3,__zero_reg__ |
| 2346 15b6 8091 0000 lds r24,IntegralNick |
| 2347 15ba 9091 0000 lds r25,(IntegralNick)+1 |
| 2348 15be A091 0000 lds r26,(IntegralNick)+2 |
| 2349 15c2 B091 0000 lds r27,(IntegralNick)+3 |
| 2350 15c6 8093 0000 sts Mess_IntegralNick2,r24 |
| 2351 15ca 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2352 15ce A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2353 15d2 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2354 15d6 8091 0000 lds r24,IntegralRoll |
| 2355 15da 9091 0000 lds r25,(IntegralRoll)+1 |
| 2356 15de A091 0000 lds r26,(IntegralRoll)+2 |
| 2357 15e2 B091 0000 lds r27,(IntegralRoll)+3 |
| 2358 15e6 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2359 15ea 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2360 15ee A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2361 15f2 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2362 15f6 1092 0000 sts SummeNick.2348,__zero_reg__ |
| 2363 15fa 1092 0000 sts (SummeNick.2348)+1,__zero_reg__ |
| 2364 15fe 1092 0000 sts (SummeNick.2348)+2,__zero_reg__ |
| 2365 1602 1092 0000 sts (SummeNick.2348)+3,__zero_reg__ |
| 2366 1606 1092 0000 sts SummeRoll.2349,__zero_reg__ |
| 2367 160a 1092 0000 sts (SummeRoll.2349)+1,__zero_reg__ |
| 2368 160e 1092 0000 sts (SummeRoll.2349)+2,__zero_reg__ |
| 2369 1612 1092 0000 sts (SummeRoll.2349)+3,__zero_reg__ |
| 2370 1616 00C0 rjmp .L428 |
| 2371 .L426: |
| 2372 1618 1092 0000 sts delay_einschalten.2357,__zero_reg__ |
| 2373 .L428: |
| 2374 161c 440F lsl r20 |
| 2375 161e 551F rol r21 |
| 2376 1620 4050 subi r20,lo8(-(PPM_in)) |
| 2377 1622 5040 sbci r21,hi8(-(PPM_in)) |
| 2378 1624 FA01 movw r30,r20 |
| 2379 1626 8081 ld r24,Z |
| 2380 1628 9181 ldd r25,Z+1 |
| 2381 162a 8C34 cpi r24,76 |
| 2382 162c 9105 cpc r25,__zero_reg__ |
| 2383 162e 04F0 brlt .L430 |
| 2384 1630 8091 0000 lds r24,delay_ausschalten.2358 |
| 2385 1634 8F5F subi r24,lo8(-(1)) |
| 2386 1636 8093 0000 sts delay_ausschalten.2358,r24 |
| 2387 163a 893C cpi r24,lo8(-55) |
| 2388 163c 00F0 brlo .L389 |
| 2389 163e 1092 0000 sts MotorenEin,__zero_reg__ |
| 2390 1642 88EC ldi r24,lo8(-56) |
| 2391 1644 8093 0000 sts delay_ausschalten.2358,r24 |
| 2392 1648 1092 0000 sts (modell_fliegt.2359)+1,__zero_reg__ |
| 2393 164c 1092 0000 sts modell_fliegt.2359,__zero_reg__ |
| 2394 1650 00C0 rjmp .L389 |
| 2395 .L430: |
| 2396 1652 1092 0000 sts delay_ausschalten.2358,__zero_reg__ |
| 2397 .L389: |
| 2398 1656 8091 0000 lds r24,NewPpmData |
| 2399 165a 8150 subi r24,lo8(-(-1)) |
| 2400 165c 8093 0000 sts NewPpmData,r24 |
| 2401 1660 8091 0000 lds r24,NewPpmData |
| 2402 1664 8F3F cpi r24,lo8(-1) |
| 2403 1666 01F0 breq .L433 |
| 2404 1668 8091 0000 lds r24,Notlandung |
| 2405 166c 8823 tst r24 |
| 2406 166e 01F4 brne .+2 |
| 2407 1670 00C0 rjmp .L435 |
| 2408 .L433: |
| 2409 1672 0E94 0000 call ParameterZuordnung |
| 2410 1676 E091 0000 lds r30,EE_Parameter |
| 2411 167a FF27 clr r31 |
| 2412 167c EE0F lsl r30 |
| 2413 167e FF1F rol r31 |
| 2414 1680 DF01 movw r26,r30 |
| 2415 1682 A050 subi r26,lo8(-(PPM_in)) |
| 2416 1684 B040 sbci r27,hi8(-(PPM_in)) |
| 2417 1686 8D91 ld r24,X+ |
| 2418 1688 9C91 ld r25,X |
| 2419 168a 6091 0000 lds r22,EE_Parameter+15 |
| 2420 168e 7727 clr r23 |
| 2421 1690 E050 subi r30,lo8(-(PPM_diff)) |
| 2422 1692 F040 sbci r31,hi8(-(PPM_diff)) |
| 2423 1694 2081 ld r18,Z |
| 2424 1696 3181 ldd r19,Z+1 |
| 2425 1698 4091 0000 lds r20,EE_Parameter+16 |
| 2426 169c 5527 clr r21 |
| 2427 169e FC01 movw r30,r24 |
| 2428 16a0 E69F mul r30,r22 |
| 2429 16a2 C001 movw r24,r0 |
| 2430 16a4 E79F mul r30,r23 |
| 2431 16a6 900D add r25,r0 |
| 2432 16a8 F69F mul r31,r22 |
| 2433 16aa 900D add r25,r0 |
| 2434 16ac 1124 clr r1 |
| 2435 16ae F901 movw r30,r18 |
| 2436 16b0 E49F mul r30,r20 |
| 2437 16b2 9001 movw r18,r0 |
| 2438 16b4 E59F mul r30,r21 |
| 2439 16b6 300D add r19,r0 |
| 2440 16b8 F49F mul r31,r20 |
| 2441 16ba 300D add r19,r0 |
| 2442 16bc 1124 clr r1 |
| 2443 16be 820F add r24,r18 |
| 2444 16c0 931F adc r25,r19 |
| 2445 16c2 9093 0000 sts (StickNick)+1,r25 |
| 2446 16c6 8093 0000 sts StickNick,r24 |
| 2447 16ca E091 0000 lds r30,EE_Parameter+1 |
| 2448 16ce FF27 clr r31 |
| 2449 16d0 EE0F lsl r30 |
| 2450 16d2 FF1F rol r31 |
| 2451 16d4 DF01 movw r26,r30 |
| 2452 16d6 A050 subi r26,lo8(-(PPM_in)) |
| 2453 16d8 B040 sbci r27,hi8(-(PPM_in)) |
| 2454 16da 8D91 ld r24,X+ |
| 2455 16dc 9C91 ld r25,X |
| 2456 16de E050 subi r30,lo8(-(PPM_diff)) |
| 2457 16e0 F040 sbci r31,hi8(-(PPM_diff)) |
| 2458 16e2 2081 ld r18,Z |
| 2459 16e4 3181 ldd r19,Z+1 |
| 2460 16e6 FC01 movw r30,r24 |
| 2461 16e8 E69F mul r30,r22 |
| 2462 16ea C001 movw r24,r0 |
| 2463 16ec E79F mul r30,r23 |
| 2464 16ee 900D add r25,r0 |
| 2465 16f0 F69F mul r31,r22 |
| 2466 16f2 900D add r25,r0 |
| 2467 16f4 1124 clr r1 |
| 2468 16f6 B901 movw r22,r18 |
| 2469 16f8 649F mul r22,r20 |
| 2470 16fa 9001 movw r18,r0 |
| 2471 16fc 659F mul r22,r21 |
| 2472 16fe 300D add r19,r0 |
| 2473 1700 749F mul r23,r20 |
| 2474 1702 300D add r19,r0 |
| 2475 1704 1124 clr r1 |
| 2476 1706 820F add r24,r18 |
| 2477 1708 931F adc r25,r19 |
| 2478 170a 9093 0000 sts (StickRoll)+1,r25 |
| 2479 170e 8093 0000 sts StickRoll,r24 |
| 2480 1712 E091 0000 lds r30,EE_Parameter+3 |
| 2481 1716 FF27 clr r31 |
| 2482 1718 EE0F lsl r30 |
| 2483 171a FF1F rol r31 |
| 2484 171c E050 subi r30,lo8(-(PPM_in)) |
| 2485 171e F040 sbci r31,hi8(-(PPM_in)) |
| 2486 1720 8081 ld r24,Z |
| 2487 1722 9181 ldd r25,Z+1 |
| 2488 1724 9095 com r25 |
| 2489 1726 8195 neg r24 |
| 2490 1728 9F4F sbci r25,lo8(-1) |
| 2491 172a 9093 0000 sts (StickGier)+1,r25 |
| 2492 172e 8093 0000 sts StickGier,r24 |
| 2493 1732 1091 0000 lds r17,Parameter_Gyro_P |
| 2494 1736 612F mov r22,r17 |
| 2495 1738 7727 clr r23 |
| 2496 173a 67FD sbrc r22,7 |
| 2497 173c 7095 com r23 |
| 2498 173e 872F mov r24,r23 |
| 2499 1740 972F mov r25,r23 |
| 2500 1742 0E94 0000 call __floatsisf |
| 2501 1746 17FF sbrs r17,7 |
| 2502 1748 00C0 rjmp .L436 |
| 2503 174a 20E0 ldi r18,lo8(0x43800000) |
| 2504 174c 30E0 ldi r19,hi8(0x43800000) |
| 2505 174e 40E8 ldi r20,hlo8(0x43800000) |
| 2506 1750 53E4 ldi r21,hhi8(0x43800000) |
| 2507 1752 0E94 0000 call __addsf3 |
| 2508 .L436: |
| 2509 1756 20E0 ldi r18,lo8(0x41200000) |
| 2510 1758 30E0 ldi r19,hi8(0x41200000) |
| 2511 175a 40E2 ldi r20,hlo8(0x41200000) |
| 2512 175c 51E4 ldi r21,hhi8(0x41200000) |
| 2513 175e 0E94 0000 call __addsf3 |
| 2514 1762 20E0 ldi r18,lo8(0x3b800000) |
| 2515 1764 30E0 ldi r19,hi8(0x3b800000) |
| 2516 1766 40E8 ldi r20,hlo8(0x3b800000) |
| 2517 1768 5BE3 ldi r21,hhi8(0x3b800000) |
| 2518 176a 0E94 0000 call __mulsf3 |
| 2519 176e 5B01 movw r10,r22 |
| 2520 1770 6C01 movw r12,r24 |
| 2521 1772 6093 0000 sts GyroFaktor,r22 |
| 2522 1776 7093 0000 sts (GyroFaktor)+1,r23 |
| 2523 177a 8093 0000 sts (GyroFaktor)+2,r24 |
| 2524 177e 9093 0000 sts (GyroFaktor)+3,r25 |
| 2525 1782 1091 0000 lds r17,Parameter_Gyro_I |
| 2526 1786 612F mov r22,r17 |
| 2527 1788 7727 clr r23 |
| 2528 178a 67FD sbrc r22,7 |
| 2529 178c 7095 com r23 |
| 2530 178e 872F mov r24,r23 |
| 2531 1790 972F mov r25,r23 |
| 2532 1792 0E94 0000 call __floatsisf |
| 2533 1796 17FF sbrs r17,7 |
| 2534 1798 00C0 rjmp .L437 |
| 2535 179a 20E0 ldi r18,lo8(0x43800000) |
| 2536 179c 30E0 ldi r19,hi8(0x43800000) |
| 2537 179e 40E8 ldi r20,hlo8(0x43800000) |
| 2538 17a0 53E4 ldi r21,hhi8(0x43800000) |
| 2539 17a2 0E94 0000 call __addsf3 |
| 2540 .L437: |
| 2541 17a6 20E0 ldi r18,lo8(0x472be000) |
| 2542 17a8 30EE ldi r19,hi8(0x472be000) |
| 2543 17aa 4BE2 ldi r20,hlo8(0x472be000) |
| 2544 17ac 57E4 ldi r21,hhi8(0x472be000) |
| 2545 17ae 0E94 0000 call __divsf3 |
| 2546 17b2 6093 0000 sts IntegralFaktor,r22 |
| 2547 17b6 7093 0000 sts (IntegralFaktor)+1,r23 |
| 2548 17ba 8093 0000 sts (IntegralFaktor)+2,r24 |
| 2549 17be 9093 0000 sts (IntegralFaktor)+3,r25 |
| 2550 17c2 8091 0000 lds r24,EE_Parameter+8 |
| 2551 17c6 82FF sbrs r24,2 |
| 2552 17c8 00C0 rjmp .L438 |
| 2553 17ca 80E0 ldi r24,lo8(0x0) |
| 2554 17cc 90E0 ldi r25,hi8(0x0) |
| 2555 17ce A0E0 ldi r26,hlo8(0x0) |
| 2556 17d0 B0E0 ldi r27,hhi8(0x0) |
| 2557 17d2 8093 0000 sts IntegralFaktor,r24 |
| 2558 17d6 9093 0000 sts (IntegralFaktor)+1,r25 |
| 2559 17da A093 0000 sts (IntegralFaktor)+2,r26 |
| 2560 17de B093 0000 sts (IntegralFaktor)+3,r27 |
| 2561 .L438: |
| 2562 17e2 20E0 ldi r18,lo8(0x0) |
| 2563 17e4 30E0 ldi r19,hi8(0x0) |
| 2564 17e6 40E0 ldi r20,hlo8(0x0) |
| 2565 17e8 50E0 ldi r21,hhi8(0x0) |
| 2566 17ea C601 movw r24,r12 |
| 2567 17ec B501 movw r22,r10 |
| 2568 17ee 0E94 0000 call __ltsf2 |
| 2569 17f2 8823 tst r24 |
| 2570 17f4 04F4 brge .L440 |
| 2571 17f6 80E0 ldi r24,lo8(0x0) |
| 2572 17f8 90E0 ldi r25,hi8(0x0) |
| 2573 17fa A0E0 ldi r26,hlo8(0x0) |
| 2574 17fc B0E0 ldi r27,hhi8(0x0) |
| 2575 17fe 8093 0000 sts GyroFaktor,r24 |
| 2576 1802 9093 0000 sts (GyroFaktor)+1,r25 |
| 2577 1806 A093 0000 sts (GyroFaktor)+2,r26 |
| 2578 180a B093 0000 sts (GyroFaktor)+3,r27 |
| 2579 .L440: |
| 2580 180e 20E0 ldi r18,lo8(0x0) |
| 2581 1810 30E0 ldi r19,hi8(0x0) |
| 2582 1812 40E0 ldi r20,hlo8(0x0) |
| 2583 1814 50E0 ldi r21,hhi8(0x0) |
| 2584 1816 6091 0000 lds r22,IntegralFaktor |
| 2585 181a 7091 0000 lds r23,(IntegralFaktor)+1 |
| 2586 181e 8091 0000 lds r24,(IntegralFaktor)+2 |
| 2587 1822 9091 0000 lds r25,(IntegralFaktor)+3 |
| 2588 1826 0E94 0000 call __ltsf2 |
| 2589 182a 8823 tst r24 |
| 2590 182c 04F4 brge .L443 |
| 2591 182e 80E0 ldi r24,lo8(0x0) |
| 2592 1830 90E0 ldi r25,hi8(0x0) |
| 2593 1832 A0E0 ldi r26,hlo8(0x0) |
| 2594 1834 B0E0 ldi r27,hhi8(0x0) |
| 2595 1836 8093 0000 sts IntegralFaktor,r24 |
| 2596 183a 9093 0000 sts (IntegralFaktor)+1,r25 |
| 2597 183e A093 0000 sts (IntegralFaktor)+2,r26 |
| 2598 1842 B093 0000 sts (IntegralFaktor)+3,r27 |
| 2599 .L443: |
| 2600 1846 8091 0000 lds r24,Notlandung |
| 2601 184a 8823 tst r24 |
| 2602 184c 01F0 breq .L435 |
| 2603 184e 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 2604 1852 1092 0000 sts StickGier,__zero_reg__ |
| 2605 1856 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 2606 185a 1092 0000 sts StickNick,__zero_reg__ |
| 2607 185e 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 2608 1862 1092 0000 sts StickRoll,__zero_reg__ |
| 2609 1866 8DEC ldi r24,lo8(0x3dcccccd) |
| 2610 1868 9CEC ldi r25,hi8(0x3dcccccd) |
| 2611 186a ACEC ldi r26,hlo8(0x3dcccccd) |
| 2612 186c BDE3 ldi r27,hhi8(0x3dcccccd) |
| 2613 186e 8093 0000 sts GyroFaktor,r24 |
| 2614 1872 9093 0000 sts (GyroFaktor)+1,r25 |
| 2615 1876 A093 0000 sts (GyroFaktor)+2,r26 |
| 2616 187a B093 0000 sts (GyroFaktor)+3,r27 |
| 2617 187e 8AE0 ldi r24,lo8(0x3ba3d70a) |
| 2618 1880 97ED ldi r25,hi8(0x3ba3d70a) |
| 2619 1882 A3EA ldi r26,hlo8(0x3ba3d70a) |
| 2620 1884 BBE3 ldi r27,hhi8(0x3ba3d70a) |
| 2621 1886 8093 0000 sts IntegralFaktor,r24 |
| 2622 188a 9093 0000 sts (IntegralFaktor)+1,r25 |
| 2623 188e A093 0000 sts (IntegralFaktor)+2,r26 |
| 2624 1892 B093 0000 sts (IntegralFaktor)+3,r27 |
| 2625 .L435: |
| 2626 1896 8091 0000 lds r24,ZaehlMessungen |
| 2627 189a 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 2628 189e 8D54 subi r24,lo8(333) |
| 2629 18a0 9140 sbci r25,hi8(333) |
| 2630 18a2 00F4 brsh .+2 |
| 2631 18a4 00C0 rjmp .L447 |
| 2632 18a6 2091 0000 lds r18,IntegralNick2 |
| 2633 18aa 3091 0000 lds r19,(IntegralNick2)+1 |
| 2634 18ae 4091 0000 lds r20,(IntegralNick2)+2 |
| 2635 18b2 5091 0000 lds r21,(IntegralNick2)+3 |
| 2636 18b6 8091 0000 lds r24,IntegralNick |
| 2637 18ba 9091 0000 lds r25,(IntegralNick)+1 |
| 2638 18be A091 0000 lds r26,(IntegralNick)+2 |
| 2639 18c2 B091 0000 lds r27,(IntegralNick)+3 |
| 2640 18c6 B901 movw r22,r18 |
| 2641 18c8 681B sub r22,r24 |
| 2642 18ca 790B sbc r23,r25 |
| 2643 18cc 7093 0000 sts (IntegralFehlerNick.2353)+1,r23 |
| 2644 18d0 6093 0000 sts IntegralFehlerNick.2353,r22 |
| 2645 18d4 2091 0000 lds r18,IntegralRoll2 |
| 2646 18d8 3091 0000 lds r19,(IntegralRoll2)+1 |
| 2647 18dc 4091 0000 lds r20,(IntegralRoll2)+2 |
| 2648 18e0 5091 0000 lds r21,(IntegralRoll2)+3 |
| 2649 18e4 8091 0000 lds r24,IntegralRoll |
| 2650 18e8 9091 0000 lds r25,(IntegralRoll)+1 |
| 2651 18ec A091 0000 lds r26,(IntegralRoll)+2 |
| 2652 18f0 B091 0000 lds r27,(IntegralRoll)+3 |
| 2653 18f4 281B sub r18,r24 |
| 2654 18f6 390B sbc r19,r25 |
| 2655 18f8 3093 0000 sts (IntegralFehlerRoll.2354)+1,r19 |
| 2656 18fc 2093 0000 sts IntegralFehlerRoll.2354,r18 |
| 2657 1900 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 2658 1904 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 2659 1908 673A cpi r22,167 |
| 2660 190a 7105 cpc r23,__zero_reg__ |
| 2661 190c 04F0 brlt .L449 |
| 2662 190e 8091 0000 lds r24,AdNeutralNick |
| 2663 1912 9091 0000 lds r25,(AdNeutralNick)+1 |
| 2664 1916 0196 adiw r24,1 |
| 2665 1918 00C0 rjmp .L576 |
| 2666 .L449: |
| 2667 191a 6A55 subi r22,lo8(-166) |
| 2668 191c 7F4F sbci r23,hi8(-166) |
| 2669 191e 04F4 brge .L451 |
| 2670 1920 8091 0000 lds r24,AdNeutralNick |
| 2671 1924 9091 0000 lds r25,(AdNeutralNick)+1 |
| 2672 1928 0197 sbiw r24,1 |
| 2673 .L576: |
| 2674 192a 9093 0000 sts (AdNeutralNick)+1,r25 |
| 2675 192e 8093 0000 sts AdNeutralNick,r24 |
| 2676 .L451: |
| 2677 1932 273A cpi r18,167 |
| 2678 1934 3105 cpc r19,__zero_reg__ |
| 2679 1936 04F0 brlt .L453 |
| 2680 1938 8091 0000 lds r24,AdNeutralRoll |
| 2681 193c 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 2682 1940 0196 adiw r24,1 |
| 2683 1942 00C0 rjmp .L577 |
| 2684 .L453: |
| 2685 1944 2A55 subi r18,lo8(-166) |
| 2686 1946 3F4F sbci r19,hi8(-166) |
| 2687 1948 04F4 brge .L455 |
| 2688 194a 8091 0000 lds r24,AdNeutralRoll |
| 2689 194e 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 2690 1952 0197 sbiw r24,1 |
| 2691 .L577: |
| 2692 1954 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 2693 1958 8093 0000 sts AdNeutralRoll,r24 |
| 2694 .L455: |
| 2695 195c 8091 0000 lds r24,Mess_Integral_Gier2 |
| 2696 1960 9091 0000 lds r25,(Mess_Integral_Gier2)+1 |
| 2697 1964 A091 0000 lds r26,(Mess_Integral_Gier2)+2 |
| 2698 1968 B091 0000 lds r27,(Mess_Integral_Gier2)+3 |
| 2699 196c 873A cpi r24,lo8(167) |
| 2700 196e 9105 cpc r25,__zero_reg__ |
| 2701 1970 A105 cpc r26,__zero_reg__ |
| 2702 1972 B105 cpc r27,__zero_reg__ |
| 2703 1974 04F0 brlt .L457 |
| 2704 1976 8091 0000 lds r24,AdNeutralGier |
| 2705 197a 9091 0000 lds r25,(AdNeutralGier)+1 |
| 2706 197e 0197 sbiw r24,1 |
| 2707 1980 9093 0000 sts (AdNeutralGier)+1,r25 |
| 2708 1984 8093 0000 sts AdNeutralGier,r24 |
| 2709 .L457: |
| 2710 1988 8091 0000 lds r24,Mess_Integral_Gier2 |
| 2711 198c 9091 0000 lds r25,(Mess_Integral_Gier2)+1 |
| 2712 1990 A091 0000 lds r26,(Mess_Integral_Gier2)+2 |
| 2713 1994 B091 0000 lds r27,(Mess_Integral_Gier2)+3 |
| 2714 1998 8A55 subi r24,lo8(-166) |
| 2715 199a 9F4F sbci r25,hi8(-166) |
| 2716 199c AF4F sbci r26,hlo8(-166) |
| 2717 199e BF4F sbci r27,hhi8(-166) |
| 2718 19a0 04F4 brge .L459 |
| 2719 19a2 8091 0000 lds r24,AdNeutralGier |
| 2720 19a6 9091 0000 lds r25,(AdNeutralGier)+1 |
| 2721 19aa 0196 adiw r24,1 |
| 2722 19ac 9093 0000 sts (AdNeutralGier)+1,r25 |
| 2723 19b0 8093 0000 sts AdNeutralGier,r24 |
| 2724 .L459: |
| 2725 19b4 1092 7A00 sts 122,__zero_reg__ |
| 2726 19b8 8091 0000 lds r24,IntegralNick |
| 2727 19bc 9091 0000 lds r25,(IntegralNick)+1 |
| 2728 19c0 A091 0000 lds r26,(IntegralNick)+2 |
| 2729 19c4 B091 0000 lds r27,(IntegralNick)+3 |
| 2730 19c8 8093 0000 sts Mess_IntegralNick2,r24 |
| 2731 19cc 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2732 19d0 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2733 19d4 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2734 19d8 8091 0000 lds r24,IntegralRoll |
| 2735 19dc 9091 0000 lds r25,(IntegralRoll)+1 |
| 2736 19e0 A091 0000 lds r26,(IntegralRoll)+2 |
| 2737 19e4 B091 0000 lds r27,(IntegralRoll)+3 |
| 2738 19e8 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2739 19ec 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2740 19f0 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2741 19f4 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2742 19f8 8091 0000 lds r24,Integral_Gier |
| 2743 19fc 9091 0000 lds r25,(Integral_Gier)+1 |
| 2744 1a00 A091 0000 lds r26,(Integral_Gier)+2 |
| 2745 1a04 B091 0000 lds r27,(Integral_Gier)+3 |
| 2746 1a08 8093 0000 sts Mess_Integral_Gier2,r24 |
| 2747 1a0c 9093 0000 sts (Mess_Integral_Gier2)+1,r25 |
| 2748 1a10 A093 0000 sts (Mess_Integral_Gier2)+2,r26 |
| 2749 1a14 B093 0000 sts (Mess_Integral_Gier2)+3,r27 |
| 2750 1a18 8FEE ldi r24,lo8(-17) |
| 2751 1a1a 8093 7A00 sts 122,r24 |
| 2752 .L447: |
| 2753 1a1e 6091 0000 lds r22,IntegralNick |
| 2754 1a22 7091 0000 lds r23,(IntegralNick)+1 |
| 2755 1a26 8091 0000 lds r24,(IntegralNick)+2 |
| 2756 1a2a 9091 0000 lds r25,(IntegralNick)+3 |
| 2757 1a2e A090 0000 lds r10,EE_Parameter+20 |
| 2758 1a32 BB24 clr r11 |
| 2759 1a34 CC24 clr r12 |
| 2760 1a36 DD24 clr r13 |
| 2761 1a38 E090 0000 lds r14,Mittelwert_AccNick |
| 2762 1a3c F090 0000 lds r15,(Mittelwert_AccNick)+1 |
| 2763 1a40 A601 movw r20,r12 |
| 2764 1a42 9501 movw r18,r10 |
| 2765 1a44 0E94 0000 call __divmodsi4 |
| 2766 1a48 0027 clr r16 |
| 2767 1a4a F7FC sbrc r15,7 |
| 2768 1a4c 0095 com r16 |
| 2769 1a4e 102F mov r17,r16 |
| 2770 1a50 2E19 sub r18,r14 |
| 2771 1a52 3F09 sbc r19,r15 |
| 2772 1a54 400B sbc r20,r16 |
| 2773 1a56 510B sbc r21,r17 |
| 2774 1a58 CA01 movw r24,r20 |
| 2775 1a5a B901 movw r22,r18 |
| 2776 1a5c 20E1 ldi r18,lo8(16) |
| 2777 1a5e 30E0 ldi r19,hi8(16) |
| 2778 1a60 40E0 ldi r20,hlo8(16) |
| 2779 1a62 50E0 ldi r21,hhi8(16) |
| 2780 1a64 0E94 0000 call __divmodsi4 |
| 2781 1a68 3901 movw r6,r18 |
| 2782 1a6a 4A01 movw r8,r20 |
| 2783 1a6c 2093 0000 sts tmp_long.2351,r18 |
| 2784 1a70 3093 0000 sts (tmp_long.2351)+1,r19 |
| 2785 1a74 4093 0000 sts (tmp_long.2351)+2,r20 |
| 2786 1a78 5093 0000 sts (tmp_long.2351)+3,r21 |
| 2787 1a7c 6091 0000 lds r22,IntegralRoll |
| 2788 1a80 7091 0000 lds r23,(IntegralRoll)+1 |
| 2789 1a84 8091 0000 lds r24,(IntegralRoll)+2 |
| 2790 1a88 9091 0000 lds r25,(IntegralRoll)+3 |
| 2791 1a8c E090 0000 lds r14,Mittelwert_AccRoll |
| 2792 1a90 F090 0000 lds r15,(Mittelwert_AccRoll)+1 |
| 2793 1a94 A601 movw r20,r12 |
| 2794 1a96 9501 movw r18,r10 |
| 2795 1a98 0E94 0000 call __divmodsi4 |
| 2796 1a9c 0027 clr r16 |
| 2797 1a9e F7FC sbrc r15,7 |
| 2798 1aa0 0095 com r16 |
| 2799 1aa2 102F mov r17,r16 |
| 2800 1aa4 2E19 sub r18,r14 |
| 2801 1aa6 3F09 sbc r19,r15 |
| 2802 1aa8 400B sbc r20,r16 |
| 2803 1aaa 510B sbc r21,r17 |
| 2804 1aac CA01 movw r24,r20 |
| 2805 1aae B901 movw r22,r18 |
| 2806 1ab0 20E1 ldi r18,lo8(16) |
| 2807 1ab2 30E0 ldi r19,hi8(16) |
| 2808 1ab4 40E0 ldi r20,hlo8(16) |
| 2809 1ab6 50E0 ldi r21,hhi8(16) |
| 2810 1ab8 0E94 0000 call __divmodsi4 |
| 2811 1abc 2093 0000 sts tmp_long2.2352,r18 |
| 2812 1ac0 3093 0000 sts (tmp_long2.2352)+1,r19 |
| 2813 1ac4 4093 0000 sts (tmp_long2.2352)+2,r20 |
| 2814 1ac8 5093 0000 sts (tmp_long2.2352)+3,r21 |
| 2815 1acc F5EF ldi r31,lo8(501) |
| 2816 1ace 6F16 cp r6,r31 |
| 2817 1ad0 F1E0 ldi r31,hi8(501) |
| 2818 1ad2 7F06 cpc r7,r31 |
| 2819 1ad4 F0E0 ldi r31,hlo8(501) |
| 2820 1ad6 8F06 cpc r8,r31 |
| 2821 1ad8 F0E0 ldi r31,hhi8(501) |
| 2822 1ada 9F06 cpc r9,r31 |
| 2823 1adc 04F0 brlt .L461 |
| 2824 1ade 84EF ldi r24,lo8(500) |
| 2825 1ae0 91E0 ldi r25,hi8(500) |
| 2826 1ae2 A0E0 ldi r26,hlo8(500) |
| 2827 1ae4 B0E0 ldi r27,hhi8(500) |
| 2828 1ae6 00C0 rjmp .L578 |
| 2829 .L461: |
| 2830 1ae8 6CE0 ldi r22,lo8(-500) |
| 2831 1aea 6616 cp r6,r22 |
| 2832 1aec 6EEF ldi r22,hi8(-500) |
| 2833 1aee 7606 cpc r7,r22 |
| 2834 1af0 6FEF ldi r22,hlo8(-500) |
| 2835 1af2 8606 cpc r8,r22 |
| 2836 1af4 6FEF ldi r22,hhi8(-500) |
| 2837 1af6 9606 cpc r9,r22 |
| 2838 1af8 04F4 brge .L463 |
| 2839 1afa 8CE0 ldi r24,lo8(-500) |
| 2840 1afc 9EEF ldi r25,hi8(-500) |
| 2841 1afe AFEF ldi r26,hlo8(-500) |
| 2842 1b00 BFEF ldi r27,hhi8(-500) |
| 2843 .L578: |
| 2844 1b02 8093 0000 sts tmp_long.2351,r24 |
| 2845 1b06 9093 0000 sts (tmp_long.2351)+1,r25 |
| 2846 1b0a A093 0000 sts (tmp_long.2351)+2,r26 |
| 2847 1b0e B093 0000 sts (tmp_long.2351)+3,r27 |
| 2848 .L463: |
| 2849 1b12 253F cpi r18,lo8(501) |
| 2850 1b14 71E0 ldi r23,hi8(501) |
| 2851 1b16 3707 cpc r19,r23 |
| 2852 1b18 70E0 ldi r23,hlo8(501) |
| 2853 1b1a 4707 cpc r20,r23 |
| 2854 1b1c 70E0 ldi r23,hhi8(501) |
| 2855 1b1e 5707 cpc r21,r23 |
| 2856 1b20 04F0 brlt .L465 |
| 2857 1b22 84EF ldi r24,lo8(500) |
| 2858 1b24 91E0 ldi r25,hi8(500) |
| 2859 1b26 A0E0 ldi r26,hlo8(500) |
| 2860 1b28 B0E0 ldi r27,hhi8(500) |
| 2861 1b2a 00C0 rjmp .L579 |
| 2862 .L465: |
| 2863 1b2c 2C50 subi r18,lo8(-500) |
| 2864 1b2e 3E4F sbci r19,hi8(-500) |
| 2865 1b30 4F4F sbci r20,hlo8(-500) |
| 2866 1b32 5F4F sbci r21,hhi8(-500) |
| 2867 1b34 04F4 brge .L467 |
| 2868 1b36 8CE0 ldi r24,lo8(-500) |
| 2869 1b38 9EEF ldi r25,hi8(-500) |
| 2870 1b3a AFEF ldi r26,hlo8(-500) |
| 2871 1b3c BFEF ldi r27,hhi8(-500) |
| 2872 .L579: |
| 2873 1b3e 8093 0000 sts tmp_long2.2352,r24 |
| 2874 1b42 9093 0000 sts (tmp_long2.2352)+1,r25 |
| 2875 1b46 A093 0000 sts (tmp_long2.2352)+2,r26 |
| 2876 1b4a B093 0000 sts (tmp_long2.2352)+3,r27 |
| 2877 .L467: |
| 2878 1b4e 1092 7A00 sts 122,__zero_reg__ |
| 2879 1b52 8091 0000 lds r24,Mess_IntegralNick |
| 2880 1b56 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2881 1b5a A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2882 1b5e B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2883 1b62 2091 0000 lds r18,tmp_long.2351 |
| 2884 1b66 3091 0000 lds r19,(tmp_long.2351)+1 |
| 2885 1b6a 4091 0000 lds r20,(tmp_long.2351)+2 |
| 2886 1b6e 5091 0000 lds r21,(tmp_long.2351)+3 |
| 2887 1b72 821B sub r24,r18 |
| 2888 1b74 930B sbc r25,r19 |
| 2889 1b76 A40B sbc r26,r20 |
| 2890 1b78 B50B sbc r27,r21 |
| 2891 1b7a 8093 0000 sts Mess_IntegralNick,r24 |
| 2892 1b7e 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2893 1b82 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2894 1b86 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2895 1b8a 8091 0000 lds r24,Mess_IntegralRoll |
| 2896 1b8e 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2897 1b92 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2898 1b96 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2899 1b9a 2091 0000 lds r18,tmp_long2.2352 |
| 2900 1b9e 3091 0000 lds r19,(tmp_long2.2352)+1 |
| 2901 1ba2 4091 0000 lds r20,(tmp_long2.2352)+2 |
| 2902 1ba6 5091 0000 lds r21,(tmp_long2.2352)+3 |
| 2903 1baa 821B sub r24,r18 |
| 2904 1bac 930B sbc r25,r19 |
| 2905 1bae A40B sbc r26,r20 |
| 2906 1bb0 B50B sbc r27,r21 |
| 2907 1bb2 8093 0000 sts Mess_IntegralRoll,r24 |
| 2908 1bb6 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2909 1bba A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2910 1bbe B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2911 1bc2 8091 0000 lds r24,StickGier |
| 2912 1bc6 9091 0000 lds r25,(StickGier)+1 |
| 2913 1bca 5C01 movw r10,r24 |
| 2914 1bcc CC24 clr r12 |
| 2915 1bce B7FC sbrc r11,7 |
| 2916 1bd0 C094 com r12 |
| 2917 1bd2 DC2C mov r13,r12 |
| 2918 1bd4 A092 0000 sts sollGier.2350,r10 |
| 2919 1bd8 B092 0000 sts (sollGier.2350)+1,r11 |
| 2920 1bdc C092 0000 sts (sollGier.2350)+2,r12 |
| 2921 1be0 D092 0000 sts (sollGier.2350)+3,r13 |
| 2922 1be4 97FF sbrs r25,7 |
| 2923 1be6 00C0 rjmp .L470 |
| 2924 1be8 9095 com r25 |
| 2925 1bea 8195 neg r24 |
| 2926 1bec 9F4F sbci r25,lo8(-1) |
| 2927 .L470: |
| 2928 1bee 8497 sbiw r24,36 |
| 2929 1bf0 04F0 brlt .L469 |
| 2930 1bf2 8091 0000 lds r24,EE_Parameter+8 |
| 2931 1bf6 84FD sbrc r24,4 |
| 2932 1bf8 00C0 rjmp .L469 |
| 2933 1bfa 81E0 ldi r24,lo8(1) |
| 2934 1bfc 8093 0000 sts NeueKompassRichtungMerken.2362,r24 |
| 2935 .L469: |
| 2936 1c00 6090 0000 lds r6,Mess_Integral_Gier |
| 2937 1c04 7090 0000 lds r7,(Mess_Integral_Gier)+1 |
| 2938 1c08 8090 0000 lds r8,(Mess_Integral_Gier)+2 |
| 2939 1c0c 9090 0000 lds r9,(Mess_Integral_Gier)+3 |
| 2940 1c10 C501 movw r24,r10 |
| 2941 1c12 B7FE sbrs r11,7 |
| 2942 1c14 00C0 rjmp .L473 |
| 2943 1c16 9095 com r25 |
| 2944 1c18 8195 neg r24 |
| 2945 1c1a 9F4F sbci r25,lo8(-1) |
| 2946 .L473: |
| 2947 1c1c 7C01 movw r14,r24 |
| 2948 1c1e 0027 clr r16 |
| 2949 1c20 F7FC sbrc r15,7 |
| 2950 1c22 0095 com r16 |
| 2951 1c24 102F mov r17,r16 |
| 2952 1c26 2091 0000 lds r18,EE_Parameter+17 |
| 2953 1c2a 3327 clr r19 |
| 2954 1c2c 4427 clr r20 |
| 2955 1c2e 5527 clr r21 |
| 2956 1c30 C601 movw r24,r12 |
| 2957 1c32 B501 movw r22,r10 |
| 2958 1c34 0E94 0000 call __mulsi3 |
| 2959 1c38 9B01 movw r18,r22 |
| 2960 1c3a AC01 movw r20,r24 |
| 2961 1c3c C801 movw r24,r16 |
| 2962 1c3e B701 movw r22,r14 |
| 2963 1c40 0E94 0000 call __mulsi3 |
| 2964 1c44 20E0 ldi r18,lo8(256) |
| 2965 1c46 31E0 ldi r19,hi8(256) |
| 2966 1c48 40E0 ldi r20,hlo8(256) |
| 2967 1c4a 50E0 ldi r21,hhi8(256) |
| 2968 1c4c 0E94 0000 call __divmodsi4 |
| 2969 1c50 4427 clr r20 |
| 2970 1c52 37FD sbrc r19,7 |
| 2971 1c54 4095 com r20 |
| 2972 1c56 542F mov r21,r20 |
| 2973 1c58 621A sub r6,r18 |
| 2974 1c5a 730A sbc r7,r19 |
| 2975 1c5c 840A sbc r8,r20 |
| 2976 1c5e 950A sbc r9,r21 |
| 2977 1c60 6092 0000 sts Mess_Integral_Gier,r6 |
| 2978 1c64 7092 0000 sts (Mess_Integral_Gier)+1,r7 |
| 2979 1c68 8092 0000 sts (Mess_Integral_Gier)+2,r8 |
| 2980 1c6c 9092 0000 sts (Mess_Integral_Gier)+3,r9 |
| 2981 1c70 8091 0000 lds r24,Mess_Integral_Gier |
| 2982 1c74 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 2983 1c78 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 2984 1c7c B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 2985 1c80 8153 subi r24,lo8(30001) |
| 2986 1c82 9547 sbci r25,hi8(30001) |
| 2987 1c84 A040 sbci r26,hlo8(30001) |
| 2988 1c86 B040 sbci r27,hhi8(30001) |
| 2989 1c88 04F0 brlt .L474 |
| 2990 1c8a 80E3 ldi r24,lo8(30000) |
| 2991 1c8c 95E7 ldi r25,hi8(30000) |
| 2992 1c8e A0E0 ldi r26,hlo8(30000) |
| 2993 1c90 B0E0 ldi r27,hhi8(30000) |
| 2994 1c92 8093 0000 sts Mess_Integral_Gier,r24 |
| 2995 1c96 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 2996 1c9a A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 2997 1c9e B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 2998 .L474: |
| 2999 1ca2 8091 0000 lds r24,Mess_Integral_Gier |
| 3000 1ca6 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 3001 1caa A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 3002 1cae B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 3003 1cb2 805D subi r24,lo8(-30000) |
| 3004 1cb4 9A48 sbci r25,hi8(-30000) |
| 3005 1cb6 AF4F sbci r26,hlo8(-30000) |
| 3006 1cb8 BF4F sbci r27,hhi8(-30000) |
| 3007 1cba 04F4 brge .L476 |
| 3008 1cbc 80ED ldi r24,lo8(-30000) |
| 3009 1cbe 9AE8 ldi r25,hi8(-30000) |
| 3010 1cc0 AFEF ldi r26,hlo8(-30000) |
| 3011 1cc2 BFEF ldi r27,hhi8(-30000) |
| 3012 1cc4 8093 0000 sts Mess_Integral_Gier,r24 |
| 3013 1cc8 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 3014 1ccc A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 3015 1cd0 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 3016 .L476: |
| 3017 1cd4 8FEE ldi r24,lo8(-17) |
| 3018 1cd6 8093 7A00 sts 122,r24 |
| 3019 1cda 8091 0000 lds r24,KompassValue |
| 3020 1cde 9091 0000 lds r25,(KompassValue)+1 |
| 3021 1ce2 892B or r24,r25 |
| 3022 1ce4 01F4 brne .+2 |
| 3023 1ce6 00C0 rjmp .L478 |
| 3024 1ce8 8091 0000 lds r24,EE_Parameter+8 |
| 3025 1cec 83FF sbrs r24,3 |
| 3026 1cee 00C0 rjmp .L478 |
| 3027 1cf0 6091 0000 lds r22,IntegralNick |
| 3028 1cf4 7091 0000 lds r23,(IntegralNick)+1 |
| 3029 1cf8 8091 0000 lds r24,(IntegralNick)+2 |
| 3030 1cfc 9091 0000 lds r25,(IntegralNick)+3 |
| 3031 1d00 20E0 ldi r18,lo8(512) |
| 3032 1d02 32E0 ldi r19,hi8(512) |
| 3033 1d04 40E0 ldi r20,hlo8(512) |
| 3034 1d06 50E0 ldi r21,hhi8(512) |
| 3035 1d08 0E94 0000 call __divmodsi4 |
| 3036 1d0c 8901 movw r16,r18 |
| 3037 1d0e 37FF sbrs r19,7 |
| 3038 1d10 00C0 rjmp .L481 |
| 3039 1d12 1095 com r17 |
| 3040 1d14 0195 neg r16 |
| 3041 1d16 1F4F sbci r17,lo8(-1) |
| 3042 .L481: |
| 3043 1d18 6091 0000 lds r22,IntegralRoll |
| 3044 1d1c 7091 0000 lds r23,(IntegralRoll)+1 |
| 3045 1d20 8091 0000 lds r24,(IntegralRoll)+2 |
| 3046 1d24 9091 0000 lds r25,(IntegralRoll)+3 |
| 3047 1d28 20E0 ldi r18,lo8(512) |
| 3048 1d2a 32E0 ldi r19,hi8(512) |
| 3049 1d2c 40E0 ldi r20,hlo8(512) |
| 3050 1d2e 50E0 ldi r21,hhi8(512) |
| 3051 1d30 0E94 0000 call __divmodsi4 |
| 3052 1d34 B901 movw r22,r18 |
| 3053 1d36 37FF sbrs r19,7 |
| 3054 1d38 00C0 rjmp .L482 |
| 3055 1d3a 7095 com r23 |
| 3056 1d3c 6195 neg r22 |
| 3057 1d3e 7F4F sbci r23,lo8(-1) |
| 3058 .L482: |
| 3059 1d40 6017 cp r22,r16 |
| 3060 1d42 7107 cpc r23,r17 |
| 3061 1d44 04F4 brge .L483 |
| 3062 1d46 B801 movw r22,r16 |
| 3063 .L483: |
| 3064 1d48 6931 cpi r22,25 |
| 3065 1d4a 7105 cpc r23,__zero_reg__ |
| 3066 1d4c 04F4 brge .L484 |
| 3067 1d4e 8091 0000 lds r24,NeueKompassRichtungMerken.2362 |
| 3068 1d52 8823 tst r24 |
| 3069 1d54 01F0 breq .L484 |
| 3070 1d56 8091 0000 lds r24,SignalSchlecht.2366 |
| 3071 1d5a 9091 0000 lds r25,(SignalSchlecht.2366)+1 |
| 3072 1d5e 892B or r24,r25 |
| 3073 1d60 01F4 brne .L484 |
| 3074 1d62 8091 0000 lds r24,KompassValue |
| 3075 1d66 9091 0000 lds r25,(KompassValue)+1 |
| 3076 1d6a 9093 0000 sts (KompassStartwert)+1,r25 |
| 3077 1d6e 8093 0000 sts KompassStartwert,r24 |
| 3078 1d72 1092 0000 sts NeueKompassRichtungMerken.2362,__zero_reg__ |
| 3079 .L484: |
| 3080 1d76 2091 0000 lds r18,Parameter_KompassWirkung |
| 3081 1d7a 3327 clr r19 |
| 3082 1d7c 629F mul r22,r18 |
| 3083 1d7e C001 movw r24,r0 |
| 3084 1d80 639F mul r22,r19 |
| 3085 1d82 900D add r25,r0 |
| 3086 1d84 729F mul r23,r18 |
| 3087 1d86 900D add r25,r0 |
| 3088 1d88 1124 clr r1 |
| 3089 1d8a 60E4 ldi r22,lo8(64) |
| 3090 1d8c 70E0 ldi r23,hi8(64) |
| 3091 1d8e 0E94 0000 call __divmodhi4 |
| 3092 1d92 A901 movw r20,r18 |
| 3093 1d94 461B sub r20,r22 |
| 3094 1d96 570B sbc r21,r23 |
| 3095 1d98 1416 cp __zero_reg__,r20 |
| 3096 1d9a 1506 cpc __zero_reg__,r21 |
| 3097 1d9c 04F0 brlt .+2 |
| 3098 1d9e 00C0 rjmp .L488 |
| 3099 1da0 1092 7A00 sts 122,__zero_reg__ |
| 3100 1da4 2091 0000 lds r18,SignalSchlecht.2366 |
| 3101 1da8 3091 0000 lds r19,(SignalSchlecht.2366)+1 |
| 3102 1dac 2115 cp r18,__zero_reg__ |
| 3103 1dae 3105 cpc r19,__zero_reg__ |
| 3104 1db0 01F4 brne .L490 |
| 3105 1db2 0091 0000 lds r16,Mess_Integral_Gier |
| 3106 1db6 1091 0000 lds r17,(Mess_Integral_Gier)+1 |
| 3107 1dba 2091 0000 lds r18,(Mess_Integral_Gier)+2 |
| 3108 1dbe 3091 0000 lds r19,(Mess_Integral_Gier)+3 |
| 3109 1dc2 8091 0000 lds r24,KompassRichtung |
| 3110 1dc6 9091 0000 lds r25,(KompassRichtung)+1 |
| 3111 1dca BC01 movw r22,r24 |
| 3112 1dcc 649F mul r22,r20 |
| 3113 1dce C001 movw r24,r0 |
| 3114 1dd0 659F mul r22,r21 |
| 3115 1dd2 900D add r25,r0 |
| 3116 1dd4 749F mul r23,r20 |
| 3117 1dd6 900D add r25,r0 |
| 3118 1dd8 1124 clr r1 |
| 3119 1dda 60E2 ldi r22,lo8(32) |
| 3120 1ddc 70E0 ldi r23,hi8(32) |
| 3121 1dde 0E94 0000 call __divmodhi4 |
| 3122 1de2 8827 clr r24 |
| 3123 1de4 77FD sbrc r23,7 |
| 3124 1de6 8095 com r24 |
| 3125 1de8 982F mov r25,r24 |
| 3126 1dea 060F add r16,r22 |
| 3127 1dec 171F adc r17,r23 |
| 3128 1dee 281F adc r18,r24 |
| 3129 1df0 391F adc r19,r25 |
| 3130 1df2 0093 0000 sts Mess_Integral_Gier,r16 |
| 3131 1df6 1093 0000 sts (Mess_Integral_Gier)+1,r17 |
| 3132 1dfa 2093 0000 sts (Mess_Integral_Gier)+2,r18 |
| 3133 1dfe 3093 0000 sts (Mess_Integral_Gier)+3,r19 |
| 3134 1e02 8FEE ldi r24,lo8(-17) |
| 3135 1e04 8093 7A00 sts 122,r24 |
| 3136 1e08 00C0 rjmp .L478 |
| 3137 .L490: |
| 3138 1e0a 8FEE ldi r24,lo8(-17) |
| 3139 1e0c 8093 7A00 sts 122,r24 |
| 3140 1e10 2150 subi r18,lo8(-(-1)) |
| 3141 1e12 3040 sbci r19,hi8(-(-1)) |
| 3142 1e14 3093 0000 sts (SignalSchlecht.2366)+1,r19 |
| 3143 1e18 2093 0000 sts SignalSchlecht.2366,r18 |
| 3144 1e1c 00C0 rjmp .L478 |
| 3145 .L488: |
| 3146 1e1e 84EF ldi r24,lo8(500) |
| 3147 1e20 91E0 ldi r25,hi8(500) |
| 3148 1e22 9093 0000 sts (SignalSchlecht.2366)+1,r25 |
| 3149 1e26 8093 0000 sts SignalSchlecht.2366,r24 |
| 3150 .L478: |
| 3151 1e2a 8091 0000 lds r24,EE_Parameter+8 |
| 3152 1e2e 85FF sbrs r24,5 |
| 3153 1e30 00C0 rjmp .L492 |
| 3154 1e32 8091 0000 lds r24,Parameter_UserParam1 |
| 3155 1e36 9927 clr r25 |
| 3156 1e38 9093 0000 sts (gps_p)+1,r25 |
| 3157 1e3c 8093 0000 sts gps_p,r24 |
| 3158 1e40 8091 0000 lds r24,Parameter_UserParam2 |
| 3159 1e44 9927 clr r25 |
| 3160 1e46 9093 0000 sts (gps_d)+1,r25 |
| 3161 1e4a 8093 0000 sts gps_d,r24 |
| 3162 1e4e 0E94 0000 call gps_main |
| 3163 1e52 00C0 rjmp .L494 |
| 3164 .L492: |
| 3165 1e54 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 3166 1e58 1092 0000 sts GPS_Nick,__zero_reg__ |
| 3167 1e5c 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 3168 1e60 1092 0000 sts GPS_Roll,__zero_reg__ |
| 3169 .L494: |
| 3170 1e64 8091 0000 lds r24,DebugOut+17 |
| 3171 1e68 8F5F subi r24,lo8(-(1)) |
| 3172 1e6a 8093 0000 sts DebugOut+17,r24 |
| 3173 1e6e 8091 0000 lds r24,TimerWerteausgabe.2361 |
| 3174 1e72 8150 subi r24,lo8(-(-1)) |
| 3175 1e74 8093 0000 sts TimerWerteausgabe.2361,r24 |
| 3176 1e78 8F3F cpi r24,lo8(-1) |
| 3177 1e7a 01F0 breq .+2 |
| 3178 1e7c 00C0 rjmp .L495 |
| 3179 1e7e 81E3 ldi r24,lo8(49) |
| 3180 1e80 8093 0000 sts TimerWerteausgabe.2361,r24 |
| 3181 1e84 6091 0000 lds r22,IntegralNick |
| 3182 1e88 7091 0000 lds r23,(IntegralNick)+1 |
| 3183 1e8c 8091 0000 lds r24,(IntegralNick)+2 |
| 3184 1e90 9091 0000 lds r25,(IntegralNick)+3 |
| 3185 1e94 E090 0000 lds r14,EE_Parameter+20 |
| 3186 1e98 FF24 clr r15 |
| 3187 1e9a 0027 clr r16 |
| 3188 1e9c 1127 clr r17 |
| 3189 1e9e A801 movw r20,r16 |
| 3190 1ea0 9701 movw r18,r14 |
| 3191 1ea2 0E94 0000 call __divmodsi4 |
| 3192 1ea6 3093 0000 sts (DebugOut+18)+1,r19 |
| 3193 1eaa 2093 0000 sts DebugOut+18,r18 |
| 3194 1eae 6091 0000 lds r22,IntegralRoll |
| 3195 1eb2 7091 0000 lds r23,(IntegralRoll)+1 |
| 3196 1eb6 8091 0000 lds r24,(IntegralRoll)+2 |
| 3197 1eba 9091 0000 lds r25,(IntegralRoll)+3 |
| 3198 1ebe A801 movw r20,r16 |
| 3199 1ec0 9701 movw r18,r14 |
| 3200 1ec2 0E94 0000 call __divmodsi4 |
| 3201 1ec6 3093 0000 sts (DebugOut+20)+1,r19 |
| 3202 1eca 2093 0000 sts DebugOut+20,r18 |
| 3203 1ece 8091 0000 lds r24,Mittelwert_AccNick |
| 3204 1ed2 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 3205 1ed6 9093 0000 sts (DebugOut+22)+1,r25 |
| 3206 1eda 8093 0000 sts DebugOut+22,r24 |
| 3207 1ede 8091 0000 lds r24,Mittelwert_AccRoll |
| 3208 1ee2 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 3209 1ee6 9093 0000 sts (DebugOut+24)+1,r25 |
| 3210 1eea 8093 0000 sts DebugOut+24,r24 |
| 3211 1eee 8091 0000 lds r24,MesswertGier |
| 3212 1ef2 9091 0000 lds r25,(MesswertGier)+1 |
| 3213 1ef6 9093 0000 sts (DebugOut+26)+1,r25 |
| 3214 1efa 8093 0000 sts DebugOut+26,r24 |
| 3215 1efe 8091 0000 lds r24,HoehenWert |
| 3216 1f02 9091 0000 lds r25,(HoehenWert)+1 |
| 3217 1f06 9093 0000 sts (DebugOut+28)+1,r25 |
| 3218 1f0a 8093 0000 sts DebugOut+28,r24 |
| 3219 1f0e 6091 0000 lds r22,Mess_Integral_Hoch |
| 3220 1f12 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 3221 1f16 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 3222 1f1a 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 3223 1f1e 20E0 ldi r18,lo8(512) |
| 3224 1f20 32E0 ldi r19,hi8(512) |
| 3225 1f22 40E0 ldi r20,hlo8(512) |
| 3226 1f24 50E0 ldi r21,hhi8(512) |
| 3227 1f26 0E94 0000 call __divmodsi4 |
| 3228 1f2a 3093 0000 sts (DebugOut+30)+1,r19 |
| 3229 1f2e 2093 0000 sts DebugOut+30,r18 |
| 3230 1f32 8981 ldd r24,Y+1 |
| 3231 1f34 9A81 ldd r25,Y+2 |
| 3232 1f36 9093 0000 sts (DebugOut+32)+1,r25 |
| 3233 1f3a 8093 0000 sts DebugOut+32,r24 |
| 3234 1f3e 8091 0000 lds r24,KompassValue |
| 3235 1f42 9091 0000 lds r25,(KompassValue)+1 |
| 3236 1f46 9093 0000 sts (DebugOut+34)+1,r25 |
| 3237 1f4a 8093 0000 sts DebugOut+34,r24 |
| 3238 .L495: |
| 3239 1f4e 6091 0000 lds r22,IntegralNick |
| 3240 1f52 7091 0000 lds r23,(IntegralNick)+1 |
| 3241 1f56 8091 0000 lds r24,(IntegralNick)+2 |
| 3242 1f5a 9091 0000 lds r25,(IntegralNick)+3 |
| 3243 1f5e 2090 0000 lds r2,IntegralFaktor |
| 3244 1f62 3090 0000 lds r3,(IntegralFaktor)+1 |
| 3245 1f66 4090 0000 lds r4,(IntegralFaktor)+2 |
| 3246 1f6a 5090 0000 lds r5,(IntegralFaktor)+3 |
| 3247 1f6e E090 0000 lds r14,MesswertNick |
| 3248 1f72 F090 0000 lds r15,(MesswertNick)+1 |
| 3249 1f76 6090 0000 lds r6,GyroFaktor |
| 3250 1f7a 7090 0000 lds r7,(GyroFaktor)+1 |
| 3251 1f7e 8090 0000 lds r8,(GyroFaktor)+2 |
| 3252 1f82 9090 0000 lds r9,(GyroFaktor)+3 |
| 3253 1f86 0E94 0000 call __floatsisf |
| 3254 1f8a A201 movw r20,r4 |
| 3255 1f8c 9101 movw r18,r2 |
| 3256 1f8e 0E94 0000 call __mulsf3 |
| 3257 1f92 5B01 movw r10,r22 |
| 3258 1f94 6C01 movw r12,r24 |
| 3259 1f96 0027 clr r16 |
| 3260 1f98 F7FC sbrc r15,7 |
| 3261 1f9a 0095 com r16 |
| 3262 1f9c 102F mov r17,r16 |
| 3263 1f9e C801 movw r24,r16 |
| 3264 1fa0 B701 movw r22,r14 |
| 3265 1fa2 0E94 0000 call __floatsisf |
| 3266 1fa6 A401 movw r20,r8 |
| 3267 1fa8 9301 movw r18,r6 |
| 3268 1faa 0E94 0000 call __mulsf3 |
| 3269 1fae 9B01 movw r18,r22 |
| 3270 1fb0 AC01 movw r20,r24 |
| 3271 1fb2 C601 movw r24,r12 |
| 3272 1fb4 B501 movw r22,r10 |
| 3273 1fb6 0E94 0000 call __addsf3 |
| 3274 1fba 0E94 0000 call __fixsfsi |
| 3275 1fbe 7093 0000 sts (MesswertNick)+1,r23 |
| 3276 1fc2 6093 0000 sts MesswertNick,r22 |
| 3277 1fc6 6091 0000 lds r22,IntegralRoll |
| 3278 1fca 7091 0000 lds r23,(IntegralRoll)+1 |
| 3279 1fce 8091 0000 lds r24,(IntegralRoll)+2 |
| 3280 1fd2 9091 0000 lds r25,(IntegralRoll)+3 |
| 3281 1fd6 E090 0000 lds r14,MesswertRoll |
| 3282 1fda F090 0000 lds r15,(MesswertRoll)+1 |
| 3283 1fde 0E94 0000 call __floatsisf |
| 3284 1fe2 A201 movw r20,r4 |
| 3285 1fe4 9101 movw r18,r2 |
| 3286 1fe6 0E94 0000 call __mulsf3 |
| 3287 1fea 5B01 movw r10,r22 |
| 3288 1fec 6C01 movw r12,r24 |
| 3289 1fee 0027 clr r16 |
| 3290 1ff0 F7FC sbrc r15,7 |
| 3291 1ff2 0095 com r16 |
| 3292 1ff4 102F mov r17,r16 |
| 3293 1ff6 C801 movw r24,r16 |
| 3294 1ff8 B701 movw r22,r14 |
| 3295 1ffa 0E94 0000 call __floatsisf |
| 3296 1ffe A401 movw r20,r8 |
| 3297 2000 9301 movw r18,r6 |
| 3298 2002 0E94 0000 call __mulsf3 |
| 3299 2006 9B01 movw r18,r22 |
| 3300 2008 AC01 movw r20,r24 |
| 3301 200a C601 movw r24,r12 |
| 3302 200c B501 movw r22,r10 |
| 3303 200e 0E94 0000 call __addsf3 |
| 3304 2012 0E94 0000 call __fixsfsi |
| 3305 2016 7093 0000 sts (MesswertRoll)+1,r23 |
| 3306 201a 6093 0000 sts MesswertRoll,r22 |
| 3307 201e 6091 0000 lds r22,MesswertGier |
| 3308 2022 7091 0000 lds r23,(MesswertGier)+1 |
| 3309 2026 A090 0000 lds r10,Integral_Gier |
| 3310 202a B090 0000 lds r11,(Integral_Gier)+1 |
| 3311 202e C090 0000 lds r12,(Integral_Gier)+2 |
| 3312 2032 D090 0000 lds r13,(Integral_Gier)+3 |
| 3313 2036 8827 clr r24 |
| 3314 2038 77FD sbrc r23,7 |
| 3315 203a 8095 com r24 |
| 3316 203c 982F mov r25,r24 |
| 3317 203e 0E94 0000 call __floatsisf |
| 3318 2042 7B01 movw r14,r22 |
| 3319 2044 8C01 movw r16,r24 |
| 3320 2046 20E0 ldi r18,lo8(0x3f000000) |
| 3321 2048 30E0 ldi r19,hi8(0x3f000000) |
| 3322 204a 40E0 ldi r20,hlo8(0x3f000000) |
| 3323 204c 5FE3 ldi r21,hhi8(0x3f000000) |
| 3324 204e C401 movw r24,r8 |
| 3325 2050 B301 movw r22,r6 |
| 3326 2052 0E94 0000 call __mulsf3 |
| 3327 2056 9B01 movw r18,r22 |
| 3328 2058 AC01 movw r20,r24 |
| 3329 205a C801 movw r24,r16 |
| 3330 205c B701 movw r22,r14 |
| 3331 205e 0E94 0000 call __mulsf3 |
| 3332 2062 7B01 movw r14,r22 |
| 3333 2064 8C01 movw r16,r24 |
| 3334 2066 C601 movw r24,r12 |
| 3335 2068 B501 movw r22,r10 |
| 3336 206a 0E94 0000 call __floatsisf |
| 3337 206e A201 movw r20,r4 |
| 3338 2070 9101 movw r18,r2 |
| 3339 2072 0E94 0000 call __mulsf3 |
| 3340 2076 9B01 movw r18,r22 |
| 3341 2078 AC01 movw r20,r24 |
| 3342 207a C801 movw r24,r16 |
| 3343 207c B701 movw r22,r14 |
| 3344 207e 0E94 0000 call __addsf3 |
| 3345 2082 0E94 0000 call __fixsfsi |
| 3346 2086 7093 0000 sts (MesswertGier)+1,r23 |
| 3347 208a 6093 0000 sts MesswertGier,r22 |
| 3348 208e 8091 0000 lds r24,MesswertNick |
| 3349 2092 9091 0000 lds r25,(MesswertNick)+1 |
| 3350 2096 8150 subi r24,lo8(2049) |
| 3351 2098 9840 sbci r25,hi8(2049) |
| 3352 209a 04F0 brlt .L497 |
| 3353 209c 80E0 ldi r24,lo8(2048) |
| 3354 209e 98E0 ldi r25,hi8(2048) |
| 3355 20a0 9093 0000 sts (MesswertNick)+1,r25 |
| 3356 20a4 8093 0000 sts MesswertNick,r24 |
| 3357 .L497: |
| 3358 20a8 8091 0000 lds r24,MesswertNick |
| 3359 20ac 9091 0000 lds r25,(MesswertNick)+1 |
| 3360 20b0 8050 subi r24,lo8(-2048) |
| 3361 20b2 984F sbci r25,hi8(-2048) |
| 3362 20b4 04F4 brge .L499 |
| 3363 20b6 80E0 ldi r24,lo8(-2048) |
| 3364 20b8 98EF ldi r25,hi8(-2048) |
| 3365 20ba 9093 0000 sts (MesswertNick)+1,r25 |
| 3366 20be 8093 0000 sts MesswertNick,r24 |
| 3367 .L499: |
| 3368 20c2 8091 0000 lds r24,MesswertRoll |
| 3369 20c6 9091 0000 lds r25,(MesswertRoll)+1 |
| 3370 20ca 8150 subi r24,lo8(2049) |
| 3371 20cc 9840 sbci r25,hi8(2049) |
| 3372 20ce 04F0 brlt .L501 |
| 3373 20d0 80E0 ldi r24,lo8(2048) |
| 3374 20d2 98E0 ldi r25,hi8(2048) |
| 3375 20d4 9093 0000 sts (MesswertRoll)+1,r25 |
| 3376 20d8 8093 0000 sts MesswertRoll,r24 |
| 3377 .L501: |
| 3378 20dc 8091 0000 lds r24,MesswertRoll |
| 3379 20e0 9091 0000 lds r25,(MesswertRoll)+1 |
| 3380 20e4 8050 subi r24,lo8(-2048) |
| 3381 20e6 984F sbci r25,hi8(-2048) |
| 3382 20e8 04F4 brge .L503 |
| 3383 20ea 80E0 ldi r24,lo8(-2048) |
| 3384 20ec 98EF ldi r25,hi8(-2048) |
| 3385 20ee 9093 0000 sts (MesswertRoll)+1,r25 |
| 3386 20f2 8093 0000 sts MesswertRoll,r24 |
| 3387 .L503: |
| 3388 20f6 8091 0000 lds r24,MesswertGier |
| 3389 20fa 9091 0000 lds r25,(MesswertGier)+1 |
| 3390 20fe 8150 subi r24,lo8(2049) |
| 3391 2100 9840 sbci r25,hi8(2049) |
| 3392 2102 04F0 brlt .L505 |
| 3393 2104 80E0 ldi r24,lo8(2048) |
| 3394 2106 98E0 ldi r25,hi8(2048) |
| 3395 2108 9093 0000 sts (MesswertGier)+1,r25 |
| 3396 210c 8093 0000 sts MesswertGier,r24 |
| 3397 .L505: |
| 3398 2110 8091 0000 lds r24,MesswertGier |
| 3399 2114 9091 0000 lds r25,(MesswertGier)+1 |
| 3400 2118 8050 subi r24,lo8(-2048) |
| 3401 211a 984F sbci r25,hi8(-2048) |
| 3402 211c 04F4 brge .L507 |
| 3403 211e 80E0 ldi r24,lo8(-2048) |
| 3404 2120 98EF ldi r25,hi8(-2048) |
| 3405 2122 9093 0000 sts (MesswertGier)+1,r25 |
| 3406 2126 8093 0000 sts MesswertGier,r24 |
| 3407 .L507: |
| 3408 212a 8091 0000 lds r24,EE_Parameter+8 |
| 3409 212e 9927 clr r25 |
| 3410 2130 80FF sbrs r24,0 |
| 3411 2132 00C0 rjmp .L509 |
| 3412 2134 2091 0000 lds r18,Parameter_MaxHoehe |
| 3413 2138 81FF sbrs r24,1 |
| 3414 213a 00C0 rjmp .L511 |
| 3415 213c 2233 cpi r18,lo8(50) |
| 3416 213e 00F4 brsh .L580 |
| 3417 2140 8091 0000 lds r24,HoehenWert |
| 3418 2144 9091 0000 lds r25,(HoehenWert)+1 |
| 3419 2148 4497 sbiw r24,20 |
| 3420 214a 9093 0000 sts (SollHoehe)+1,r25 |
| 3421 214e 8093 0000 sts SollHoehe,r24 |
| 3422 2152 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
| 3423 2156 00C0 rjmp .L515 |
| 3424 .L511: |
| 3425 2158 8091 0000 lds r24,EE_Parameter+13 |
| 3426 215c 289F mul r18,r24 |
| 3427 215e C001 movw r24,r0 |
| 3428 2160 1124 clr r1 |
| 3429 2162 4497 sbiw r24,20 |
| 3430 2164 9093 0000 sts (SollHoehe)+1,r25 |
| 3431 2168 8093 0000 sts SollHoehe,r24 |
| 3432 .L580: |
| 3433 216c 81E0 ldi r24,lo8(1) |
| 3434 216e 8093 0000 sts HoehenReglerAktiv,r24 |
| 3435 .L515: |
| 3436 2172 8091 0000 lds r24,Notlandung |
| 3437 2176 8823 tst r24 |
| 3438 2178 01F0 breq .L516 |
| 3439 217a 1092 0000 sts (SollHoehe)+1,__zero_reg__ |
| 3440 217e 1092 0000 sts SollHoehe,__zero_reg__ |
| 3441 .L516: |
| 3442 2182 2091 0000 lds r18,HoehenWert |
| 3443 2186 3091 0000 lds r19,(HoehenWert)+1 |
| 3444 218a 4091 0000 lds r20,SollHoehe |
| 3445 218e 5091 0000 lds r21,(SollHoehe)+1 |
| 3446 2192 4217 cp r20,r18 |
| 3447 2194 5307 cpc r21,r19 |
| 3448 2196 04F0 brlt .+2 |
| 3449 2198 00C0 rjmp .L509 |
| 3450 219a 8091 0000 lds r24,HoehenReglerAktiv |
| 3451 219e 8823 tst r24 |
| 3452 21a0 01F4 brne .+2 |
| 3453 21a2 00C0 rjmp .L509 |
| 3454 21a4 241B sub r18,r20 |
| 3455 21a6 350B sbc r19,r21 |
| 3456 21a8 8091 0000 lds r24,Parameter_Hoehe_P |
| 3457 21ac 9927 clr r25 |
| 3458 21ae BC01 movw r22,r24 |
| 3459 21b0 269F mul r18,r22 |
| 3460 21b2 C001 movw r24,r0 |
| 3461 21b4 279F mul r18,r23 |
| 3462 21b6 900D add r25,r0 |
| 3463 21b8 369F mul r19,r22 |
| 3464 21ba 900D add r25,r0 |
| 3465 21bc 1124 clr r1 |
| 3466 21be 60E1 ldi r22,lo8(16) |
| 3467 21c0 70E0 ldi r23,hi8(16) |
| 3468 21c2 0E94 0000 call __divmodhi4 |
| 3469 21c6 0981 ldd r16,Y+1 |
| 3470 21c8 1A81 ldd r17,Y+2 |
| 3471 21ca 061B sub r16,r22 |
| 3472 21cc 170B sbc r17,r23 |
| 3473 21ce 2091 0000 lds r18,HoeheD |
| 3474 21d2 3091 0000 lds r19,(HoeheD)+1 |
| 3475 21d6 8091 0000 lds r24,Parameter_Luftdruck_D |
| 3476 21da 9927 clr r25 |
| 3477 21dc FC01 movw r30,r24 |
| 3478 21de 2E9F mul r18,r30 |
| 3479 21e0 C001 movw r24,r0 |
| 3480 21e2 2F9F mul r18,r31 |
| 3481 21e4 900D add r25,r0 |
| 3482 21e6 3E9F mul r19,r30 |
| 3483 21e8 900D add r25,r0 |
| 3484 21ea 1124 clr r1 |
| 3485 21ec 68E0 ldi r22,lo8(8) |
| 3486 21ee 70E0 ldi r23,hi8(8) |
| 3487 21f0 0E94 0000 call __divmodhi4 |
| 3488 21f4 061B sub r16,r22 |
| 3489 21f6 170B sbc r17,r23 |
| 3490 21f8 6091 0000 lds r22,Mess_Integral_Hoch |
| 3491 21fc 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 3492 2200 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 3493 2204 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 3494 2208 20E0 ldi r18,lo8(512) |
| 3495 220a 32E0 ldi r19,hi8(512) |
| 3496 220c 40E0 ldi r20,hlo8(512) |
| 3497 220e 50E0 ldi r21,hhi8(512) |
| 3498 2210 0E94 0000 call __divmodsi4 |
| 3499 2214 CA01 movw r24,r20 |
| 3500 2216 B901 movw r22,r18 |
| 3501 2218 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
| 3502 221c 3327 clr r19 |
| 3503 221e 4427 clr r20 |
| 3504 2220 5527 clr r21 |
| 3505 2222 0E94 0000 call __mulsi3 |
| 3506 2226 20E2 ldi r18,lo8(32) |
| 3507 2228 30E0 ldi r19,hi8(32) |
| 3508 222a 40E0 ldi r20,hlo8(32) |
| 3509 222c 50E0 ldi r21,hhi8(32) |
| 3510 222e 0E94 0000 call __divmodsi4 |
| 3511 2232 FFEF ldi r31,hi8(-50) |
| 3512 2234 2E3C cpi r18,lo8(-50) |
| 3513 2236 3F07 cpc r19,r31 |
| 3514 2238 04F4 brge .L520 |
| 3515 223a 2EEC ldi r18,lo8(-50) |
| 3516 223c 3FEF ldi r19,hi8(-50) |
| 3517 .L520: |
| 3518 223e 8091 0000 lds r24,hoehenregler.2360 |
| 3519 2242 9091 0000 lds r25,(hoehenregler.2360)+1 |
| 3520 2246 AC01 movw r20,r24 |
| 3521 2248 74E0 ldi r23,4 |
| 3522 224a 440F 1: lsl r20 |
| 3523 224c 551F rol r21 |
| 3524 224e 7A95 dec r23 |
| 3525 2250 01F4 brne 1b |
| 3526 2252 481B sub r20,r24 |
| 3527 2254 590B sbc r21,r25 |
| 3528 2256 2333 cpi r18,51 |
| 3529 2258 3105 cpc r19,__zero_reg__ |
| 3530 225a 04F0 brlt .L521 |
| 3531 225c 22E3 ldi r18,lo8(50) |
| 3532 225e 30E0 ldi r19,hi8(50) |
| 3533 .L521: |
| 3534 2260 021B sub r16,r18 |
| 3535 2262 130B sbc r17,r19 |
| 3536 2264 CA01 movw r24,r20 |
| 3537 2266 800F add r24,r16 |
| 3538 2268 911F adc r25,r17 |
| 3539 226a 60E1 ldi r22,lo8(16) |
| 3540 226c 70E0 ldi r23,hi8(16) |
| 3541 226e 0E94 0000 call __divmodhi4 |
| 3542 2272 7093 0000 sts (hoehenregler.2360)+1,r23 |
| 3543 2276 6093 0000 sts hoehenregler.2360,r22 |
| 3544 227a 8091 0000 lds r24,EE_Parameter+9 |
| 3545 227e 9927 clr r25 |
| 3546 2280 6817 cp r22,r24 |
| 3547 2282 7907 cpc r23,r25 |
| 3548 2284 04F4 brge .L522 |
| 3549 2286 2981 ldd r18,Y+1 |
| 3550 2288 3A81 ldd r19,Y+2 |
| 3551 228a 2817 cp r18,r24 |
| 3552 228c 3907 cpc r19,r25 |
| 3553 228e 04F0 brlt .L524 |
| 3554 2290 9093 0000 sts (hoehenregler.2360)+1,r25 |
| 3555 2294 8093 0000 sts hoehenregler.2360,r24 |
| 3556 2298 00C0 rjmp .L522 |
| 3557 .L524: |
| 3558 229a 4981 ldd r20,Y+1 |
| 3559 229c 5A81 ldd r21,Y+2 |
| 3560 229e 5093 0000 sts (hoehenregler.2360)+1,r21 |
| 3561 22a2 4093 0000 sts hoehenregler.2360,r20 |
| 3562 22a6 00C0 rjmp .L526 |
| 3563 .L522: |
| 3564 22a8 8091 0000 lds r24,hoehenregler.2360 |
| 3565 22ac 9091 0000 lds r25,(hoehenregler.2360)+1 |
| 3566 22b0 6981 ldd r22,Y+1 |
| 3567 22b2 7A81 ldd r23,Y+2 |
| 3568 22b4 6817 cp r22,r24 |
| 3569 22b6 7907 cpc r23,r25 |
| 3570 22b8 04F4 brge .L526 |
| 3571 22ba 7093 0000 sts (hoehenregler.2360)+1,r23 |
| 3572 22be 6093 0000 sts hoehenregler.2360,r22 |
| 3573 .L526: |
| 3574 22c2 8091 0000 lds r24,hoehenregler.2360 |
| 3575 22c6 9091 0000 lds r25,(hoehenregler.2360)+1 |
| 3576 22ca 9A83 std Y+2,r25 |
| 3577 22cc 8983 std Y+1,r24 |
| 3578 .L509: |
| 3579 22ce C090 0000 lds r12,MesswertGier |
| 3580 22d2 D090 0000 lds r13,(MesswertGier)+1 |
| 3581 22d6 8091 0000 lds r24,sollGier.2350 |
| 3582 22da 9091 0000 lds r25,(sollGier.2350)+1 |
| 3583 22de C81A sub r12,r24 |
| 3584 22e0 D90A sbc r13,r25 |
| 3585 22e2 95E6 ldi r25,lo8(101) |
| 3586 22e4 C916 cp r12,r25 |
| 3587 22e6 D104 cpc r13,__zero_reg__ |
| 3588 22e8 04F0 brlt .L528 |
| 3589 22ea 64E6 ldi r22,lo8(100) |
| 3590 22ec C62E mov r12,r22 |
| 3591 22ee D12C mov r13,__zero_reg__ |
| 3592 22f0 00C0 rjmp .L530 |
| 3593 .L528: |
| 3594 22f2 ECE9 ldi r30,lo8(-100) |
| 3595 22f4 CE16 cp r12,r30 |
| 3596 22f6 EFEF ldi r30,hi8(-100) |
| 3597 22f8 DE06 cpc r13,r30 |
| 3598 22fa 04F4 brge .L530 |
| 3599 22fc 5CE9 ldi r21,lo8(-100) |
| 3600 22fe C52E mov r12,r21 |
| 3601 2300 5FEF ldi r21,hi8(-100) |
| 3602 2302 D52E mov r13,r21 |
| 3603 .L530: |
| 3604 2304 4090 0000 lds r4,Kp |
| 3605 2308 5090 0000 lds r5,(Kp)+1 |
| 3606 230c 6090 0000 lds r6,(Kp)+2 |
| 3607 2310 7090 0000 lds r7,(Kp)+3 |
| 3608 2314 6091 0000 lds r22,MesswertNick |
| 3609 2318 7091 0000 lds r23,(MesswertNick)+1 |
| 3610 231c 2091 0000 lds r18,StickNick |
| 3611 2320 3091 0000 lds r19,(StickNick)+1 |
| 3612 2324 4091 0000 lds r20,GPS_Nick |
| 3613 2328 5091 0000 lds r21,(GPS_Nick)+1 |
| 3614 232c 241B sub r18,r20 |
| 3615 232e 350B sbc r19,r21 |
| 3616 2330 621B sub r22,r18 |
| 3617 2332 730B sbc r23,r19 |
| 3618 2334 8827 clr r24 |
| 3619 2336 77FD sbrc r23,7 |
| 3620 2338 8095 com r24 |
| 3621 233a 982F mov r25,r24 |
| 3622 233c 0E94 0000 call __floatsisf |
| 3623 2340 9B01 movw r18,r22 |
| 3624 2342 AC01 movw r20,r24 |
| 3625 2344 C301 movw r24,r6 |
| 3626 2346 B201 movw r22,r4 |
| 3627 2348 0E94 0000 call __mulsf3 |
| 3628 234c 0E94 0000 call __fixsfsi |
| 3629 2350 7093 0000 sts (DiffNick)+1,r23 |
| 3630 2354 6093 0000 sts DiffNick,r22 |
| 3631 2358 8091 0000 lds r24,DiffNick |
| 3632 235c 9091 0000 lds r25,(DiffNick)+1 |
| 3633 2360 8C01 movw r16,r24 |
| 3634 2362 2227 clr r18 |
| 3635 2364 17FD sbrc r17,7 |
| 3636 2366 2095 com r18 |
| 3637 2368 322F mov r19,r18 |
| 3638 236a 8091 0000 lds r24,SummeNick.2348 |
| 3639 236e 9091 0000 lds r25,(SummeNick.2348)+1 |
| 3640 2372 A091 0000 lds r26,(SummeNick.2348)+2 |
| 3641 2376 B091 0000 lds r27,(SummeNick.2348)+3 |
| 3642 237a 080F add r16,r24 |
| 3643 237c 191F adc r17,r25 |
| 3644 237e 2A1F adc r18,r26 |
| 3645 2380 3B1F adc r19,r27 |
| 3646 2382 0093 0000 sts SummeNick.2348,r16 |
| 3647 2386 1093 0000 sts (SummeNick.2348)+1,r17 |
| 3648 238a 2093 0000 sts (SummeNick.2348)+2,r18 |
| 3649 238e 3093 0000 sts (SummeNick.2348)+3,r19 |
| 3650 2392 1016 cp __zero_reg__,r16 |
| 3651 2394 1106 cpc __zero_reg__,r17 |
| 3652 2396 1206 cpc __zero_reg__,r18 |
| 3653 2398 1306 cpc __zero_reg__,r19 |
| 3654 239a 04F4 brge .L532 |
| 3655 239c C801 movw r24,r16 |
| 3656 239e 17FF sbrs r17,7 |
| 3657 23a0 00C0 rjmp .L534 |
| 3658 23a2 9095 com r25 |
| 3659 23a4 8195 neg r24 |
| 3660 23a6 9F4F sbci r25,lo8(-1) |
| 3661 .L534: |
| 3662 23a8 60E0 ldi r22,lo8(256) |
| 3663 23aa 71E0 ldi r23,hi8(256) |
| 3664 23ac 0E94 0000 call __divmodhi4 |
| 3665 23b0 6F5F subi r22,lo8(-(1)) |
| 3666 23b2 7F4F sbci r23,hi8(-(1)) |
| 3667 23b4 8827 clr r24 |
| 3668 23b6 77FD sbrc r23,7 |
| 3669 23b8 8095 com r24 |
| 3670 23ba 982F mov r25,r24 |
| 3671 23bc 061B sub r16,r22 |
| 3672 23be 170B sbc r17,r23 |
| 3673 23c0 280B sbc r18,r24 |
| 3674 23c2 390B sbc r19,r25 |
| 3675 23c4 00C0 rjmp .L581 |
| 3676 .L532: |
| 3677 23c6 C801 movw r24,r16 |
| 3678 23c8 17FF sbrs r17,7 |
| 3679 23ca 00C0 rjmp .L536 |
| 3680 23cc 9095 com r25 |
| 3681 23ce 8195 neg r24 |
| 3682 23d0 9F4F sbci r25,lo8(-1) |
| 3683 .L536: |
| 3684 23d2 60E0 ldi r22,lo8(256) |
| 3685 23d4 71E0 ldi r23,hi8(256) |
| 3686 23d6 0E94 0000 call __divmodhi4 |
| 3687 23da 6F5F subi r22,lo8(-(1)) |
| 3688 23dc 7F4F sbci r23,hi8(-(1)) |
| 3689 23de 8827 clr r24 |
| 3690 23e0 77FD sbrc r23,7 |
| 3691 23e2 8095 com r24 |
| 3692 23e4 982F mov r25,r24 |
| 3693 23e6 060F add r16,r22 |
| 3694 23e8 171F adc r17,r23 |
| 3695 23ea 281F adc r18,r24 |
| 3696 23ec 391F adc r19,r25 |
| 3697 .L581: |
| 3698 23ee 0093 0000 sts SummeNick.2348,r16 |
| 3699 23f2 1093 0000 sts (SummeNick.2348)+1,r17 |
| 3700 23f6 2093 0000 sts (SummeNick.2348)+2,r18 |
| 3701 23fa 3093 0000 sts (SummeNick.2348)+3,r19 |
| 3702 23fe 8091 0000 lds r24,SummeNick.2348 |
| 3703 2402 9091 0000 lds r25,(SummeNick.2348)+1 |
| 3704 2406 A091 0000 lds r26,(SummeNick.2348)+2 |
| 3705 240a B091 0000 lds r27,(SummeNick.2348)+3 |
| 3706 240e 8138 cpi r24,lo8(16001) |
| 3707 2410 FEE3 ldi r31,hi8(16001) |
| 3708 2412 9F07 cpc r25,r31 |
| 3709 2414 F0E0 ldi r31,hlo8(16001) |
| 3710 2416 AF07 cpc r26,r31 |
| 3711 2418 F0E0 ldi r31,hhi8(16001) |
| 3712 241a BF07 cpc r27,r31 |
| 3713 241c 04F0 brlt .L537 |
| 3714 241e 80E8 ldi r24,lo8(16000) |
| 3715 2420 9EE3 ldi r25,hi8(16000) |
| 3716 2422 A0E0 ldi r26,hlo8(16000) |
| 3717 2424 B0E0 ldi r27,hhi8(16000) |
| 3718 2426 00C0 rjmp .L582 |
| 3719 .L537: |
| 3720 2428 8058 subi r24,lo8(-16000) |
| 3721 242a 914C sbci r25,hi8(-16000) |
| 3722 242c AF4F sbci r26,hlo8(-16000) |
| 3723 242e BF4F sbci r27,hhi8(-16000) |
| 3724 2430 04F4 brge .L539 |
| 3725 2432 80E8 ldi r24,lo8(-16000) |
| 3726 2434 91EC ldi r25,hi8(-16000) |
| 3727 2436 AFEF ldi r26,hlo8(-16000) |
| 3728 2438 BFEF ldi r27,hhi8(-16000) |
| 3729 .L582: |
| 3730 243a 8093 0000 sts SummeNick.2348,r24 |
| 3731 243e 9093 0000 sts (SummeNick.2348)+1,r25 |
| 3732 2442 A093 0000 sts (SummeNick.2348)+2,r26 |
| 3733 2446 B093 0000 sts (SummeNick.2348)+3,r27 |
| 3734 .L539: |
| 3735 244a 6091 0000 lds r22,DiffNick |
| 3736 244e 7091 0000 lds r23,(DiffNick)+1 |
| 3737 2452 8090 0000 lds r8,Ki |
| 3738 2456 9090 0000 lds r9,(Ki)+1 |
| 3739 245a A090 0000 lds r10,(Ki)+2 |
| 3740 245e B090 0000 lds r11,(Ki)+3 |
| 3741 2462 8827 clr r24 |
| 3742 2464 77FD sbrc r23,7 |
| 3743 2466 8095 com r24 |
| 3744 2468 982F mov r25,r24 |
| 3745 246a 0E94 0000 call __floatsisf |
| 3746 246e 7B01 movw r14,r22 |
| 3747 2470 8C01 movw r16,r24 |
| 3748 2472 6091 0000 lds r22,SummeNick.2348 |
| 3749 2476 7091 0000 lds r23,(SummeNick.2348)+1 |
| 3750 247a 8091 0000 lds r24,(SummeNick.2348)+2 |
| 3751 247e 9091 0000 lds r25,(SummeNick.2348)+3 |
| 3752 2482 0E94 0000 call __floatsisf |
| 3753 2486 9B01 movw r18,r22 |
| 3754 2488 AC01 movw r20,r24 |
| 3755 248a C501 movw r24,r10 |
| 3756 248c B401 movw r22,r8 |
| 3757 248e 0E94 0000 call __mulsf3 |
| 3758 2492 9B01 movw r18,r22 |
| 3759 2494 AC01 movw r20,r24 |
| 3760 2496 C801 movw r24,r16 |
| 3761 2498 B701 movw r22,r14 |
| 3762 249a 0E94 0000 call __addsf3 |
| 3763 249e 0E94 0000 call __fixsfsi |
| 3764 24a2 9601 movw r18,r12 |
| 3765 24a4 260F add r18,r22 |
| 3766 24a6 371F adc r19,r23 |
| 3767 24a8 4981 ldd r20,Y+1 |
| 3768 24aa 5A81 ldd r21,Y+2 |
| 3769 24ac 240F add r18,r20 |
| 3770 24ae 351F adc r19,r21 |
| 3771 24b0 2224 clr r2 |
| 3772 24b2 4A30 cpi r20,10 |
| 3773 24b4 5105 cpc r21,__zero_reg__ |
| 3774 24b6 04F4 brge .L541 |
| 3775 24b8 41E0 ldi r20,lo8(1) |
| 3776 24ba 242E mov r2,r20 |
| 3777 .L541: |
| 3778 24bc 37FD sbrc r19,7 |
| 3779 24be 00C0 rjmp .L544 |
| 3780 24c0 2220 tst r2 |
| 3781 24c2 01F0 breq .L542 |
| 3782 .L544: |
| 3783 24c4 40E0 ldi r20,lo8(0) |
| 3784 24c6 50E0 ldi r21,hi8(0) |
| 3785 24c8 00C0 rjmp .L545 |
| 3786 .L542: |
| 3787 24ca 8091 0000 lds r24,MAX_GAS |
| 3788 24ce 482F mov r20,r24 |
| 3789 24d0 5527 clr r21 |
| 3790 24d2 2417 cp r18,r20 |
| 3791 24d4 3507 cpc r19,r21 |
| 3792 24d6 04F4 brge .L545 |
| 3793 24d8 A901 movw r20,r18 |
| 3794 .L545: |
| 3795 24da 8091 0000 lds r24,MIN_GAS |
| 3796 24de E82F mov r30,r24 |
| 3797 24e0 FF27 clr r31 |
| 3798 24e2 FC83 std Y+4,r31 |
| 3799 24e4 EB83 std Y+3,r30 |
| 3800 24e6 9F01 movw r18,r30 |
| 3801 24e8 E417 cp r30,r20 |
| 3802 24ea F507 cpc r31,r21 |
| 3803 24ec 04F4 brge .L547 |
| 3804 24ee 9A01 movw r18,r20 |
| 3805 .L547: |
| 3806 24f0 2093 0000 sts Motor_Vorne,r18 |
| 3807 24f4 2981 ldd r18,Y+1 |
| 3808 24f6 3A81 ldd r19,Y+2 |
| 3809 24f8 261B sub r18,r22 |
| 3810 24fa 370B sbc r19,r23 |
| 3811 24fc B901 movw r22,r18 |
| 3812 24fe 6C0D add r22,r12 |
| 3813 2500 7D1D adc r23,r13 |
| 3814 2502 77FD sbrc r23,7 |
| 3815 2504 00C0 rjmp .L550 |
| 3816 2506 2220 tst r2 |
| 3817 2508 01F0 breq .L548 |
| 3818 .L550: |
| 3819 250a 80E0 ldi r24,lo8(0) |
| 3820 250c 90E0 ldi r25,hi8(0) |
| 3821 250e 00C0 rjmp .L551 |
| 3822 .L548: |
| 3823 2510 8091 0000 lds r24,MAX_GAS |
| 3824 2514 9927 clr r25 |
| 3825 2516 6817 cp r22,r24 |
| 3826 2518 7907 cpc r23,r25 |
| 3827 251a 04F4 brge .L551 |
| 3828 251c CB01 movw r24,r22 |
| 3829 .L551: |
| 3830 251e 2B81 ldd r18,Y+3 |
| 3831 2520 3C81 ldd r19,Y+4 |
| 3832 2522 2817 cp r18,r24 |
| 3833 2524 3907 cpc r19,r25 |
| 3834 2526 04F4 brge .L553 |
| 3835 2528 9C01 movw r18,r24 |
| 3836 .L553: |
| 3837 252a 2093 0000 sts Motor_Hinten,r18 |
| 3838 252e 6091 0000 lds r22,MesswertRoll |
| 3839 2532 7091 0000 lds r23,(MesswertRoll)+1 |
| 3840 2536 2091 0000 lds r18,StickRoll |
| 3841 253a 3091 0000 lds r19,(StickRoll)+1 |
| 3842 253e 4091 0000 lds r20,GPS_Roll |
| 3843 2542 5091 0000 lds r21,(GPS_Roll)+1 |
| 3844 2546 241B sub r18,r20 |
| 3845 2548 350B sbc r19,r21 |
| 3846 254a 621B sub r22,r18 |
| 3847 254c 730B sbc r23,r19 |
| 3848 254e 8827 clr r24 |
| 3849 2550 77FD sbrc r23,7 |
| 3850 2552 8095 com r24 |
| 3851 2554 982F mov r25,r24 |
| 3852 2556 0E94 0000 call __floatsisf |
| 3853 255a 9B01 movw r18,r22 |
| 3854 255c AC01 movw r20,r24 |
| 3855 255e C301 movw r24,r6 |
| 3856 2560 B201 movw r22,r4 |
| 3857 2562 0E94 0000 call __mulsf3 |
| 3858 2566 0E94 0000 call __fixsfsi |
| 3859 256a 7093 0000 sts (DiffRoll)+1,r23 |
| 3860 256e 6093 0000 sts DiffRoll,r22 |
| 3861 2572 8091 0000 lds r24,DiffRoll |
| 3862 2576 9091 0000 lds r25,(DiffRoll)+1 |
| 3863 257a 8C01 movw r16,r24 |
| 3864 257c 2227 clr r18 |
| 3865 257e 17FD sbrc r17,7 |
| 3866 2580 2095 com r18 |
| 3867 2582 322F mov r19,r18 |
| 3868 2584 8091 0000 lds r24,SummeRoll.2349 |
| 3869 2588 9091 0000 lds r25,(SummeRoll.2349)+1 |
| 3870 258c A091 0000 lds r26,(SummeRoll.2349)+2 |
| 3871 2590 B091 0000 lds r27,(SummeRoll.2349)+3 |
| 3872 2594 080F add r16,r24 |
| 3873 2596 191F adc r17,r25 |
| 3874 2598 2A1F adc r18,r26 |
| 3875 259a 3B1F adc r19,r27 |
| 3876 259c 0093 0000 sts SummeRoll.2349,r16 |
| 3877 25a0 1093 0000 sts (SummeRoll.2349)+1,r17 |
| 3878 25a4 2093 0000 sts (SummeRoll.2349)+2,r18 |
| 3879 25a8 3093 0000 sts (SummeRoll.2349)+3,r19 |
| 3880 25ac 1016 cp __zero_reg__,r16 |
| 3881 25ae 1106 cpc __zero_reg__,r17 |
| 3882 25b0 1206 cpc __zero_reg__,r18 |
| 3883 25b2 1306 cpc __zero_reg__,r19 |
| 3884 25b4 04F4 brge .L554 |
| 3885 25b6 C801 movw r24,r16 |
| 3886 25b8 17FF sbrs r17,7 |
| 3887 25ba 00C0 rjmp .L556 |
| 3888 25bc 9095 com r25 |
| 3889 25be 8195 neg r24 |
| 3890 25c0 9F4F sbci r25,lo8(-1) |
| 3891 .L556: |
| 3892 25c2 60E0 ldi r22,lo8(256) |
| 3893 25c4 71E0 ldi r23,hi8(256) |
| 3894 25c6 0E94 0000 call __divmodhi4 |
| 3895 25ca 6F5F subi r22,lo8(-(1)) |
| 3896 25cc 7F4F sbci r23,hi8(-(1)) |
| 3897 25ce 8827 clr r24 |
| 3898 25d0 77FD sbrc r23,7 |
| 3899 25d2 8095 com r24 |
| 3900 25d4 982F mov r25,r24 |
| 3901 25d6 061B sub r16,r22 |
| 3902 25d8 170B sbc r17,r23 |
| 3903 25da 280B sbc r18,r24 |
| 3904 25dc 390B sbc r19,r25 |
| 3905 25de 00C0 rjmp .L583 |
| 3906 .L554: |
| 3907 25e0 C801 movw r24,r16 |
| 3908 25e2 17FF sbrs r17,7 |
| 3909 25e4 00C0 rjmp .L558 |
| 3910 25e6 9095 com r25 |
| 3911 25e8 8195 neg r24 |
| 3912 25ea 9F4F sbci r25,lo8(-1) |
| 3913 .L558: |
| 3914 25ec 60E0 ldi r22,lo8(256) |
| 3915 25ee 71E0 ldi r23,hi8(256) |
| 3916 25f0 0E94 0000 call __divmodhi4 |
| 3917 25f4 6F5F subi r22,lo8(-(1)) |
| 3918 25f6 7F4F sbci r23,hi8(-(1)) |
| 3919 25f8 8827 clr r24 |
| 3920 25fa 77FD sbrc r23,7 |
| 3921 25fc 8095 com r24 |
| 3922 25fe 982F mov r25,r24 |
| 3923 2600 060F add r16,r22 |
| 3924 2602 171F adc r17,r23 |
| 3925 2604 281F adc r18,r24 |
| 3926 2606 391F adc r19,r25 |
| 3927 .L583: |
| 3928 2608 0093 0000 sts SummeRoll.2349,r16 |
| 3929 260c 1093 0000 sts (SummeRoll.2349)+1,r17 |
| 3930 2610 2093 0000 sts (SummeRoll.2349)+2,r18 |
| 3931 2614 3093 0000 sts (SummeRoll.2349)+3,r19 |
| 3932 2618 8091 0000 lds r24,SummeRoll.2349 |
| 3933 261c 9091 0000 lds r25,(SummeRoll.2349)+1 |
| 3934 2620 A091 0000 lds r26,(SummeRoll.2349)+2 |
| 3935 2624 B091 0000 lds r27,(SummeRoll.2349)+3 |
| 3936 2628 8138 cpi r24,lo8(16001) |
| 3937 262a 3EE3 ldi r19,hi8(16001) |
| 3938 262c 9307 cpc r25,r19 |
| 3939 262e 30E0 ldi r19,hlo8(16001) |
| 3940 2630 A307 cpc r26,r19 |
| 3941 2632 30E0 ldi r19,hhi8(16001) |
| 3942 2634 B307 cpc r27,r19 |
| 3943 2636 04F0 brlt .L559 |
| 3944 2638 80E8 ldi r24,lo8(16000) |
| 3945 263a 9EE3 ldi r25,hi8(16000) |
| 3946 263c A0E0 ldi r26,hlo8(16000) |
| 3947 263e B0E0 ldi r27,hhi8(16000) |
| 3948 2640 00C0 rjmp .L584 |
| 3949 .L559: |
| 3950 2642 8058 subi r24,lo8(-16000) |
| 3951 2644 914C sbci r25,hi8(-16000) |
| 3952 2646 AF4F sbci r26,hlo8(-16000) |
| 3953 2648 BF4F sbci r27,hhi8(-16000) |
| 3954 264a 04F4 brge .L561 |
| 3955 264c 80E8 ldi r24,lo8(-16000) |
| 3956 264e 91EC ldi r25,hi8(-16000) |
| 3957 2650 AFEF ldi r26,hlo8(-16000) |
| 3958 2652 BFEF ldi r27,hhi8(-16000) |
| 3959 .L584: |
| 3960 2654 8093 0000 sts SummeRoll.2349,r24 |
| 3961 2658 9093 0000 sts (SummeRoll.2349)+1,r25 |
| 3962 265c A093 0000 sts (SummeRoll.2349)+2,r26 |
| 3963 2660 B093 0000 sts (SummeRoll.2349)+3,r27 |
| 3964 .L561: |
| 3965 2664 6091 0000 lds r22,DiffRoll |
| 3966 2668 7091 0000 lds r23,(DiffRoll)+1 |
| 3967 266c 8827 clr r24 |
| 3968 266e 77FD sbrc r23,7 |
| 3969 2670 8095 com r24 |
| 3970 2672 982F mov r25,r24 |
| 3971 2674 0E94 0000 call __floatsisf |
| 3972 2678 7B01 movw r14,r22 |
| 3973 267a 8C01 movw r16,r24 |
| 3974 267c 6091 0000 lds r22,SummeRoll.2349 |
| 3975 2680 7091 0000 lds r23,(SummeRoll.2349)+1 |
| 3976 2684 8091 0000 lds r24,(SummeRoll.2349)+2 |
| 3977 2688 9091 0000 lds r25,(SummeRoll.2349)+3 |
| 3978 268c 0E94 0000 call __floatsisf |
| 3979 2690 9B01 movw r18,r22 |
| 3980 2692 AC01 movw r20,r24 |
| 3981 2694 C501 movw r24,r10 |
| 3982 2696 B401 movw r22,r8 |
| 3983 2698 0E94 0000 call __mulsf3 |
| 3984 269c 9B01 movw r18,r22 |
| 3985 269e AC01 movw r20,r24 |
| 3986 26a0 C801 movw r24,r16 |
| 3987 26a2 B701 movw r22,r14 |
| 3988 26a4 0E94 0000 call __addsf3 |
| 3989 26a8 0E94 0000 call __fixsfsi |
| 3990 26ac 2981 ldd r18,Y+1 |
| 3991 26ae 3A81 ldd r19,Y+2 |
| 3992 26b0 260F add r18,r22 |
| 3993 26b2 371F adc r19,r23 |
| 3994 26b4 2C19 sub r18,r12 |
| 3995 26b6 3D09 sbc r19,r13 |
| 3996 26b8 37FD sbrc r19,7 |
| 3997 26ba 00C0 rjmp .L565 |
| 3998 26bc 2220 tst r2 |
| 3999 26be 01F0 breq .L563 |
| 4000 .L565: |
| 4001 26c0 40E0 ldi r20,lo8(0) |
| 4002 26c2 50E0 ldi r21,hi8(0) |
| 4003 26c4 00C0 rjmp .L566 |
| 4004 .L563: |
| 4005 26c6 8091 0000 lds r24,MAX_GAS |
| 4006 26ca 482F mov r20,r24 |
| 4007 26cc 5527 clr r21 |
| 4008 26ce 2417 cp r18,r20 |
| 4009 26d0 3507 cpc r19,r21 |
| 4010 26d2 04F4 brge .L566 |
| 4011 26d4 A901 movw r20,r18 |
| 4012 .L566: |
| 4013 26d6 2B81 ldd r18,Y+3 |
| 4014 26d8 3C81 ldd r19,Y+4 |
| 4015 26da 2417 cp r18,r20 |
| 4016 26dc 3507 cpc r19,r21 |
| 4017 26de 04F4 brge .L568 |
| 4018 26e0 9A01 movw r18,r20 |
| 4019 .L568: |
| 4020 26e2 2093 0000 sts Motor_Links,r18 |
| 4021 26e6 8981 ldd r24,Y+1 |
| 4022 26e8 9A81 ldd r25,Y+2 |
| 4023 26ea 861B sub r24,r22 |
| 4024 26ec 970B sbc r25,r23 |
| 4025 26ee BC01 movw r22,r24 |
| 4026 26f0 6C19 sub r22,r12 |
| 4027 26f2 7D09 sbc r23,r13 |
| 4028 26f4 77FD sbrc r23,7 |
| 4029 26f6 00C0 rjmp .L571 |
| 4030 26f8 2220 tst r2 |
| 4031 26fa 01F0 breq .L569 |
| 4032 .L571: |
| 4033 26fc 20E0 ldi r18,lo8(0) |
| 4034 26fe 30E0 ldi r19,hi8(0) |
| 4035 2700 00C0 rjmp .L572 |
| 4036 .L569: |
| 4037 2702 8091 0000 lds r24,MAX_GAS |
| 4038 2706 282F mov r18,r24 |
| 4039 2708 3327 clr r19 |
| 4040 270a 6217 cp r22,r18 |
| 4041 270c 7307 cpc r23,r19 |
| 4042 270e 04F4 brge .L572 |
| 4043 2710 9B01 movw r18,r22 |
| 4044 .L572: |
| 4045 2712 8B81 ldd r24,Y+3 |
| 4046 2714 9C81 ldd r25,Y+4 |
| 4047 2716 8217 cp r24,r18 |
| 4048 2718 9307 cpc r25,r19 |
| 4049 271a 04F4 brge .L574 |
| 4050 271c C901 movw r24,r18 |
| 4051 .L574: |
| 4052 271e 8093 0000 sts Motor_Rechts,r24 |
| 4053 /* epilogue: frame size=4 */ |
| 4054 2722 2496 adiw r28,4 |
| 4055 2724 0FB6 in __tmp_reg__,__SREG__ |
| 4056 2726 F894 cli |
| 4057 2728 DEBF out __SP_H__,r29 |
| 4058 272a 0FBE out __SREG__,__tmp_reg__ |
| 4059 272c CDBF out __SP_L__,r28 |
| 4060 272e DF91 pop r29 |
| 4061 2730 CF91 pop r28 |
| 4062 2732 1F91 pop r17 |
| 4063 2734 0F91 pop r16 |
| 4064 2736 FF90 pop r15 |
| 4065 2738 EF90 pop r14 |
| 4066 273a DF90 pop r13 |
| 4067 273c CF90 pop r12 |
| 4068 273e BF90 pop r11 |
| 4069 2740 AF90 pop r10 |
| 4070 2742 9F90 pop r9 |
| 4071 2744 8F90 pop r8 |
| 4072 2746 7F90 pop r7 |
| 4073 2748 6F90 pop r6 |
| 4074 274a 5F90 pop r5 |
| 4075 274c 4F90 pop r4 |
| 4076 274e 3F90 pop r3 |
| 4077 2750 2F90 pop r2 |
| 4078 2752 0895 ret |
| 4079 /* epilogue end (size=25) */ |
| 4080 /* function MotorRegler size 2799 (2748) */ |
| 4082 .global Timeout |
| 4083 .global Timeout |
| 4084 .section .bss |
| 4087 Timeout: |
| 4088 0000 00 .skip 1,0 |
| 4089 .global AdNeutralNick |
| 4090 .global AdNeutralNick |
| 4093 AdNeutralNick: |
| 4094 0001 0000 .skip 2,0 |
| 4095 .global AdNeutralRoll |
| 4096 .global AdNeutralRoll |
| 4099 AdNeutralRoll: |
| 4100 0003 0000 .skip 2,0 |
| 4101 .global AdNeutralGier |
| 4102 .global AdNeutralGier |
| 4105 AdNeutralGier: |
| 4106 0005 0000 .skip 2,0 |
| 4107 .global NeutralAccX |
| 4108 .global NeutralAccX |
| 4111 NeutralAccX: |
| 4112 0007 0000 .skip 2,0 |
| 4113 .global NeutralAccY |
| 4114 .global NeutralAccY |
| 4117 NeutralAccY: |
| 4118 0009 0000 .skip 2,0 |
| 4119 .global NeutralAccZ |
| 4120 .global NeutralAccZ |
| 4123 NeutralAccZ: |
| 4124 000b 0000 0000 .skip 4,0 |
| 4125 .global CosinusNickWinkel |
| 4126 .global CosinusNickWinkel |
| 4129 CosinusNickWinkel: |
| 4130 000f 00 .skip 1,0 |
| 4131 .global CosinusRollWinkel |
| 4132 .global CosinusRollWinkel |
| 4135 CosinusRollWinkel: |
| 4136 0010 00 .skip 1,0 |
| 4137 .global IntegralNick |
| 4138 .global IntegralNick |
| 4141 IntegralNick: |
| 4142 0011 0000 0000 .skip 4,0 |
| 4143 .global IntegralNick2 |
| 4144 .global IntegralNick2 |
| 4147 IntegralNick2: |
| 4148 0015 0000 0000 .skip 4,0 |
| 4149 .global IntegralRoll |
| 4150 .global IntegralRoll |
| 4153 IntegralRoll: |
| 4154 0019 0000 0000 .skip 4,0 |
| 4155 .global IntegralRoll2 |
| 4156 .global IntegralRoll2 |
| 4159 IntegralRoll2: |
| 4160 001d 0000 0000 .skip 4,0 |
| 4161 .global Integral_Gier |
| 4162 .global Integral_Gier |
| 4165 Integral_Gier: |
| 4166 0021 0000 0000 .skip 4,0 |
| 4167 .global Mess_IntegralNick |
| 4168 .global Mess_IntegralNick |
| 4171 Mess_IntegralNick: |
| 4172 0025 0000 0000 .skip 4,0 |
| 4173 .global Mess_IntegralNick2 |
| 4174 .global Mess_IntegralNick2 |
| 4177 Mess_IntegralNick2: |
| 4178 0029 0000 0000 .skip 4,0 |
| 4179 .global Mess_IntegralRoll |
| 4180 .global Mess_IntegralRoll |
| 4183 Mess_IntegralRoll: |
| 4184 002d 0000 0000 .skip 4,0 |
| 4185 .global Mess_IntegralRoll2 |
| 4186 .global Mess_IntegralRoll2 |
| 4189 Mess_IntegralRoll2: |
| 4190 0031 0000 0000 .skip 4,0 |
| 4191 .global Mess_Integral_Gier |
| 4192 .global Mess_Integral_Gier |
| 4195 Mess_Integral_Gier: |
| 4196 0035 0000 0000 .skip 4,0 |
| 4197 .global Mess_Integral_Gier2 |
| 4198 .global Mess_Integral_Gier2 |
| 4201 Mess_Integral_Gier2: |
| 4202 0039 0000 0000 .skip 4,0 |
| 4203 .global Mess_Integral_Hoch |
| 4204 .global Mess_Integral_Hoch |
| 4207 Mess_Integral_Hoch: |
| 4208 003d 0000 0000 .skip 4,0 |
| 4209 .global KompassValue |
| 4210 .global KompassValue |
| 4213 KompassValue: |
| 4214 0041 0000 .skip 2,0 |
| 4215 .global KompassStartwert |
| 4216 .global KompassStartwert |
| 4219 KompassStartwert: |
| 4220 0043 0000 .skip 2,0 |
| 4221 .global KompassRichtung |
| 4222 .global KompassRichtung |
| 4225 KompassRichtung: |
| 4226 0045 0000 .skip 2,0 |
| 4227 .global Notlandung |
| 4228 .global Notlandung |
| 4231 Notlandung: |
| 4232 0047 00 .skip 1,0 |
| 4233 .global HoehenReglerAktiv |
| 4234 .global HoehenReglerAktiv |
| 4237 HoehenReglerAktiv: |
| 4238 0048 00 .skip 1,0 |
| 4239 .global Poti1 |
| 4240 .global Poti1 |
| 4243 Poti1: |
| 4244 0049 0000 .skip 2,0 |
| 4245 .global Poti2 |
| 4246 .global Poti2 |
| 4249 Poti2: |
| 4250 004b 0000 .skip 2,0 |
| 4251 .global Poti3 |
| 4252 .global Poti3 |
| 4255 Poti3: |
| 4256 004d 0000 .skip 2,0 |
| 4257 .global Poti4 |
| 4258 .global Poti4 |
| 4261 Poti4: |
| 4262 004f 0000 .skip 2,0 |
| 4263 .global SenderOkay |
| 4264 .global SenderOkay |
| 4267 SenderOkay: |
| 4268 0051 00 .skip 1,0 |
| 4269 .global StickNick |
| 4270 .global StickNick |
| 4273 StickNick: |
| 4274 0052 0000 .skip 2,0 |
| 4275 .global StickRoll |
| 4276 .global StickRoll |
| 4279 StickRoll: |
| 4280 0054 0000 .skip 2,0 |
| 4281 .global StickGier |
| 4282 .global StickGier |
| 4285 StickGier: |
| 4286 0056 0000 .skip 2,0 |
| 4287 .global MotorenEin |
| 4288 .global MotorenEin |
| 4291 MotorenEin: |
| 4292 0058 00 .skip 1,0 |
| 4293 .global HoehenWert |
| 4294 .global HoehenWert |
| 4297 HoehenWert: |
| 4298 0059 0000 .skip 2,0 |
| 4299 .global SollHoehe |
| 4300 .global SollHoehe |
| 4303 SollHoehe: |
| 4304 005b 0000 .skip 2,0 |
| 4305 .global Kp |
| 4306 .data |
| 4309 Kp: |
| 4310 0010 00 .byte 0 |
| 4311 0011 00 .byte 0 |
| 4312 0012 80 .byte -128 |
| 4313 0013 3F .byte 63 |
| 4314 .global Ki |
| 4317 Ki: |
| 4318 0014 17 .byte 23 |
| 4319 0015 B7 .byte -73 |
| 4320 0016 D1 .byte -47 |
| 4321 0017 38 .byte 56 |
| 4322 .global Parameter_Luftdruck_D |
| 4325 Parameter_Luftdruck_D: |
| 4326 0018 30 .byte 48 |
| 4327 .global Parameter_MaxHoehe |
| 4330 Parameter_MaxHoehe: |
| 4331 0019 FB .byte -5 |
| 4332 .global Parameter_Hoehe_P |
| 4335 Parameter_Hoehe_P: |
| 4336 001a 10 .byte 16 |
| 4337 .global Parameter_Hoehe_ACC_Wirkung |
| 4340 Parameter_Hoehe_ACC_Wirkung: |
| 4341 001b 3A .byte 58 |
| 4342 .global Parameter_KompassWirkung |
| 4345 Parameter_KompassWirkung: |
| 4346 001c 40 .byte 64 |
| 4347 .global Parameter_Gyro_P |
| 4350 Parameter_Gyro_P: |
| 4351 001d 32 .byte 50 |
| 4352 .global Parameter_Gyro_I |
| 4355 Parameter_Gyro_I: |
| 4356 001e 96 .byte -106 |
| 4357 .global Parameter_Gier_P |
| 4360 Parameter_Gier_P: |
| 4361 001f 02 .byte 2 |
| 4362 .global Parameter_I_Faktor |
| 4365 Parameter_I_Faktor: |
| 4366 0020 0A .byte 10 |
| 4367 .global Parameter_UserParam1 |
| 4368 .global Parameter_UserParam1 |
| 4369 .section .bss |
| 4372 Parameter_UserParam1: |
| 4373 005d 00 .skip 1,0 |
| 4374 .global Parameter_UserParam2 |
| 4375 .global Parameter_UserParam2 |
| 4378 Parameter_UserParam2: |
| 4379 005e 00 .skip 1,0 |
| 4380 .global Parameter_UserParam3 |
| 4381 .global Parameter_UserParam3 |
| 4384 Parameter_UserParam3: |
| 4385 005f 00 .skip 1,0 |
| 4386 .global Parameter_UserParam4 |
| 4387 .global Parameter_UserParam4 |
| 4390 Parameter_UserParam4: |
| 4391 0060 00 .skip 1,0 |
| 4392 .global Parameter_ServoNickControl |
| 4393 .data |
| 4396 Parameter_ServoNickControl: |
| 4397 0021 64 .byte 100 |
| 4398 .lcomm SignalSchlecht.2366,2 |
| 4399 .lcomm NeueKompassRichtungMerken.2362,1 |
| 4400 .lcomm TimerWerteausgabe.2361,1 |
| 4401 .lcomm hoehenregler.2360,2 |
| 4402 .lcomm modell_fliegt.2359,2 |
| 4403 .lcomm delay_ausschalten.2358,1 |
| 4404 .lcomm delay_einschalten.2357,1 |
| 4405 .lcomm delay_neutral.2356,1 |
| 4406 .lcomm RcLostTimer.2355,2 |
| 4407 .lcomm IntegralFehlerRoll.2354,2 |
| 4408 .lcomm IntegralFehlerNick.2353,2 |
| 4409 .lcomm tmp_long2.2352,4 |
| 4410 .lcomm tmp_long.2351,4 |
| 4411 .lcomm sollGier.2350,4 |
| 4412 .lcomm SummeRoll.2349,4 |
| 4413 .lcomm SummeNick.2348,4 |
| 4414 .comm DiffNick,2,1 |
| 4415 .comm DiffRoll,2,1 |
| 4416 .comm durchschnitt_northing,4,1 |
| 4417 .comm durchschnitt_easting,4,1 |
| 4418 .comm gps_p,2,1 |
| 4419 .comm gps_d,2,1 |
| 4420 .comm skal,2,1 |
| 4421 .comm gps_gethome,2,1 |
| 4422 .comm RemoteTasten,1,1 |
| 4423 .comm MesswertNick,2,1 |
| 4424 .comm MesswertRoll,2,1 |
| 4425 .comm MesswertGier,2,1 |
| 4426 .comm Mittelwert_AccNick,2,1 |
| 4427 .comm Mittelwert_AccRoll,2,1 |
| 4428 .comm Mittelwert_AccHoch,2,1 |
| 4429 .comm h,1,1 |
| 4430 .comm m,1,1 |
| 4431 .comm s,1,1 |
| 4432 .comm Motor_Vorne,1,1 |
| 4433 .comm Motor_Hinten,1,1 |
| 4434 .comm Motor_Rechts,1,1 |
| 4435 .comm Motor_Links,1,1 |
| 4436 .comm Count,1,1 |
| 4437 .comm MotorWert,5,1 |
| 4438 .comm EE_Parameter,58,1 |
| 4439 .comm MAX_GAS,1,1 |
| 4440 .comm MIN_GAS,1,1 |
| 4441 .comm GyroFaktor,4,1 |
| 4442 .comm IntegralFaktor,4,1 |
| 4443 /* File "fc.c": code 5078 = 0x13d6 (4996), prologues 38, epilogues 44 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 fc.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:13 .text:00000000 Mittelwert |
| *COM*:00000002 MesswertNick |
| *COM*:00000002 MesswertRoll |
| *COM*:00000002 MesswertGier |
| *COM*:00000002 Mittelwert_AccNick |
| *COM*:00000002 Mittelwert_AccRoll |
| *COM*:00000002 Mittelwert_AccHoch |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4195 .bss:00000035 Mess_Integral_Gier |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4165 .bss:00000021 Integral_Gier |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4171 .bss:00000025 Mess_IntegralNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4141 .bss:00000011 IntegralNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4183 .bss:0000002d Mess_IntegralRoll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4153 .bss:00000019 IntegralRoll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4177 .bss:00000029 Mess_IntegralNick2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4147 .bss:00000015 IntegralNick2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4189 .bss:00000031 Mess_IntegralRoll2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4159 .bss:0000001d IntegralRoll2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4243 .bss:00000049 Poti1 |
| *COM*:0000003a EE_Parameter |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4249 .bss:0000004b Poti2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4255 .bss:0000004d Poti3 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4261 .bss:0000004f Poti4 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:576 .text:00000582 CalibrierMittelwert |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:918 .text:000008ba ParameterZuordnung |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4330 .data:00000019 Parameter_MaxHoehe |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4325 .data:00000018 Parameter_Luftdruck_D |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4335 .data:0000001a Parameter_Hoehe_P |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4340 .data:0000001b Parameter_Hoehe_ACC_Wirkung |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4345 .data:0000001c Parameter_KompassWirkung |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4350 .data:0000001d Parameter_Gyro_P |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4355 .data:0000001e Parameter_Gyro_I |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4365 .data:00000020 Parameter_I_Faktor |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4372 .bss:0000005d Parameter_UserParam1 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4378 .bss:0000005e Parameter_UserParam2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4384 .bss:0000005f Parameter_UserParam3 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4390 .bss:00000060 Parameter_UserParam4 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4396 .data:00000021 Parameter_ServoNickControl |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4317 .data:00000014 Ki |
| *COM*:00000001 MAX_GAS |
| *COM*:00000001 MIN_GAS |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:1484 .text:00000d54 DefaultKonstanten2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:1570 .text:00000e2e DefaultKonstanten1 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:1654 .text:00000f10 SendMotorData |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4291 .bss:00000058 MotorenEin |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:1710 .text:00000f9e SetNeutral |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4111 .bss:00000007 NeutralAccX |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4117 .bss:00000009 NeutralAccY |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4123 .bss:0000000b NeutralAccZ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4093 .bss:00000001 AdNeutralNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4099 .bss:00000003 AdNeutralRoll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4105 .bss:00000005 AdNeutralGier |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4207 .bss:0000003d Mess_Integral_Hoch |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4213 .bss:00000041 KompassValue |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4219 .bss:00000043 KompassStartwert |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:1882 .text:00001196 Piep |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:1911 .text:000011c0 MotorRegler |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4267 .bss:00000051 SenderOkay |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4405 .bss:0000006c RcLostTimer.2355 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4231 .bss:00000047 Notlandung |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4401 .bss:00000067 modell_fliegt.2359 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4412 .bss:00000082 SummeNick.2348 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4411 .bss:0000007e SummeRoll.2349 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4201 .bss:00000039 Mess_Integral_Gier2 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4404 .bss:0000006b delay_neutral.2356 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4403 .bss:0000006a delay_einschalten.2357 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4410 .bss:0000007a sollGier.2350 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4402 .bss:00000069 delay_ausschalten.2358 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4273 .bss:00000052 StickNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4279 .bss:00000054 StickRoll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4285 .bss:00000056 StickGier |
| *COM*:00000004 GyroFaktor |
| *COM*:00000004 IntegralFaktor |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4407 .bss:00000070 IntegralFehlerNick.2353 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4406 .bss:0000006e IntegralFehlerRoll.2354 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4409 .bss:00000076 tmp_long.2351 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4408 .bss:00000072 tmp_long2.2352 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4398 .bss:00000063 NeueKompassRichtungMerken.2362 |
| .bss:00000061 SignalSchlecht.2366 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4225 .bss:00000045 KompassRichtung |
| *COM*:00000002 gps_p |
| *COM*:00000002 gps_d |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4399 .bss:00000064 TimerWerteausgabe.2361 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4297 .bss:00000059 HoehenWert |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4303 .bss:0000005b SollHoehe |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4237 .bss:00000048 HoehenReglerAktiv |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4400 .bss:00000065 hoehenregler.2360 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4309 .data:00000010 Kp |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4087 .bss:00000000 Timeout |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4129 .bss:0000000f CosinusNickWinkel |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4135 .bss:00000010 CosinusRollWinkel |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc9SL4d7.s:4360 .data:0000001f Parameter_Gier_P |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| MessanzahlNick |
| AccumulateNick |
| __divmodhi4 |
| MessanzahlRoll |
| AccumulateRoll |
| MessanzahlGier |
| AccumulateGier |
| messanzahl_AccNick |
| accumulate_AccNick |
| __divmodsi4 |
| messanzahl_AccRoll |
| accumulate_AccRoll |
| messanzahl_AccHoch |
| accumulate_AccHoch |
| PPM_in |
| __floatsisf |
| __addsf3 |
| __mulsf3 |
| MotorTest |
| DebugOut |
| twi_state |
| motor |
| i2c_start |
| SetDelay |
| CheckDelay |
| MessLuftdruck |
| SucheLuftruckOffset |
| Aktuell_az |
| Luftdruck |
| StartLuftdruck |
| HoeheD |
| beeptime |
| Delay_ms |
| PcZugriff |
| EEPromArray |
| __eeprom_write_byte_1F2021 |
| GetActiveParamSetNumber |
| ReadParameterSet |
| NewPpmData |
| PPM_diff |
| __divsf3 |
| __ltsf2 |
| ZaehlMessungen |
| __mulsi3 |
| gps_main |
| GPS_Nick |
| GPS_Roll |
| __fixsfsi |
| /branches/chris_hallo2/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File></Project> |
| /branches/chris_hallo2/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/chris_hallo2/gps.h |
|---|
| 0,0 → 1,4 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| /branches/chris_hallo2/main.c |
|---|
| 0,0 → 1,210 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/chris_hallo2/main.d |
|---|
| 0,0 → 1,2 |
| main.o main.d : main.c main.h old_macros.h _settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/chris_hallo2/main.h |
|---|
| 0,0 → 1,101 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| long durchschnitt_northing; |
| long durchschnitt_easting; |
| volatile int gps_p; //P-Anteil (10) |
| volatile int gps_d; //D-Anteil (4) |
| volatile int skal; //Skalierungsfaktor der Regelung (alter Wert: 10) (20) |
| volatile int gps_gethome; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/chris_hallo2/main.lst |
|---|
| 0,0 → 1,598 |
| 1 .file "main.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global GetActiveParamSetNumber |
| 13 GetActiveParamSetNumber: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 A0E0 ldi r26,lo8(EEPromArray+2) |
| 17 0002 B0E0 ldi r27,hi8(EEPromArray+2) |
| 18 /* #APP */ |
| 19 0004 0E94 0000 call __eeprom_read_byte_1F2021 |
| 20 0008 802D mov r24,__tmp_reg__ |
| 21 /* #NOAPP */ |
| 22 000a 9927 clr r25 |
| 23 /* epilogue: frame size=0 */ |
| 24 000c 0895 ret |
| 25 /* epilogue end (size=1) */ |
| 26 /* function GetActiveParamSetNumber size 8 (7) */ |
| 28 .global WriteParameterSet |
| 30 WriteParameterSet: |
| 31 /* prologue: frame size=0 */ |
| 32 /* prologue end (size=0) */ |
| 33 000e FB01 movw r30,r22 |
| 34 0010 282F mov r18,r24 |
| 35 0012 8630 cpi r24,lo8(6) |
| 36 0014 00F0 brlo .L4 |
| 37 0016 25E0 ldi r18,lo8(5) |
| 38 .L4: |
| 39 0018 842F mov r24,r20 |
| 40 001a 9927 clr r25 |
| 41 001c 429F mul r20,r18 |
| 42 001e D001 movw r26,r0 |
| 43 0020 1124 clr r1 |
| 44 0022 A050 subi r26,lo8(-(EEPromArray+100)) |
| 45 0024 B040 sbci r27,hi8(-(EEPromArray+100)) |
| 46 /* #APP */ |
| 47 .26_start: |
| 48 0026 0197 sbiw r24,1 |
| 49 0028 04F0 brlt .26_finished |
| 50 002a 0190 ld __tmp_reg__,z+ |
| 51 002c 0E94 0000 call __eeprom_write_byte_1F2021 |
| 52 0030 00C0 rjmp .26_start |
| 53 .26_finished: |
| 54 /* #NOAPP */ |
| 55 0032 A0E0 ldi r26,lo8(EEPromArray+2) |
| 56 0034 B0E0 ldi r27,hi8(EEPromArray+2) |
| 57 /* #APP */ |
| 58 0036 022E mov __tmp_reg__,r18 |
| 59 0038 0E94 0000 call __eeprom_write_byte_1F2021 |
| 60 /* #NOAPP */ |
| 61 /* epilogue: frame size=0 */ |
| 62 003c 0895 ret |
| 63 /* epilogue end (size=1) */ |
| 64 /* function WriteParameterSet size 33 (32) */ |
| 66 .global ReadParameterSet |
| 68 ReadParameterSet: |
| 69 /* prologue: frame size=0 */ |
| 70 003e CF93 push r28 |
| 71 0040 DF93 push r29 |
| 72 /* prologue end (size=2) */ |
| 73 0042 FB01 movw r30,r22 |
| 74 0044 C42F mov r28,r20 |
| 75 0046 DD27 clr r29 |
| 76 0048 8630 cpi r24,lo8(6) |
| 77 004a 00F0 brlo .L7 |
| 78 004c 85E0 ldi r24,lo8(5) |
| 79 .L7: |
| 80 004e 489F mul r20,r24 |
| 81 0050 D001 movw r26,r0 |
| 82 0052 1124 clr r1 |
| 83 0054 A050 subi r26,lo8(-(EEPromArray+100)) |
| 84 0056 B040 sbci r27,hi8(-(EEPromArray+100)) |
| 85 /* #APP */ |
| 86 .44_start: |
| 87 0058 2197 sbiw r28,1 |
| 88 005a 04F0 brlt .44_finished |
| 89 005c 0E94 0000 call __eeprom_read_byte_1F2021 |
| 90 0060 0192 st z+,__tmp_reg__ |
| 91 0062 00C0 rjmp .44_start |
| 92 .44_finished: |
| 93 /* #NOAPP */ |
| 94 /* epilogue: frame size=0 */ |
| 95 0064 DF91 pop r29 |
| 96 0066 CF91 pop r28 |
| 97 0068 0895 ret |
| 98 /* epilogue end (size=3) */ |
| 99 /* function ReadParameterSet size 30 (25) */ |
| 101 .global main |
| 103 main: |
| 104 /* prologue: frame size=0 */ |
| 105 006a 0F93 push r16 |
| 106 006c 1F93 push r17 |
| 107 006e CF93 push r28 |
| 108 0070 DF93 push r29 |
| 109 /* prologue end (size=4) */ |
| 110 0072 91E0 ldi r25,lo8(1) |
| 111 0074 97B9 out 39-0x20,r25 |
| 112 0076 8FEF ldi r24,lo8(-1) |
| 113 0078 88B9 out 40-0x20,r24 |
| 114 007a 8BE1 ldi r24,lo8(27) |
| 115 007c 84B9 out 36-0x20,r24 |
| 116 007e 95B9 out 37-0x20,r25 |
| 117 0080 8EE3 ldi r24,lo8(62) |
| 118 0082 8AB9 out 42-0x20,r24 |
| 119 0084 579A sbi 42-0x20,7 |
| 120 0086 87EF ldi r24,lo8(-9) |
| 121 0088 8BB9 out 43-0x20,r24 |
| 122 008a 84B7 in r24,84-0x20 |
| 123 008c 877F andi r24,lo8(-9) |
| 124 008e 84BF out 84-0x20,r24 |
| 125 0090 8091 6000 lds r24,96 |
| 126 0094 8861 ori r24,lo8(24) |
| 127 0096 8093 6000 sts 96,r24 |
| 128 009a 1092 6000 sts 96,__zero_reg__ |
| 129 009e 80ED ldi r24,lo8(2000) |
| 130 00a0 97E0 ldi r25,hi8(2000) |
| 131 00a2 9093 0000 sts (beeptime)+1,r25 |
| 132 00a6 8093 0000 sts beeptime,r24 |
| 133 00aa 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 134 00ae 1092 0000 sts StickGier,__zero_reg__ |
| 135 00b2 1092 0000 sts (PPM_in+4)+1,__zero_reg__ |
| 136 00b6 1092 0000 sts PPM_in+4,__zero_reg__ |
| 137 00ba 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 138 00be 1092 0000 sts StickRoll,__zero_reg__ |
| 139 00c2 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 140 00c6 1092 0000 sts StickNick,__zero_reg__ |
| 141 00ca 2898 cbi 37-0x20,0 |
| 142 00cc 0E94 0000 call Timer_Init |
| 143 00d0 0E94 0000 call UART_Init |
| 144 00d4 0E94 0000 call rc_sum_init |
| 145 00d8 0E94 0000 call ADC_Init |
| 146 00dc 0E94 0000 call i2c_init |
| 147 /* #APP */ |
| 148 00e0 7894 sei |
| 149 /* #NOAPP */ |
| 150 00e2 1092 0000 sts VersionInfo,__zero_reg__ |
| 151 00e6 8CE3 ldi r24,lo8(60) |
| 152 00e8 8093 0000 sts VersionInfo+1,r24 |
| 153 00ec 84E0 ldi r24,lo8(4) |
| 154 00ee 8093 0000 sts VersionInfo+2,r24 |
| 155 00f2 8CE3 ldi r24,lo8(60) |
| 156 00f4 90E0 ldi r25,hi8(60) |
| 157 00f6 9F93 push r25 |
| 158 00f8 8F93 push r24 |
| 159 00fa 1F92 push __zero_reg__ |
| 160 00fc 1F92 push __zero_reg__ |
| 161 00fe 80E0 ldi r24,lo8(__c.1991) |
| 162 0100 90E0 ldi r25,hi8(__c.1991) |
| 163 0102 9F93 push r25 |
| 164 0104 8F93 push r24 |
| 165 0106 1F92 push __zero_reg__ |
| 166 0108 0E94 0000 call _printf_P |
| 167 010c 80E0 ldi r24,lo8(__c.1993) |
| 168 010e 90E0 ldi r25,hi8(__c.1993) |
| 169 0110 9F93 push r25 |
| 170 0112 8F93 push r24 |
| 171 0114 1F92 push __zero_reg__ |
| 172 0116 0E94 0000 call _printf_P |
| 173 011a 299A sbi 37-0x20,1 |
| 174 011c A0E0 ldi r26,lo8(EEPromArray+1) |
| 175 011e B0E0 ldi r27,hi8(EEPromArray+1) |
| 176 /* #APP */ |
| 177 0120 0E94 0000 call __eeprom_read_byte_1F2021 |
| 178 0124 802D mov r24,__tmp_reg__ |
| 179 /* #NOAPP */ |
| 180 0126 2DB7 in r18,__SP_L__ |
| 181 0128 3EB7 in r19,__SP_H__ |
| 182 012a 265F subi r18,lo8(-(10)) |
| 183 012c 3F4F sbci r19,hi8(-(10)) |
| 184 012e 0FB6 in __tmp_reg__,__SREG__ |
| 185 0130 F894 cli |
| 186 0132 3EBF out __SP_H__,r19 |
| 187 0134 0FBE out __SREG__,__tmp_reg__ |
| 188 0136 2DBF out __SP_L__,r18 |
| 189 0138 8B33 cpi r24,lo8(59) |
| 190 013a 01F0 breq .L10 |
| 191 013c 80E0 ldi r24,lo8(__c.1995) |
| 192 013e 90E0 ldi r25,hi8(__c.1995) |
| 193 0140 9F93 push r25 |
| 194 0142 8F93 push r24 |
| 195 0144 1F92 push __zero_reg__ |
| 196 0146 0E94 0000 call _printf_P |
| 197 014a 0E94 0000 call DefaultKonstanten1 |
| 198 014e 4AE3 ldi r20,lo8(58) |
| 199 0150 60E0 ldi r22,lo8(EE_Parameter) |
| 200 0152 70E0 ldi r23,hi8(EE_Parameter) |
| 201 0154 80E0 ldi r24,lo8(0) |
| 202 0156 0E94 0000 call WriteParameterSet |
| 203 015a 01E0 ldi r16,lo8(1) |
| 204 015c 0F90 pop __tmp_reg__ |
| 205 015e 0F90 pop __tmp_reg__ |
| 206 0160 0F90 pop __tmp_reg__ |
| 207 .L12: |
| 208 0162 0230 cpi r16,lo8(2) |
| 209 0164 01F4 brne .L13 |
| 210 0166 0E94 0000 call DefaultKonstanten2 |
| 211 016a 4AE3 ldi r20,lo8(58) |
| 212 016c 60E0 ldi r22,lo8(EE_Parameter) |
| 213 016e 70E0 ldi r23,hi8(EE_Parameter) |
| 214 0170 82E0 ldi r24,lo8(2) |
| 215 0172 0E94 0000 call WriteParameterSet |
| 216 0176 03E0 ldi r16,lo8(3) |
| 217 .L13: |
| 218 0178 4AE3 ldi r20,lo8(58) |
| 219 017a 60E0 ldi r22,lo8(EE_Parameter) |
| 220 017c 70E0 ldi r23,hi8(EE_Parameter) |
| 221 017e 802F mov r24,r16 |
| 222 0180 0E94 0000 call WriteParameterSet |
| 223 0184 0F5F subi r16,lo8(-(1)) |
| 224 0186 0630 cpi r16,lo8(6) |
| 225 0188 00F0 brlo .L12 |
| 226 018a 81E0 ldi r24,lo8(1) |
| 227 018c 20E0 ldi r18,lo8(EEPromArray+2) |
| 228 018e 30E0 ldi r19,hi8(EEPromArray+2) |
| 229 0190 D901 movw r26,r18 |
| 230 /* #APP */ |
| 231 0192 082E mov __tmp_reg__,r24 |
| 232 0194 0E94 0000 call __eeprom_write_byte_1F2021 |
| 233 /* #NOAPP */ |
| 234 0198 8BE3 ldi r24,lo8(59) |
| 235 019a 2150 subi r18,lo8(-(-1)) |
| 236 019c 3040 sbci r19,hi8(-(-1)) |
| 237 019e D901 movw r26,r18 |
| 238 /* #APP */ |
| 239 01a0 082E mov __tmp_reg__,r24 |
| 240 01a2 0E94 0000 call __eeprom_write_byte_1F2021 |
| 241 /* #NOAPP */ |
| 242 .L10: |
| 243 01a6 00E0 ldi r16,lo8(EEPromArray+2) |
| 244 01a8 10E0 ldi r17,hi8(EEPromArray+2) |
| 245 01aa D801 movw r26,r16 |
| 246 /* #APP */ |
| 247 01ac 0E94 0000 call __eeprom_read_byte_1F2021 |
| 248 01b0 802D mov r24,__tmp_reg__ |
| 249 /* #NOAPP */ |
| 250 01b2 4AE3 ldi r20,lo8(58) |
| 251 01b4 60E0 ldi r22,lo8(EE_Parameter) |
| 252 01b6 70E0 ldi r23,hi8(EE_Parameter) |
| 253 01b8 0E94 0000 call ReadParameterSet |
| 254 01bc D801 movw r26,r16 |
| 255 /* #APP */ |
| 256 01be 0E94 0000 call __eeprom_read_byte_1F2021 |
| 257 01c2 802D mov r24,__tmp_reg__ |
| 258 /* #NOAPP */ |
| 259 01c4 9927 clr r25 |
| 260 01c6 9F93 push r25 |
| 261 01c8 8F93 push r24 |
| 262 01ca 80E0 ldi r24,lo8(__c.2003) |
| 263 01cc 90E0 ldi r25,hi8(__c.2003) |
| 264 01ce 9F93 push r25 |
| 265 01d0 8F93 push r24 |
| 266 01d2 1F92 push __zero_reg__ |
| 267 01d4 0E94 0000 call _printf_P |
| 268 01d8 8091 0000 lds r24,EE_Parameter+8 |
| 269 01dc 0F90 pop __tmp_reg__ |
| 270 01de 0F90 pop __tmp_reg__ |
| 271 01e0 0F90 pop __tmp_reg__ |
| 272 01e2 0F90 pop __tmp_reg__ |
| 273 01e4 0F90 pop __tmp_reg__ |
| 274 01e6 80FF sbrs r24,0 |
| 275 01e8 00C0 rjmp .L16 |
| 276 01ea 80E0 ldi r24,lo8(__c.2005) |
| 277 01ec 90E0 ldi r25,hi8(__c.2005) |
| 278 01ee 9F93 push r25 |
| 279 01f0 8F93 push r24 |
| 280 01f2 1F92 push __zero_reg__ |
| 281 01f4 0E94 0000 call _printf_P |
| 282 01f8 84EC ldi r24,lo8(2500) |
| 283 01fa 99E0 ldi r25,hi8(2500) |
| 284 01fc 0E94 0000 call SetDelay |
| 285 0200 EC01 movw r28,r24 |
| 286 0202 0E94 0000 call SucheLuftruckOffset |
| 287 0206 0F90 pop __tmp_reg__ |
| 288 0208 0F90 pop __tmp_reg__ |
| 289 020a 0F90 pop __tmp_reg__ |
| 290 .L18: |
| 291 020c CE01 movw r24,r28 |
| 292 020e 0E94 0000 call CheckDelay |
| 293 0212 8823 tst r24 |
| 294 0214 01F0 breq .L18 |
| 295 0216 80E0 ldi r24,lo8(__c.2010) |
| 296 0218 90E0 ldi r25,hi8(__c.2010) |
| 297 021a 9F93 push r25 |
| 298 021c 8F93 push r24 |
| 299 021e 1F92 push __zero_reg__ |
| 300 0220 0E94 0000 call _printf_P |
| 301 0224 0F90 pop __tmp_reg__ |
| 302 0226 0F90 pop __tmp_reg__ |
| 303 0228 0F90 pop __tmp_reg__ |
| 304 .L16: |
| 305 022a 0E94 0000 call SetNeutral |
| 306 022e 2898 cbi 37-0x20,0 |
| 307 0230 80ED ldi r24,lo8(2000) |
| 308 0232 97E0 ldi r25,hi8(2000) |
| 309 0234 9093 0000 sts (beeptime)+1,r25 |
| 310 0238 8093 0000 sts beeptime,r24 |
| 311 023c 88EE ldi r24,lo8(1000) |
| 312 023e 93E0 ldi r25,hi8(1000) |
| 313 0240 9093 0000 sts (DebugIn+5)+1,r25 |
| 314 0244 8093 0000 sts DebugIn+5,r24 |
| 315 0248 85E5 ldi r24,lo8(85) |
| 316 024a 8093 0000 sts DebugIn,r24 |
| 317 024e 80E0 ldi r24,lo8(__c.2012) |
| 318 0250 90E0 ldi r25,hi8(__c.2012) |
| 319 0252 9F93 push r25 |
| 320 0254 8F93 push r24 |
| 321 0256 1F92 push __zero_reg__ |
| 322 0258 0E94 0000 call _printf_P |
| 323 025c 8091 0000 lds r24,EE_Parameter+8 |
| 324 0260 0F90 pop __tmp_reg__ |
| 325 0262 0F90 pop __tmp_reg__ |
| 326 0264 0F90 pop __tmp_reg__ |
| 327 0266 82FF sbrs r24,2 |
| 328 0268 00C0 rjmp .L20 |
| 329 026a 80E0 ldi r24,lo8(__c.2014) |
| 330 026c 90E0 ldi r25,hi8(__c.2014) |
| 331 026e 00C0 rjmp .L48 |
| 332 .L20: |
| 333 0270 80E0 ldi r24,lo8(__c.2016) |
| 334 0272 90E0 ldi r25,hi8(__c.2016) |
| 335 .L48: |
| 336 0274 9F93 push r25 |
| 337 0276 8F93 push r24 |
| 338 0278 1F92 push __zero_reg__ |
| 339 027a 0E94 0000 call _printf_P |
| 340 027e 0F90 pop __tmp_reg__ |
| 341 0280 0F90 pop __tmp_reg__ |
| 342 0282 0F90 pop __tmp_reg__ |
| 343 0284 80E0 ldi r24,lo8(__c.2018) |
| 344 0286 90E0 ldi r25,hi8(__c.2018) |
| 345 0288 9F93 push r25 |
| 346 028a 8F93 push r24 |
| 347 028c 1F92 push __zero_reg__ |
| 348 028e 0E94 0000 call _printf_P |
| 349 0292 0E94 0000 call LcdClear |
| 350 0296 0F90 pop __tmp_reg__ |
| 351 0298 0F90 pop __tmp_reg__ |
| 352 029a 0F90 pop __tmp_reg__ |
| 353 .L49: |
| 354 029c 8091 0000 lds r24,UpdateMotor |
| 355 02a0 8823 tst r24 |
| 356 02a2 01F0 breq .L24 |
| 357 02a4 1092 0000 sts UpdateMotor,__zero_reg__ |
| 358 02a8 0E94 0000 call MotorRegler |
| 359 02ac 0E94 0000 call SendMotorData |
| 360 02b0 2898 cbi 37-0x20,0 |
| 361 02b2 8091 0000 lds r24,PcZugriff |
| 362 02b6 8823 tst r24 |
| 363 02b8 01F0 breq .L26 |
| 364 02ba 8150 subi r24,lo8(-(-1)) |
| 365 02bc 8093 0000 sts PcZugriff,r24 |
| 366 .L26: |
| 367 02c0 8091 0000 lds r24,SenderOkay |
| 368 02c4 8823 tst r24 |
| 369 02c6 01F0 breq .L28 |
| 370 02c8 8091 0000 lds r24,SenderOkay |
| 371 02cc 8150 subi r24,lo8(-(-1)) |
| 372 02ce 8093 0000 sts SenderOkay,r24 |
| 373 .L28: |
| 374 02d2 2091 0000 lds r18,UBat |
| 375 02d6 3091 0000 lds r19,(UBat)+1 |
| 376 02da 8091 0000 lds r24,EE_Parameter+24 |
| 377 02de 9927 clr r25 |
| 378 02e0 2817 cp r18,r24 |
| 379 02e2 3907 cpc r19,r25 |
| 380 02e4 04F4 brge .L30 |
| 381 02e6 80ED ldi r24,lo8(2000) |
| 382 02e8 97E0 ldi r25,hi8(2000) |
| 383 02ea 9093 0000 sts (beeptime)+1,r25 |
| 384 02ee 8093 0000 sts beeptime,r24 |
| 385 .L30: |
| 386 02f2 8091 0000 lds r24,Timeout |
| 387 02f6 8823 tst r24 |
| 388 02f8 01F4 brne .L32 |
| 389 02fa 0E94 0000 call i2c_init |
| 390 02fe 00C0 rjmp .L24 |
| 391 .L32: |
| 392 0300 2898 cbi 37-0x20,0 |
| 393 .L24: |
| 394 0302 0E94 0000 call DatenUebertragung |
| 395 0306 0E94 0000 call BearbeiteRxDaten |
| 396 030a 80E0 ldi r24,lo8(0) |
| 397 030c 90E0 ldi r25,hi8(0) |
| 398 030e 0E94 0000 call CheckDelay |
| 399 0312 8823 tst r24 |
| 400 0314 01F0 breq .L49 |
| 401 0316 8091 0000 lds r24,MotorenEin |
| 402 031a 8823 tst r24 |
| 403 031c 01F0 breq .L35 |
| 404 031e 88B1 in r24,40-0x20 |
| 405 0320 90E1 ldi r25,lo8(16) |
| 406 0322 8927 eor r24,r25 |
| 407 0324 88B9 out 40-0x20,r24 |
| 408 0326 00C0 rjmp .L37 |
| 409 .L35: |
| 410 0328 4498 cbi 40-0x20,4 |
| 411 .L37: |
| 412 032a 84EF ldi r24,lo8(500) |
| 413 032c 91E0 ldi r25,hi8(500) |
| 414 032e 0E94 0000 call SetDelay |
| 415 0332 00C0 rjmp .L49 |
| 416 /* epilogue: frame size=0 */ |
| 417 /* epilogue: noreturn */ |
| 418 /* epilogue end (size=0) */ |
| 419 /* function main size 363 (359) */ |
| 421 .section .progmem.data,"a",@progbits |
| 424 __c.2018: |
| 425 0000 0A0A 0D00 .string "\n\n\r" |
| 428 __c.2016: |
| 429 0004 4E65 7574 .string "Neutral" |
| 429 7261 6C00 |
| 432 __c.2014: |
| 433 000c 4865 6164 .string "HeadingHold" |
| 433 696E 6748 |
| 433 6F6C 6400 |
| 436 __c.2012: |
| 437 0018 0A0D 5374 .string "\n\rSteuerung: " |
| 437 6575 6572 |
| 437 756E 673A |
| 437 2000 |
| 440 __c.2010: |
| 441 0026 4F4B 0A0D .string "OK\n\r" |
| 441 00 |
| 444 __c.2005: |
| 445 002b 0A0D 4162 .string "\n\rAbgleich Luftdrucksensor.." |
| 445 676C 6569 |
| 445 6368 204C |
| 445 7566 7464 |
| 445 7275 636B |
| 448 __c.2003: |
| 449 0048 0A0D 4265 .string "\n\rBenutze Parametersatz %d" |
| 449 6E75 747A |
| 449 6520 5061 |
| 449 7261 6D65 |
| 449 7465 7273 |
| 452 __c.1995: |
| 453 0063 0A0D 496E .string "\n\rInit. EEPROM: Generiere Default-Parameter..." |
| 453 6974 2E20 |
| 453 4545 5052 |
| 453 4F4D 3A20 |
| 453 4765 6E65 |
| 456 __c.1993: |
| 457 0092 0A0D 3D3D .string "\n\r==============================" |
| 457 3D3D 3D3D |
| 457 3D3D 3D3D |
| 457 3D3D 3D3D |
| 457 3D3D 3D3D |
| 460 __c.1991: |
| 461 00b3 0A0D 466C .string "\n\rFlightControl V%d.%d " |
| 461 6967 6874 |
| 461 436F 6E74 |
| 461 726F 6C20 |
| 461 5625 642E |
| 462 .comm DiffNick,2,1 |
| 463 .comm DiffRoll,2,1 |
| 464 .comm SenderOkay,1,1 |
| 465 .comm CosinusNickWinkel,1,1 |
| 466 .comm CosinusRollWinkel,1,1 |
| 467 .global EEPromArray |
| 468 .section .eeprom,"aw",@progbits |
| 471 EEPromArray: |
| 472 0000 0000 0000 .skip 2048,0 |
| 472 0000 0000 |
| 472 0000 0000 |
| 472 0000 0000 |
| 472 0000 0000 |
| 473 .comm durchschnitt_northing,4,1 |
| 474 .comm durchschnitt_easting,4,1 |
| 475 .comm gps_p,2,1 |
| 476 .comm gps_d,2,1 |
| 477 .comm skal,2,1 |
| 478 .comm gps_gethome,2,1 |
| 479 .comm RemoteTasten,1,1 |
| 480 .comm Timeout,1,1 |
| 481 .comm IntegralNick,4,1 |
| 482 .comm IntegralNick2,4,1 |
| 483 .comm IntegralRoll,4,1 |
| 484 .comm IntegralRoll2,4,1 |
| 485 .comm Mess_IntegralNick,4,1 |
| 486 .comm Mess_IntegralNick2,4,1 |
| 487 .comm Mess_IntegralRoll,4,1 |
| 488 .comm Mess_IntegralRoll2,4,1 |
| 489 .comm Integral_Gier,4,1 |
| 490 .comm Mess_Integral_Gier,4,1 |
| 491 .comm h,1,1 |
| 492 .comm m,1,1 |
| 493 .comm s,1,1 |
| 494 .comm Motor_Vorne,1,1 |
| 495 .comm Motor_Hinten,1,1 |
| 496 .comm Motor_Rechts,1,1 |
| 497 .comm Motor_Links,1,1 |
| 498 .comm Count,1,1 |
| 499 .comm MotorWert,5,1 |
| 500 .comm StickNick,2,1 |
| 501 .comm StickRoll,2,1 |
| 502 .comm StickGier,2,1 |
| 503 .comm MotorenEin,1,1 |
| 504 /* File "main.c": code 434 = 0x01b2 ( 423), prologues 6, epilogues 5 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 main.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:13 .text:00000000 GetActiveParamSetNumber |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:471 .eeprom:00000000 EEPromArray |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:30 .text:0000000e WriteParameterSet |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:47 .text:00000026 .26_start |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:53 .text:00000032 .26_finished |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:68 .text:0000003e ReadParameterSet |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:86 .text:00000058 .44_start |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:92 .text:00000064 .44_finished |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:103 .text:0000006a main |
| *COM*:00000002 StickGier |
| *COM*:00000002 StickRoll |
| *COM*:00000002 StickNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:460 .progmem.data:000000b3 __c.1991 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:456 .progmem.data:00000092 __c.1993 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:452 .progmem.data:00000063 __c.1995 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:448 .progmem.data:00000048 __c.2003 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:444 .progmem.data:0000002b __c.2005 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:440 .progmem.data:00000026 __c.2010 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:436 .progmem.data:00000018 __c.2012 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:432 .progmem.data:0000000c __c.2014 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:428 .progmem.data:00000004 __c.2016 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccwMXjrd.s:424 .progmem.data:00000000 __c.2018 |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 Timeout |
| *COM*:00000001 MotorenEin |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 gps_p |
| *COM*:00000002 gps_d |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000001 RemoteTasten |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __eeprom_read_byte_1F2021 |
| __eeprom_write_byte_1F2021 |
| beeptime |
| PPM_in |
| Timer_Init |
| UART_Init |
| rc_sum_init |
| ADC_Init |
| i2c_init |
| VersionInfo |
| _printf_P |
| DefaultKonstanten1 |
| EE_Parameter |
| DefaultKonstanten2 |
| SetDelay |
| SucheLuftruckOffset |
| CheckDelay |
| SetNeutral |
| DebugIn |
| LcdClear |
| UpdateMotor |
| MotorRegler |
| SendMotorData |
| PcZugriff |
| UBat |
| DatenUebertragung |
| BearbeiteRxDaten |
| /branches/chris_hallo2/makefile |
|---|
| 0,0 → 1,391 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/chris_hallo2/menu.c |
|---|
| 0,0 → 1,118 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i Kanäle ",PPM_in[7]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/chris_hallo2/menu.d |
|---|
| 0,0 → 1,2 |
| menu.o menu.d : menu.c main.h old_macros.h _settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/chris_hallo2/menu.h |
|---|
| 0,0 → 1,5 |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/chris_hallo2/menu.lst |
|---|
| 0,0 → 1,1257 |
| 1 .file "menu.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global LcdClear |
| 13 LcdClear: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 E0E0 ldi r30,lo8(DisplayBuff) |
| 17 0002 F0E0 ldi r31,hi8(DisplayBuff) |
| 18 0004 80E2 ldi r24,lo8(32) |
| 19 .L2: |
| 20 0006 8193 st Z+,r24 |
| 21 0008 90E0 ldi r25,hi8(DisplayBuff+80) |
| 22 000a E030 cpi r30,lo8(DisplayBuff+80) |
| 23 000c F907 cpc r31,r25 |
| 24 000e 01F4 brne .L2 |
| 25 /* epilogue: frame size=0 */ |
| 26 0010 0895 ret |
| 27 /* epilogue end (size=1) */ |
| 28 /* function LcdClear size 9 (8) */ |
| 30 .global Menu |
| 32 Menu: |
| 33 /* prologue: frame size=0 */ |
| 34 0012 FF92 push r15 |
| 35 0014 0F93 push r16 |
| 36 0016 1F93 push r17 |
| 37 /* prologue end (size=3) */ |
| 38 0018 8091 0000 lds r24,RemoteTasten |
| 39 001c 282F mov r18,r24 |
| 40 001e 3327 clr r19 |
| 41 0020 C901 movw r24,r18 |
| 42 0022 8170 andi r24,lo8(1) |
| 43 0024 9070 andi r25,hi8(1) |
| 44 0026 682F mov r22,r24 |
| 45 0028 8823 tst r24 |
| 46 002a 01F0 breq .L8 |
| 47 002c 8091 0000 lds r24,MenuePunkt.1971 |
| 48 0030 8823 tst r24 |
| 49 0032 01F0 breq .L10 |
| 50 0034 8150 subi r24,lo8(-(-1)) |
| 51 0036 00C0 rjmp .L41 |
| 52 .L10: |
| 53 0038 8091 0000 lds r24,MaxMenue.1970 |
| 54 .L41: |
| 55 003c 8093 0000 sts MenuePunkt.1971,r24 |
| 56 0040 E0E0 ldi r30,lo8(DisplayBuff) |
| 57 0042 F0E0 ldi r31,hi8(DisplayBuff) |
| 58 0044 80E2 ldi r24,lo8(32) |
| 59 .L13: |
| 60 0046 8193 st Z+,r24 |
| 61 0048 90E0 ldi r25,hi8(DisplayBuff+80) |
| 62 004a E030 cpi r30,lo8(DisplayBuff+80) |
| 63 004c F907 cpc r31,r25 |
| 64 004e 01F4 brne .L13 |
| 65 .L8: |
| 66 0050 A901 movw r20,r18 |
| 67 0052 4270 andi r20,lo8(2) |
| 68 0054 5070 andi r21,hi8(2) |
| 69 0056 21FF sbrs r18,1 |
| 70 0058 00C0 rjmp .L14 |
| 71 005a 8091 0000 lds r24,MenuePunkt.1971 |
| 72 005e 8F5F subi r24,lo8(-(1)) |
| 73 0060 8093 0000 sts MenuePunkt.1971,r24 |
| 74 0064 E0E0 ldi r30,lo8(DisplayBuff) |
| 75 0066 F0E0 ldi r31,hi8(DisplayBuff) |
| 76 0068 80E2 ldi r24,lo8(32) |
| 77 .L16: |
| 78 006a 8193 st Z+,r24 |
| 79 006c 90E0 ldi r25,hi8(DisplayBuff+80) |
| 80 006e E030 cpi r30,lo8(DisplayBuff+80) |
| 81 0070 F907 cpc r31,r25 |
| 82 0072 01F4 brne .L16 |
| 83 .L14: |
| 84 0074 6623 tst r22 |
| 85 0076 01F0 breq .L17 |
| 86 0078 452B or r20,r21 |
| 87 007a 01F0 breq .L17 |
| 88 007c 1092 0000 sts MenuePunkt.1971,__zero_reg__ |
| 89 .L17: |
| 90 0080 81E1 ldi r24,lo8(17) |
| 91 0082 8093 0000 sts DispPtr,r24 |
| 92 0086 8091 0000 lds r24,MenuePunkt.1971 |
| 93 008a 9927 clr r25 |
| 94 008c 9F93 push r25 |
| 95 008e 8F93 push r24 |
| 96 0090 80E0 ldi r24,lo8(__c.1972) |
| 97 0092 90E0 ldi r25,hi8(__c.1972) |
| 98 0094 9F93 push r25 |
| 99 0096 8F93 push r24 |
| 100 0098 E1E0 ldi r30,lo8(1) |
| 101 009a FE2E mov r15,r30 |
| 102 009c FF92 push r15 |
| 103 009e 0E94 0000 call _printf_P |
| 104 00a2 0091 0000 lds r16,MenuePunkt.1971 |
| 105 00a6 0F90 pop __tmp_reg__ |
| 106 00a8 0F90 pop __tmp_reg__ |
| 107 00aa 0F90 pop __tmp_reg__ |
| 108 00ac 0F90 pop __tmp_reg__ |
| 109 00ae 0F90 pop __tmp_reg__ |
| 110 00b0 0530 cpi r16,lo8(5) |
| 111 00b2 01F4 brne .+2 |
| 112 00b4 00C0 rjmp .L26 |
| 113 00b6 0630 cpi r16,lo8(6) |
| 114 00b8 00F4 brsh .L32 |
| 115 00ba 0230 cpi r16,lo8(2) |
| 116 00bc 01F4 brne .+2 |
| 117 00be 00C0 rjmp .L23 |
| 118 00c0 0330 cpi r16,lo8(3) |
| 119 00c2 00F4 brsh .L33 |
| 120 00c4 0023 tst r16 |
| 121 00c6 01F0 breq .L21 |
| 122 00c8 0130 cpi r16,lo8(1) |
| 123 00ca 01F0 breq .+2 |
| 124 00cc 00C0 rjmp .L20 |
| 125 00ce 00C0 rjmp .L22 |
| 126 .L33: |
| 127 00d0 0330 cpi r16,lo8(3) |
| 128 00d2 01F4 brne .+2 |
| 129 00d4 00C0 rjmp .L24 |
| 130 00d6 0430 cpi r16,lo8(4) |
| 131 00d8 01F0 breq .+2 |
| 132 00da 00C0 rjmp .L20 |
| 133 00dc 00C0 rjmp .L25 |
| 134 .L32: |
| 135 00de 0830 cpi r16,lo8(8) |
| 136 00e0 01F4 brne .+2 |
| 137 00e2 00C0 rjmp .L29 |
| 138 00e4 0930 cpi r16,lo8(9) |
| 139 00e6 00F4 brsh .L34 |
| 140 00e8 0630 cpi r16,lo8(6) |
| 141 00ea 01F4 brne .+2 |
| 142 00ec 00C0 rjmp .L27 |
| 143 00ee 0730 cpi r16,lo8(7) |
| 144 00f0 01F0 breq .+2 |
| 145 00f2 00C0 rjmp .L20 |
| 146 00f4 00C0 rjmp .L28 |
| 147 .L34: |
| 148 00f6 0930 cpi r16,lo8(9) |
| 149 00f8 01F4 brne .+2 |
| 150 00fa 00C0 rjmp .L30 |
| 151 00fc 0A30 cpi r16,lo8(10) |
| 152 00fe 01F0 breq .+2 |
| 153 0100 00C0 rjmp .L20 |
| 154 0102 00C0 rjmp .L31 |
| 155 .L21: |
| 156 0104 1092 0000 sts DispPtr,__zero_reg__ |
| 157 0108 80E0 ldi r24,lo8(__c.1975) |
| 158 010a 90E0 ldi r25,hi8(__c.1975) |
| 159 010c 9F93 push r25 |
| 160 010e 8F93 push r24 |
| 161 0110 FF92 push r15 |
| 162 0112 0E94 0000 call _printf_P |
| 163 0116 84E1 ldi r24,lo8(20) |
| 164 0118 8093 0000 sts DispPtr,r24 |
| 165 011c 8CE3 ldi r24,lo8(60) |
| 166 011e 90E0 ldi r25,hi8(60) |
| 167 0120 9F93 push r25 |
| 168 0122 8F93 push r24 |
| 169 0124 1F92 push __zero_reg__ |
| 170 0126 1F92 push __zero_reg__ |
| 171 0128 80E0 ldi r24,lo8(__c.1977) |
| 172 012a 90E0 ldi r25,hi8(__c.1977) |
| 173 012c 9F93 push r25 |
| 174 012e 8F93 push r24 |
| 175 0130 FF92 push r15 |
| 176 0132 0E94 0000 call _printf_P |
| 177 0136 88E2 ldi r24,lo8(40) |
| 178 0138 8093 0000 sts DispPtr,r24 |
| 179 013c 0E94 0000 call GetActiveParamSetNumber |
| 180 0140 9927 clr r25 |
| 181 0142 9F93 push r25 |
| 182 0144 8F93 push r24 |
| 183 0146 80E0 ldi r24,lo8(__c.1979) |
| 184 0148 90E0 ldi r25,hi8(__c.1979) |
| 185 014a 9F93 push r25 |
| 186 014c 8F93 push r24 |
| 187 014e FF92 push r15 |
| 188 0150 0E94 0000 call _printf_P |
| 189 0154 8CE3 ldi r24,lo8(60) |
| 190 0156 8093 0000 sts DispPtr,r24 |
| 191 015a 80E0 ldi r24,lo8(__c.1981) |
| 192 015c 90E0 ldi r25,hi8(__c.1981) |
| 193 015e 9F93 push r25 |
| 194 0160 8F93 push r24 |
| 195 0162 FF92 push r15 |
| 196 0164 0E94 0000 call _printf_P |
| 197 0168 00C0 rjmp .L43 |
| 198 .L22: |
| 199 016a 8091 0000 lds r24,EE_Parameter+8 |
| 200 016e 80FF sbrs r24,0 |
| 201 0170 00C0 rjmp .L36 |
| 202 0172 1092 0000 sts DispPtr,__zero_reg__ |
| 203 0176 8091 0000 lds r24,HoehenWert |
| 204 017a 9091 0000 lds r25,(HoehenWert)+1 |
| 205 017e 9F93 push r25 |
| 206 0180 8F93 push r24 |
| 207 0182 80E0 ldi r24,lo8(__c.1985) |
| 208 0184 90E0 ldi r25,hi8(__c.1985) |
| 209 0186 9F93 push r25 |
| 210 0188 8F93 push r24 |
| 211 018a 0F93 push r16 |
| 212 018c 0E94 0000 call _printf_P |
| 213 0190 84E1 ldi r24,lo8(20) |
| 214 0192 8093 0000 sts DispPtr,r24 |
| 215 0196 8091 0000 lds r24,SollHoehe |
| 216 019a 9091 0000 lds r25,(SollHoehe)+1 |
| 217 019e 9F93 push r25 |
| 218 01a0 8F93 push r24 |
| 219 01a2 80E0 ldi r24,lo8(__c.1987) |
| 220 01a4 90E0 ldi r25,hi8(__c.1987) |
| 221 01a6 9F93 push r25 |
| 222 01a8 8F93 push r24 |
| 223 01aa 0F93 push r16 |
| 224 01ac 0E94 0000 call _printf_P |
| 225 01b0 88E2 ldi r24,lo8(40) |
| 226 01b2 8093 0000 sts DispPtr,r24 |
| 227 01b6 8091 0000 lds r24,MessLuftdruck |
| 228 01ba 9091 0000 lds r25,(MessLuftdruck)+1 |
| 229 01be 9F93 push r25 |
| 230 01c0 8F93 push r24 |
| 231 01c2 80E0 ldi r24,lo8(__c.1989) |
| 232 01c4 90E0 ldi r25,hi8(__c.1989) |
| 233 01c6 9F93 push r25 |
| 234 01c8 8F93 push r24 |
| 235 01ca 0F93 push r16 |
| 236 01cc 0E94 0000 call _printf_P |
| 237 01d0 8CE3 ldi r24,lo8(60) |
| 238 01d2 8093 0000 sts DispPtr,r24 |
| 239 01d6 8091 0000 lds r24,DruckOffsetSetting |
| 240 01da 9927 clr r25 |
| 241 01dc 9F93 push r25 |
| 242 01de 8F93 push r24 |
| 243 01e0 80E0 ldi r24,lo8(__c.1991) |
| 244 01e2 90E0 ldi r25,hi8(__c.1991) |
| 245 01e4 9F93 push r25 |
| 246 01e6 8F93 push r24 |
| 247 01e8 0F93 push r16 |
| 248 .L47: |
| 249 01ea 0E94 0000 call _printf_P |
| 250 .L44: |
| 251 01ee 8DB7 in r24,__SP_L__ |
| 252 01f0 9EB7 in r25,__SP_H__ |
| 253 01f2 4496 adiw r24,20 |
| 254 .L42: |
| 255 01f4 0FB6 in __tmp_reg__,__SREG__ |
| 256 01f6 F894 cli |
| 257 01f8 9EBF out __SP_H__,r25 |
| 258 01fa 0FBE out __SREG__,__tmp_reg__ |
| 259 01fc 8DBF out __SP_L__,r24 |
| 260 01fe 00C0 rjmp .L35 |
| 261 .L36: |
| 262 0200 84E1 ldi r24,lo8(20) |
| 263 0202 8093 0000 sts DispPtr,r24 |
| 264 0206 80E0 ldi r24,lo8(__c.1993) |
| 265 0208 90E0 ldi r25,hi8(__c.1993) |
| 266 020a 9F93 push r25 |
| 267 020c 8F93 push r24 |
| 268 020e 0F93 push r16 |
| 269 0210 0E94 0000 call _printf_P |
| 270 0214 88E2 ldi r24,lo8(40) |
| 271 0216 8093 0000 sts DispPtr,r24 |
| 272 021a 80E0 ldi r24,lo8(__c.1995) |
| 273 021c 90E0 ldi r25,hi8(__c.1995) |
| 274 021e 9F93 push r25 |
| 275 0220 8F93 push r24 |
| 276 0222 0F93 push r16 |
| 277 0224 0E94 0000 call _printf_P |
| 278 0228 8DB7 in r24,__SP_L__ |
| 279 022a 9EB7 in r25,__SP_H__ |
| 280 022c 0696 adiw r24,6 |
| 281 022e 00C0 rjmp .L42 |
| 282 .L23: |
| 283 0230 1092 0000 sts DispPtr,__zero_reg__ |
| 284 0234 80E0 ldi r24,lo8(__c.1998) |
| 285 0236 90E0 ldi r25,hi8(__c.1998) |
| 286 0238 9F93 push r25 |
| 287 023a 8F93 push r24 |
| 288 023c FF92 push r15 |
| 289 023e 0E94 0000 call _printf_P |
| 290 0242 84E1 ldi r24,lo8(20) |
| 291 0244 8093 0000 sts DispPtr,r24 |
| 292 0248 6091 0000 lds r22,IntegralNick |
| 293 024c 7091 0000 lds r23,(IntegralNick)+1 |
| 294 0250 8091 0000 lds r24,(IntegralNick)+2 |
| 295 0254 9091 0000 lds r25,(IntegralNick)+3 |
| 296 0258 20E0 ldi r18,lo8(1024) |
| 297 025a 34E0 ldi r19,hi8(1024) |
| 298 025c 40E0 ldi r20,hlo8(1024) |
| 299 025e 50E0 ldi r21,hhi8(1024) |
| 300 0260 0E94 0000 call __divmodsi4 |
| 301 0264 5F93 push r21 |
| 302 0266 4F93 push r20 |
| 303 0268 3F93 push r19 |
| 304 026a 2F93 push r18 |
| 305 026c 80E0 ldi r24,lo8(__c.2000) |
| 306 026e 90E0 ldi r25,hi8(__c.2000) |
| 307 0270 9F93 push r25 |
| 308 0272 8F93 push r24 |
| 309 0274 FF92 push r15 |
| 310 0276 0E94 0000 call _printf_P |
| 311 027a 88E2 ldi r24,lo8(40) |
| 312 027c 8093 0000 sts DispPtr,r24 |
| 313 0280 6091 0000 lds r22,IntegralRoll |
| 314 0284 7091 0000 lds r23,(IntegralRoll)+1 |
| 315 0288 8091 0000 lds r24,(IntegralRoll)+2 |
| 316 028c 9091 0000 lds r25,(IntegralRoll)+3 |
| 317 0290 20E0 ldi r18,lo8(1024) |
| 318 0292 34E0 ldi r19,hi8(1024) |
| 319 0294 40E0 ldi r20,hlo8(1024) |
| 320 0296 50E0 ldi r21,hhi8(1024) |
| 321 0298 0E94 0000 call __divmodsi4 |
| 322 029c 5F93 push r21 |
| 323 029e 4F93 push r20 |
| 324 02a0 3F93 push r19 |
| 325 02a2 2F93 push r18 |
| 326 02a4 80E0 ldi r24,lo8(__c.2002) |
| 327 02a6 90E0 ldi r25,hi8(__c.2002) |
| 328 02a8 9F93 push r25 |
| 329 02aa 8F93 push r24 |
| 330 02ac FF92 push r15 |
| 331 02ae 0E94 0000 call _printf_P |
| 332 02b2 8CE3 ldi r24,lo8(60) |
| 333 02b4 8093 0000 sts DispPtr,r24 |
| 334 02b8 8091 0000 lds r24,KompassValue |
| 335 02bc 9091 0000 lds r25,(KompassValue)+1 |
| 336 02c0 9F93 push r25 |
| 337 02c2 8F93 push r24 |
| 338 02c4 80E0 ldi r24,lo8(__c.2004) |
| 339 02c6 90E0 ldi r25,hi8(__c.2004) |
| 340 02c8 9F93 push r25 |
| 341 02ca 8F93 push r24 |
| 342 02cc FF92 push r15 |
| 343 02ce 0E94 0000 call _printf_P |
| 344 02d2 8DB7 in r24,__SP_L__ |
| 345 02d4 9EB7 in r25,__SP_H__ |
| 346 02d6 4696 adiw r24,22 |
| 347 02d8 00C0 rjmp .L42 |
| 348 .L24: |
| 349 02da 1092 0000 sts DispPtr,__zero_reg__ |
| 350 02de 8091 0000 lds r24,PPM_in+4 |
| 351 02e2 9091 0000 lds r25,(PPM_in+4)+1 |
| 352 02e6 2091 0000 lds r18,PPM_in+2 |
| 353 02ea 3091 0000 lds r19,(PPM_in+2)+1 |
| 354 02ee 9F93 push r25 |
| 355 02f0 8F93 push r24 |
| 356 02f2 3F93 push r19 |
| 357 02f4 2F93 push r18 |
| 358 02f6 80E0 ldi r24,lo8(__c.2007) |
| 359 02f8 90E0 ldi r25,hi8(__c.2007) |
| 360 02fa 9F93 push r25 |
| 361 02fc 8F93 push r24 |
| 362 02fe FF92 push r15 |
| 363 0300 0E94 0000 call _printf_P |
| 364 0304 84E1 ldi r24,lo8(20) |
| 365 0306 8093 0000 sts DispPtr,r24 |
| 366 030a 8091 0000 lds r24,PPM_in+8 |
| 367 030e 9091 0000 lds r25,(PPM_in+8)+1 |
| 368 0312 2091 0000 lds r18,PPM_in+6 |
| 369 0316 3091 0000 lds r19,(PPM_in+6)+1 |
| 370 031a 9F93 push r25 |
| 371 031c 8F93 push r24 |
| 372 031e 3F93 push r19 |
| 373 0320 2F93 push r18 |
| 374 0322 80E0 ldi r24,lo8(__c.2009) |
| 375 0324 90E0 ldi r25,hi8(__c.2009) |
| 376 0326 9F93 push r25 |
| 377 0328 8F93 push r24 |
| 378 032a FF92 push r15 |
| 379 032c 0E94 0000 call _printf_P |
| 380 0330 88E2 ldi r24,lo8(40) |
| 381 0332 8093 0000 sts DispPtr,r24 |
| 382 0336 8091 0000 lds r24,PPM_in+12 |
| 383 033a 9091 0000 lds r25,(PPM_in+12)+1 |
| 384 033e 2091 0000 lds r18,PPM_in+10 |
| 385 0342 3091 0000 lds r19,(PPM_in+10)+1 |
| 386 0346 9F93 push r25 |
| 387 0348 8F93 push r24 |
| 388 034a 3F93 push r19 |
| 389 034c 2F93 push r18 |
| 390 034e 80E0 ldi r24,lo8(__c.2011) |
| 391 0350 90E0 ldi r25,hi8(__c.2011) |
| 392 0352 9F93 push r25 |
| 393 0354 8F93 push r24 |
| 394 0356 FF92 push r15 |
| 395 0358 0E94 0000 call _printf_P |
| 396 035c 8CE3 ldi r24,lo8(60) |
| 397 035e 8093 0000 sts DispPtr,r24 |
| 398 0362 8091 0000 lds r24,PPM_in+14 |
| 399 0366 9091 0000 lds r25,(PPM_in+14)+1 |
| 400 036a 9F93 push r25 |
| 401 036c 8F93 push r24 |
| 402 036e 80E0 ldi r24,lo8(__c.2013) |
| 403 0370 90E0 ldi r25,hi8(__c.2013) |
| 404 0372 00C0 rjmp .L45 |
| 405 .L25: |
| 406 0374 1092 0000 sts DispPtr,__zero_reg__ |
| 407 0378 E091 0000 lds r30,EE_Parameter+1 |
| 408 037c FF27 clr r31 |
| 409 037e EE0F lsl r30 |
| 410 0380 FF1F rol r31 |
| 411 0382 E050 subi r30,lo8(-(PPM_in)) |
| 412 0384 F040 sbci r31,hi8(-(PPM_in)) |
| 413 0386 2081 ld r18,Z |
| 414 0388 3181 ldd r19,Z+1 |
| 415 038a E091 0000 lds r30,EE_Parameter |
| 416 038e FF27 clr r31 |
| 417 0390 EE0F lsl r30 |
| 418 0392 FF1F rol r31 |
| 419 0394 E050 subi r30,lo8(-(PPM_in)) |
| 420 0396 F040 sbci r31,hi8(-(PPM_in)) |
| 421 0398 8081 ld r24,Z |
| 422 039a 9181 ldd r25,Z+1 |
| 423 039c 3F93 push r19 |
| 424 039e 2F93 push r18 |
| 425 03a0 9F93 push r25 |
| 426 03a2 8F93 push r24 |
| 427 03a4 80E0 ldi r24,lo8(__c.2016) |
| 428 03a6 90E0 ldi r25,hi8(__c.2016) |
| 429 03a8 9F93 push r25 |
| 430 03aa 8F93 push r24 |
| 431 03ac FF92 push r15 |
| 432 03ae 0E94 0000 call _printf_P |
| 433 03b2 84E1 ldi r24,lo8(20) |
| 434 03b4 8093 0000 sts DispPtr,r24 |
| 435 03b8 E091 0000 lds r30,EE_Parameter+3 |
| 436 03bc FF27 clr r31 |
| 437 03be EE0F lsl r30 |
| 438 03c0 FF1F rol r31 |
| 439 03c2 E050 subi r30,lo8(-(PPM_in)) |
| 440 03c4 F040 sbci r31,hi8(-(PPM_in)) |
| 441 03c6 2081 ld r18,Z |
| 442 03c8 3181 ldd r19,Z+1 |
| 443 03ca E091 0000 lds r30,EE_Parameter+2 |
| 444 03ce FF27 clr r31 |
| 445 03d0 EE0F lsl r30 |
| 446 03d2 FF1F rol r31 |
| 447 03d4 E050 subi r30,lo8(-(PPM_in)) |
| 448 03d6 F040 sbci r31,hi8(-(PPM_in)) |
| 449 03d8 8081 ld r24,Z |
| 450 03da 9181 ldd r25,Z+1 |
| 451 03dc 3F93 push r19 |
| 452 03de 2F93 push r18 |
| 453 03e0 9F93 push r25 |
| 454 03e2 8F93 push r24 |
| 455 03e4 80E0 ldi r24,lo8(__c.2018) |
| 456 03e6 90E0 ldi r25,hi8(__c.2018) |
| 457 03e8 9F93 push r25 |
| 458 03ea 8F93 push r24 |
| 459 03ec FF92 push r15 |
| 460 03ee 0E94 0000 call _printf_P |
| 461 03f2 88E2 ldi r24,lo8(40) |
| 462 03f4 8093 0000 sts DispPtr,r24 |
| 463 03f8 E091 0000 lds r30,EE_Parameter+5 |
| 464 03fc FF27 clr r31 |
| 465 03fe EE0F lsl r30 |
| 466 0400 FF1F rol r31 |
| 467 0402 E050 subi r30,lo8(-(PPM_in)) |
| 468 0404 F040 sbci r31,hi8(-(PPM_in)) |
| 469 0406 2081 ld r18,Z |
| 470 0408 3181 ldd r19,Z+1 |
| 471 040a E091 0000 lds r30,EE_Parameter+4 |
| 472 040e FF27 clr r31 |
| 473 0410 EE0F lsl r30 |
| 474 0412 FF1F rol r31 |
| 475 0414 E050 subi r30,lo8(-(PPM_in)) |
| 476 0416 F040 sbci r31,hi8(-(PPM_in)) |
| 477 0418 8081 ld r24,Z |
| 478 041a 9181 ldd r25,Z+1 |
| 479 041c 3F93 push r19 |
| 480 041e 2F93 push r18 |
| 481 0420 9F93 push r25 |
| 482 0422 8F93 push r24 |
| 483 0424 80E0 ldi r24,lo8(__c.2020) |
| 484 0426 90E0 ldi r25,hi8(__c.2020) |
| 485 0428 9F93 push r25 |
| 486 042a 8F93 push r24 |
| 487 042c FF92 push r15 |
| 488 042e 0E94 0000 call _printf_P |
| 489 0432 8CE3 ldi r24,lo8(60) |
| 490 0434 8093 0000 sts DispPtr,r24 |
| 491 0438 E091 0000 lds r30,EE_Parameter+6 |
| 492 043c FF27 clr r31 |
| 493 043e EE0F lsl r30 |
| 494 0440 FF1F rol r31 |
| 495 0442 E050 subi r30,lo8(-(PPM_in)) |
| 496 0444 F040 sbci r31,hi8(-(PPM_in)) |
| 497 0446 8081 ld r24,Z |
| 498 0448 9181 ldd r25,Z+1 |
| 499 044a 9F93 push r25 |
| 500 044c 8F93 push r24 |
| 501 044e 80E0 ldi r24,lo8(__c.2022) |
| 502 0450 90E0 ldi r25,hi8(__c.2022) |
| 503 .L45: |
| 504 0452 9F93 push r25 |
| 505 0454 8F93 push r24 |
| 506 0456 FF92 push r15 |
| 507 0458 0E94 0000 call _printf_P |
| 508 045c 8DB7 in r24,__SP_L__ |
| 509 045e 9EB7 in r25,__SP_H__ |
| 510 0460 4A96 adiw r24,26 |
| 511 0462 00C0 rjmp .L42 |
| 512 .L26: |
| 513 0464 1092 0000 sts DispPtr,__zero_reg__ |
| 514 0468 80E0 ldi r24,lo8(__c.2025) |
| 515 046a 90E0 ldi r25,hi8(__c.2025) |
| 516 046c 9F93 push r25 |
| 517 046e 8F93 push r24 |
| 518 0470 FF92 push r15 |
| 519 0472 0E94 0000 call _printf_P |
| 520 0476 84E1 ldi r24,lo8(20) |
| 521 0478 8093 0000 sts DispPtr,r24 |
| 522 047c 2091 0000 lds r18,AdNeutralNick |
| 523 0480 3091 0000 lds r19,(AdNeutralNick)+1 |
| 524 0484 8091 0000 lds r24,AccumulateNick |
| 525 0488 9091 0000 lds r25,(AccumulateNick)+1 |
| 526 048c 6091 0000 lds r22,MessanzahlNick |
| 527 0490 3F93 push r19 |
| 528 0492 2F93 push r18 |
| 529 0494 7727 clr r23 |
| 530 0496 0E94 0000 call __divmodhi4 |
| 531 049a 7F93 push r23 |
| 532 049c 6F93 push r22 |
| 533 049e 80E0 ldi r24,lo8(__c.2027) |
| 534 04a0 90E0 ldi r25,hi8(__c.2027) |
| 535 04a2 9F93 push r25 |
| 536 04a4 8F93 push r24 |
| 537 04a6 FF92 push r15 |
| 538 04a8 0E94 0000 call _printf_P |
| 539 04ac 88E2 ldi r24,lo8(40) |
| 540 04ae 8093 0000 sts DispPtr,r24 |
| 541 04b2 2091 0000 lds r18,AdNeutralRoll |
| 542 04b6 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 543 04ba 8091 0000 lds r24,AccumulateRoll |
| 544 04be 9091 0000 lds r25,(AccumulateRoll)+1 |
| 545 04c2 6091 0000 lds r22,MessanzahlRoll |
| 546 04c6 3F93 push r19 |
| 547 04c8 2F93 push r18 |
| 548 04ca 7727 clr r23 |
| 549 04cc 0E94 0000 call __divmodhi4 |
| 550 04d0 7F93 push r23 |
| 551 04d2 6F93 push r22 |
| 552 04d4 80E0 ldi r24,lo8(__c.2029) |
| 553 04d6 90E0 ldi r25,hi8(__c.2029) |
| 554 04d8 9F93 push r25 |
| 555 04da 8F93 push r24 |
| 556 04dc FF92 push r15 |
| 557 04de 0E94 0000 call _printf_P |
| 558 04e2 8CE3 ldi r24,lo8(60) |
| 559 04e4 8093 0000 sts DispPtr,r24 |
| 560 04e8 2091 0000 lds r18,AdNeutralGier |
| 561 04ec 3091 0000 lds r19,(AdNeutralGier)+1 |
| 562 04f0 8091 0000 lds r24,AccumulateGier |
| 563 04f4 9091 0000 lds r25,(AccumulateGier)+1 |
| 564 04f8 6091 0000 lds r22,MessanzahlGier |
| 565 04fc 3F93 push r19 |
| 566 04fe 2F93 push r18 |
| 567 0500 7727 clr r23 |
| 568 0502 0E94 0000 call __divmodhi4 |
| 569 0506 7F93 push r23 |
| 570 0508 6F93 push r22 |
| 571 050a 80E0 ldi r24,lo8(__c.2031) |
| 572 050c 90E0 ldi r25,hi8(__c.2031) |
| 573 050e 00C0 rjmp .L46 |
| 574 .L27: |
| 575 0510 1092 0000 sts DispPtr,__zero_reg__ |
| 576 0514 80E0 ldi r24,lo8(__c.2034) |
| 577 0516 90E0 ldi r25,hi8(__c.2034) |
| 578 0518 9F93 push r25 |
| 579 051a 8F93 push r24 |
| 580 051c FF92 push r15 |
| 581 051e 0E94 0000 call _printf_P |
| 582 0522 84E1 ldi r24,lo8(20) |
| 583 0524 8093 0000 sts DispPtr,r24 |
| 584 0528 2091 0000 lds r18,NeutralAccX |
| 585 052c 3091 0000 lds r19,(NeutralAccX)+1 |
| 586 0530 8091 0000 lds r24,accumulate_AccNick |
| 587 0534 9091 0000 lds r25,(accumulate_AccNick)+1 |
| 588 0538 6091 0000 lds r22,messanzahl_AccNick |
| 589 053c 3F93 push r19 |
| 590 053e 2F93 push r18 |
| 591 0540 7727 clr r23 |
| 592 0542 0E94 0000 call __divmodhi4 |
| 593 0546 7F93 push r23 |
| 594 0548 6F93 push r22 |
| 595 054a 80E0 ldi r24,lo8(__c.2036) |
| 596 054c 90E0 ldi r25,hi8(__c.2036) |
| 597 054e 9F93 push r25 |
| 598 0550 8F93 push r24 |
| 599 0552 FF92 push r15 |
| 600 0554 0E94 0000 call _printf_P |
| 601 0558 88E2 ldi r24,lo8(40) |
| 602 055a 8093 0000 sts DispPtr,r24 |
| 603 055e 2091 0000 lds r18,NeutralAccY |
| 604 0562 3091 0000 lds r19,(NeutralAccY)+1 |
| 605 0566 8091 0000 lds r24,accumulate_AccRoll |
| 606 056a 9091 0000 lds r25,(accumulate_AccRoll)+1 |
| 607 056e 6091 0000 lds r22,messanzahl_AccRoll |
| 608 0572 3F93 push r19 |
| 609 0574 2F93 push r18 |
| 610 0576 7727 clr r23 |
| 611 0578 0E94 0000 call __divmodhi4 |
| 612 057c 7F93 push r23 |
| 613 057e 6F93 push r22 |
| 614 0580 80E0 ldi r24,lo8(__c.2038) |
| 615 0582 90E0 ldi r25,hi8(__c.2038) |
| 616 0584 9F93 push r25 |
| 617 0586 8F93 push r24 |
| 618 0588 FF92 push r15 |
| 619 058a 0E94 0000 call _printf_P |
| 620 058e 8CE3 ldi r24,lo8(60) |
| 621 0590 8093 0000 sts DispPtr,r24 |
| 622 0594 6091 0000 lds r22,NeutralAccZ |
| 623 0598 7091 0000 lds r23,(NeutralAccZ)+1 |
| 624 059c 8091 0000 lds r24,(NeutralAccZ)+2 |
| 625 05a0 9091 0000 lds r25,(NeutralAccZ)+3 |
| 626 05a4 0091 0000 lds r16,Aktuell_az |
| 627 05a8 1091 0000 lds r17,(Aktuell_az)+1 |
| 628 05ac 0E94 0000 call __fixsfsi |
| 629 05b0 7F93 push r23 |
| 630 05b2 6F93 push r22 |
| 631 05b4 1F93 push r17 |
| 632 05b6 0F93 push r16 |
| 633 05b8 80E0 ldi r24,lo8(__c.2040) |
| 634 05ba 90E0 ldi r25,hi8(__c.2040) |
| 635 .L46: |
| 636 05bc 9F93 push r25 |
| 637 05be 8F93 push r24 |
| 638 05c0 FF92 push r15 |
| 639 05c2 0E94 0000 call _printf_P |
| 640 05c6 8DB7 in r24,__SP_L__ |
| 641 05c8 9EB7 in r25,__SP_H__ |
| 642 05ca 4896 adiw r24,24 |
| 643 05cc 00C0 rjmp .L42 |
| 644 .L28: |
| 645 05ce 84E1 ldi r24,lo8(20) |
| 646 05d0 8093 0000 sts DispPtr,r24 |
| 647 05d4 8091 0000 lds r24,UBat |
| 648 05d8 9091 0000 lds r25,(UBat)+1 |
| 649 05dc 9F93 push r25 |
| 650 05de 8F93 push r24 |
| 651 05e0 80E0 ldi r24,lo8(__c.2043) |
| 652 05e2 90E0 ldi r25,hi8(__c.2043) |
| 653 05e4 9F93 push r25 |
| 654 05e6 8F93 push r24 |
| 655 05e8 FF92 push r15 |
| 656 05ea 0E94 0000 call _printf_P |
| 657 05ee 88E2 ldi r24,lo8(40) |
| 658 05f0 8093 0000 sts DispPtr,r24 |
| 659 05f4 8091 0000 lds r24,SenderOkay |
| 660 05f8 9927 clr r25 |
| 661 05fa 9F93 push r25 |
| 662 05fc 8F93 push r24 |
| 663 05fe 80E0 ldi r24,lo8(__c.2045) |
| 664 0600 90E0 ldi r25,hi8(__c.2045) |
| 665 0602 9F93 push r25 |
| 666 0604 8F93 push r24 |
| 667 0606 FF92 push r15 |
| 668 0608 0E94 0000 call _printf_P |
| 669 060c 8DB7 in r24,__SP_L__ |
| 670 060e 9EB7 in r25,__SP_H__ |
| 671 0610 0A96 adiw r24,10 |
| 672 0612 00C0 rjmp .L42 |
| 673 .L29: |
| 674 0614 1092 0000 sts DispPtr,__zero_reg__ |
| 675 0618 80E0 ldi r24,lo8(__c.2048) |
| 676 061a 90E0 ldi r25,hi8(__c.2048) |
| 677 061c 9F93 push r25 |
| 678 061e 8F93 push r24 |
| 679 0620 FF92 push r15 |
| 680 0622 0E94 0000 call _printf_P |
| 681 0626 84E1 ldi r24,lo8(20) |
| 682 0628 8093 0000 sts DispPtr,r24 |
| 683 062c 8091 0000 lds r24,KompassRichtung |
| 684 0630 9091 0000 lds r25,(KompassRichtung)+1 |
| 685 0634 9F93 push r25 |
| 686 0636 8F93 push r24 |
| 687 0638 80E0 ldi r24,lo8(__c.2050) |
| 688 063a 90E0 ldi r25,hi8(__c.2050) |
| 689 063c 9F93 push r25 |
| 690 063e 8F93 push r24 |
| 691 0640 FF92 push r15 |
| 692 0642 0E94 0000 call _printf_P |
| 693 0646 88E2 ldi r24,lo8(40) |
| 694 0648 8093 0000 sts DispPtr,r24 |
| 695 064c 8091 0000 lds r24,KompassValue |
| 696 0650 9091 0000 lds r25,(KompassValue)+1 |
| 697 0654 9F93 push r25 |
| 698 0656 8F93 push r24 |
| 699 0658 80E0 ldi r24,lo8(__c.2052) |
| 700 065a 90E0 ldi r25,hi8(__c.2052) |
| 701 065c 9F93 push r25 |
| 702 065e 8F93 push r24 |
| 703 0660 FF92 push r15 |
| 704 0662 0E94 0000 call _printf_P |
| 705 0666 8CE3 ldi r24,lo8(60) |
| 706 0668 8093 0000 sts DispPtr,r24 |
| 707 066c 8091 0000 lds r24,KompassStartwert |
| 708 0670 9091 0000 lds r25,(KompassStartwert)+1 |
| 709 0674 9F93 push r25 |
| 710 0676 8F93 push r24 |
| 711 0678 80E0 ldi r24,lo8(__c.2054) |
| 712 067a 90E0 ldi r25,hi8(__c.2054) |
| 713 067c 9F93 push r25 |
| 714 067e 8F93 push r24 |
| 715 0680 FF92 push r15 |
| 716 0682 0E94 0000 call _printf_P |
| 717 .L43: |
| 718 0686 8DB7 in r24,__SP_L__ |
| 719 0688 9EB7 in r25,__SP_H__ |
| 720 068a 4296 adiw r24,18 |
| 721 068c 00C0 rjmp .L42 |
| 722 .L30: |
| 723 068e 1092 0000 sts DispPtr,__zero_reg__ |
| 724 0692 8091 0000 lds r24,Poti1 |
| 725 0696 9091 0000 lds r25,(Poti1)+1 |
| 726 069a 9F93 push r25 |
| 727 069c 8F93 push r24 |
| 728 069e 80E0 ldi r24,lo8(__c.2057) |
| 729 06a0 90E0 ldi r25,hi8(__c.2057) |
| 730 06a2 9F93 push r25 |
| 731 06a4 8F93 push r24 |
| 732 06a6 FF92 push r15 |
| 733 06a8 0E94 0000 call _printf_P |
| 734 06ac 84E1 ldi r24,lo8(20) |
| 735 06ae 8093 0000 sts DispPtr,r24 |
| 736 06b2 8091 0000 lds r24,Poti2 |
| 737 06b6 9091 0000 lds r25,(Poti2)+1 |
| 738 06ba 9F93 push r25 |
| 739 06bc 8F93 push r24 |
| 740 06be 80E0 ldi r24,lo8(__c.2059) |
| 741 06c0 90E0 ldi r25,hi8(__c.2059) |
| 742 06c2 9F93 push r25 |
| 743 06c4 8F93 push r24 |
| 744 06c6 FF92 push r15 |
| 745 06c8 0E94 0000 call _printf_P |
| 746 06cc 88E2 ldi r24,lo8(40) |
| 747 06ce 8093 0000 sts DispPtr,r24 |
| 748 06d2 8091 0000 lds r24,Poti3 |
| 749 06d6 9091 0000 lds r25,(Poti3)+1 |
| 750 06da 9F93 push r25 |
| 751 06dc 8F93 push r24 |
| 752 06de 80E0 ldi r24,lo8(__c.2061) |
| 753 06e0 90E0 ldi r25,hi8(__c.2061) |
| 754 06e2 9F93 push r25 |
| 755 06e4 8F93 push r24 |
| 756 06e6 FF92 push r15 |
| 757 06e8 0E94 0000 call _printf_P |
| 758 06ec 8CE3 ldi r24,lo8(60) |
| 759 06ee 8093 0000 sts DispPtr,r24 |
| 760 06f2 8091 0000 lds r24,Poti4 |
| 761 06f6 9091 0000 lds r25,(Poti4)+1 |
| 762 06fa 9F93 push r25 |
| 763 06fc 8F93 push r24 |
| 764 06fe 80E0 ldi r24,lo8(__c.2063) |
| 765 0700 90E0 ldi r25,hi8(__c.2063) |
| 766 0702 9F93 push r25 |
| 767 0704 8F93 push r24 |
| 768 0706 FF92 push r15 |
| 769 0708 00C0 rjmp .L47 |
| 770 .L31: |
| 771 070a 1092 0000 sts DispPtr,__zero_reg__ |
| 772 070e 80E0 ldi r24,lo8(__c.2066) |
| 773 0710 90E0 ldi r25,hi8(__c.2066) |
| 774 0712 9F93 push r25 |
| 775 0714 8F93 push r24 |
| 776 0716 FF92 push r15 |
| 777 0718 0E94 0000 call _printf_P |
| 778 071c 84E1 ldi r24,lo8(20) |
| 779 071e 8093 0000 sts DispPtr,r24 |
| 780 0722 8091 0000 lds r24,Parameter_ServoNickControl |
| 781 0726 9927 clr r25 |
| 782 0728 9F93 push r25 |
| 783 072a 8F93 push r24 |
| 784 072c 80E0 ldi r24,lo8(__c.2068) |
| 785 072e 90E0 ldi r25,hi8(__c.2068) |
| 786 0730 9F93 push r25 |
| 787 0732 8F93 push r24 |
| 788 0734 FF92 push r15 |
| 789 0736 0E94 0000 call _printf_P |
| 790 073a 88E2 ldi r24,lo8(40) |
| 791 073c 8093 0000 sts DispPtr,r24 |
| 792 0740 8091 0000 lds r24,ServoValue |
| 793 0744 9091 0000 lds r25,(ServoValue)+1 |
| 794 0748 9F93 push r25 |
| 795 074a 8F93 push r24 |
| 796 074c 80E0 ldi r24,lo8(__c.2070) |
| 797 074e 90E0 ldi r25,hi8(__c.2070) |
| 798 0750 9F93 push r25 |
| 799 0752 8F93 push r24 |
| 800 0754 FF92 push r15 |
| 801 0756 0E94 0000 call _printf_P |
| 802 075a 8CE3 ldi r24,lo8(60) |
| 803 075c 8093 0000 sts DispPtr,r24 |
| 804 0760 8091 0000 lds r24,EE_Parameter+36 |
| 805 0764 9927 clr r25 |
| 806 0766 9F93 push r25 |
| 807 0768 8F93 push r24 |
| 808 076a 8091 0000 lds r24,EE_Parameter+35 |
| 809 076e 9927 clr r25 |
| 810 0770 9F93 push r25 |
| 811 0772 8F93 push r24 |
| 812 0774 80E0 ldi r24,lo8(__c.2072) |
| 813 0776 90E0 ldi r25,hi8(__c.2072) |
| 814 0778 9F93 push r25 |
| 815 077a 8F93 push r24 |
| 816 077c FF92 push r15 |
| 817 077e 0E94 0000 call _printf_P |
| 818 0782 00C0 rjmp .L44 |
| 819 .L20: |
| 820 0784 0150 subi r16,lo8(-(-1)) |
| 821 0786 0093 0000 sts MaxMenue.1970,r16 |
| 822 078a 1092 0000 sts MenuePunkt.1971,__zero_reg__ |
| 823 .L35: |
| 824 078e 1092 0000 sts RemoteTasten,__zero_reg__ |
| 825 /* epilogue: frame size=0 */ |
| 826 0792 1F91 pop r17 |
| 827 0794 0F91 pop r16 |
| 828 0796 FF90 pop r15 |
| 829 0798 0895 ret |
| 830 /* epilogue end (size=4) */ |
| 831 /* function Menu size 964 (957) */ |
| 833 .global TestInt |
| 834 .global TestInt |
| 835 .section .bss |
| 838 TestInt: |
| 839 0000 0000 .skip 2,0 |
| 840 .global Array |
| 841 .data |
| 844 Array: |
| 845 0000 01 .byte 1 |
| 846 0001 02 .byte 2 |
| 847 0002 03 .byte 3 |
| 848 0003 04 .byte 4 |
| 849 0004 05 .byte 5 |
| 850 0005 06 .byte 6 |
| 851 0006 07 .byte 7 |
| 852 0007 08 .byte 8 |
| 853 0008 09 .byte 9 |
| 854 0009 0A .byte 10 |
| 855 .global DisplayBuff |
| 858 DisplayBuff: |
| 859 000a 4861 6C6C .string "Hallo Welt" |
| 859 6F20 5765 |
| 859 6C74 00 |
| 860 0015 0000 0000 .skip 69,0 |
| 860 0000 0000 |
| 860 0000 0000 |
| 860 0000 0000 |
| 860 0000 0000 |
| 861 .global DispPtr |
| 862 .global DispPtr |
| 863 .section .bss |
| 866 DispPtr: |
| 867 0002 00 .skip 1,0 |
| 868 .global RemoteTasten |
| 869 .global RemoteTasten |
| 872 RemoteTasten: |
| 873 0003 00 .skip 1,0 |
| 874 .section .progmem.data,"a",@progbits |
| 877 __c.2072: |
| 878 0000 5261 6E67 .string "Range:%3i-%3i" |
| 878 653A 2533 |
| 878 692D 2533 |
| 878 6900 |
| 881 __c.2070: |
| 882 000e 5374 656C .string "Stellung: %3i" |
| 882 6C75 6E67 |
| 882 3A20 2533 |
| 882 6900 |
| 885 __c.2068: |
| 886 001c 5365 7470 .string "Setpoint %3i" |
| 886 6F69 6E74 |
| 886 2020 2533 |
| 886 6900 |
| 889 __c.2066: |
| 890 002a 5365 7276 .string "Servo " |
| 890 6F20 2000 |
| 893 __c.2063: |
| 894 0032 506F 7469 .string "Poti4: %3i" |
| 894 343A 2020 |
| 894 2533 6900 |
| 897 __c.2061: |
| 898 003e 506F 7469 .string "Poti3: %3i" |
| 898 333A 2020 |
| 898 2533 6900 |
| 901 __c.2059: |
| 902 004a 506F 7469 .string "Poti2: %3i" |
| 902 323A 2020 |
| 902 2533 6900 |
| 905 __c.2057: |
| 906 0056 506F 7469 .string "Poti1: %3i" |
| 906 313A 2020 |
| 906 2533 6900 |
| 909 __c.2054: |
| 910 0062 5374 6172 .string "Start: %5i" |
| 910 743A 2020 |
| 910 2020 2025 |
| 910 3569 00 |
| 913 __c.2052: |
| 914 0071 4D65 7373 .string "Messwert: %5i" |
| 914 7765 7274 |
| 914 3A20 2025 |
| 914 3569 00 |
| 917 __c.2050: |
| 918 0080 5269 6368 .string "Richtung: %5i" |
| 918 7475 6E67 |
| 918 3A20 2025 |
| 918 3569 00 |
| 921 __c.2048: |
| 922 008f 4B6F 6D70 .string "Kompass " |
| 922 6173 7320 |
| 922 2020 2020 |
| 922 2020 00 |
| 925 __c.2045: |
| 926 009e 456D 7066 .string "Empf.Pegel:%5i" |
| 926 2E50 6567 |
| 926 656C 3A25 |
| 926 3569 00 |
| 929 __c.2043: |
| 930 00ad 5370 616E .string "Spannung: %5i" |
| 930 6E75 6E67 |
| 930 3A20 2025 |
| 930 3569 00 |
| 933 __c.2040: |
| 934 00bc 486F 6368 .string "Hoch %4i (%3i)" |
| 934 2025 3469 |
| 934 2028 2533 |
| 934 6929 00 |
| 937 __c.2038: |
| 938 00cb 526F 6C6C .string "Roll %4i (%3i)" |
| 938 2025 3469 |
| 938 2028 2533 |
| 938 6929 00 |
| 941 __c.2036: |
| 942 00da 4E69 636B .string "Nick %4i (%3i)" |
| 942 2025 3469 |
| 942 2028 2533 |
| 942 6929 00 |
| 945 __c.2034: |
| 946 00e9 4143 4320 .string "ACC - Sensor" |
| 946 2D20 5365 |
| 946 6E73 6F72 |
| 946 00 |
| 949 __c.2031: |
| 950 00f6 4769 6572 .string "Gier %4i (%3i)" |
| 950 2025 3469 |
| 950 2028 2533 |
| 950 6929 00 |
| 953 __c.2029: |
| 954 0105 526F 6C6C .string "Roll %4i (%3i)" |
| 954 2025 3469 |
| 954 2028 2533 |
| 954 6929 00 |
| 957 __c.2027: |
| 958 0114 4E69 636B .string "Nick %4i (%3i)" |
| 958 2025 3469 |
| 958 2028 2533 |
| 958 6929 00 |
| 961 __c.2025: |
| 962 0123 4779 726F .string "Gyro - Sensor" |
| 962 202D 2053 |
| 962 656E 736F |
| 962 7200 |
| 965 __c.2022: |
| 966 0131 5033 3A25 .string "P3:%4i Kan\344le " |
| 966 3469 2020 |
| 966 4B61 6EE4 |
| 966 6C65 2000 |
| 969 __c.2020: |
| 970 0141 5031 3A25 .string "P1:%4i P2:%4i " |
| 970 3469 2020 |
| 970 5032 3A25 |
| 970 3469 2000 |
| 973 __c.2018: |
| 974 0151 4773 3A25 .string "Gs:%4i Gi:%4i " |
| 974 3469 2020 |
| 974 4769 3A25 |
| 974 3469 2000 |
| 977 __c.2016: |
| 978 0161 4E69 3A25 .string "Ni:%4i Ro:%4i " |
| 978 3469 2020 |
| 978 526F 3A25 |
| 978 3469 2000 |
| 981 __c.2013: |
| 982 0171 4B37 3A25 .string "K7:%4i Kan\344le " |
| 982 3469 2020 |
| 982 4B61 6EE4 |
| 982 6C65 2000 |
| 985 __c.2011: |
| 986 0181 4B35 3A25 .string "K5:%4i K6:%4i " |
| 986 3469 2020 |
| 986 4B36 3A25 |
| 986 3469 2000 |
| 989 __c.2009: |
| 990 0191 4B33 3A25 .string "K3:%4i K4:%4i " |
| 990 3469 2020 |
| 990 4B34 3A25 |
| 990 3469 2000 |
| 993 __c.2007: |
| 994 01a1 4B31 3A25 .string "K1:%4i K2:%4i " |
| 994 3469 2020 |
| 994 4B32 3A25 |
| 994 3469 2000 |
| 997 __c.2004: |
| 998 01b1 4B6F 6D70 .string "Kompass: %5i" |
| 998 6173 733A |
| 998 2020 2025 |
| 998 3569 00 |
| 1001 __c.2002: |
| 1002 01c0 526F 6C6C .string "Roll: %5i" |
| 1002 3A20 2020 |
| 1002 2020 2025 |
| 1002 3569 00 |
| 1005 __c.2000: |
| 1006 01cf 4E69 636B .string "Nick: %5i" |
| 1006 3A20 2020 |
| 1006 2020 2025 |
| 1006 3569 00 |
| 1009 __c.1998: |
| 1010 01de 616B 742E .string "akt. Lage" |
| 1010 204C 6167 |
| 1010 6500 |
| 1013 __c.1995: |
| 1014 01e8 48F6 6865 .string "H\366henregelung" |
| 1014 6E72 6567 |
| 1014 656C 756E |
| 1014 6700 |
| 1017 __c.1993: |
| 1018 01f6 4B65 696E .string "Keine " |
| 1018 6520 00 |
| 1021 __c.1991: |
| 1022 01fd 4F66 6620 .string "Off : %5i" |
| 1022 2020 2020 |
| 1022 203A 2025 |
| 1022 3569 00 |
| 1025 __c.1989: |
| 1026 020c 4C75 6674 .string "Luftdruck: %5i" |
| 1026 6472 7563 |
| 1026 6B3A 2025 |
| 1026 3569 00 |
| 1029 __c.1987: |
| 1030 021b 536F 6C6C .string "SollHoehe: %5i" |
| 1030 486F 6568 |
| 1030 653A 2025 |
| 1030 3569 00 |
| 1033 __c.1985: |
| 1034 022a 486F 6568 .string "Hoehe: %5i" |
| 1034 653A 2020 |
| 1034 2020 2025 |
| 1034 3569 00 |
| 1037 __c.1981: |
| 1038 0239 2863 2920 .string "(c) Holger Buss" |
| 1038 486F 6C67 |
| 1038 6572 2042 |
| 1038 7573 7300 |
| 1041 __c.1979: |
| 1042 0249 5365 7474 .string "Setting: %d " |
| 1042 696E 673A |
| 1042 2025 6420 |
| 1042 00 |
| 1045 __c.1977: |
| 1046 0256 5625 642E .string "V%d.%d" |
| 1046 2564 00 |
| 1049 __c.1975: |
| 1050 025d 2B2B 204D .string "++ MikroKopter ++" |
| 1050 696B 726F |
| 1050 4B6F 7074 |
| 1050 6572 202B |
| 1050 2B00 |
| 1053 __c.1972: |
| 1054 026f 5B25 695D .string "[%i]" |
| 1054 00 |
| 1055 .lcomm MenuePunkt.1971,1 |
| 1056 .data |
| 1059 MaxMenue.1970: |
| 1060 005a 0A .byte 10 |
| 1061 .comm DiffNick,2,1 |
| 1062 .comm DiffRoll,2,1 |
| 1063 .comm SenderOkay,1,1 |
| 1064 .comm CosinusNickWinkel,1,1 |
| 1065 .comm CosinusRollWinkel,1,1 |
| 1066 .comm durchschnitt_northing,4,1 |
| 1067 .comm durchschnitt_easting,4,1 |
| 1068 .comm gps_p,2,1 |
| 1069 .comm gps_d,2,1 |
| 1070 .comm skal,2,1 |
| 1071 .comm gps_gethome,2,1 |
| 1072 .comm Timeout,1,1 |
| 1073 .comm IntegralNick,4,1 |
| 1074 .comm IntegralNick2,4,1 |
| 1075 .comm IntegralRoll,4,1 |
| 1076 .comm IntegralRoll2,4,1 |
| 1077 .comm Mess_IntegralNick,4,1 |
| 1078 .comm Mess_IntegralNick2,4,1 |
| 1079 .comm Mess_IntegralRoll,4,1 |
| 1080 .comm Mess_IntegralRoll2,4,1 |
| 1081 .comm Integral_Gier,4,1 |
| 1082 .comm Mess_Integral_Gier,4,1 |
| 1083 .comm h,1,1 |
| 1084 .comm m,1,1 |
| 1085 .comm s,1,1 |
| 1086 .comm Motor_Vorne,1,1 |
| 1087 .comm Motor_Hinten,1,1 |
| 1088 .comm Motor_Rechts,1,1 |
| 1089 .comm Motor_Links,1,1 |
| 1090 .comm Count,1,1 |
| 1091 .comm MotorWert,5,1 |
| 1092 .comm StickNick,2,1 |
| 1093 .comm StickRoll,2,1 |
| 1094 .comm StickGier,2,1 |
| 1095 .comm MotorenEin,1,1 |
| 1096 /* File "menu.c": code 973 = 0x03cd ( 965), prologues 3, epilogues 5 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 menu.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:13 .text:00000000 LcdClear |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:858 .data:0000000a DisplayBuff |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:32 .text:00000012 Menu |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:872 .bss:00000003 RemoteTasten |
| .bss:00000004 MenuePunkt.1971 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1059 .data:0000005a MaxMenue.1970 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:866 .bss:00000002 DispPtr |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1053 .progmem.data:0000026f __c.1972 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1049 .progmem.data:0000025d __c.1975 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1045 .progmem.data:00000256 __c.1977 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1041 .progmem.data:00000249 __c.1979 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1037 .progmem.data:00000239 __c.1981 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1033 .progmem.data:0000022a __c.1985 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1029 .progmem.data:0000021b __c.1987 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1025 .progmem.data:0000020c __c.1989 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1021 .progmem.data:000001fd __c.1991 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1017 .progmem.data:000001f6 __c.1993 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1013 .progmem.data:000001e8 __c.1995 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1009 .progmem.data:000001de __c.1998 |
| *COM*:00000004 IntegralNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1005 .progmem.data:000001cf __c.2000 |
| *COM*:00000004 IntegralRoll |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:1001 .progmem.data:000001c0 __c.2002 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:997 .progmem.data:000001b1 __c.2004 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:993 .progmem.data:000001a1 __c.2007 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:989 .progmem.data:00000191 __c.2009 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:985 .progmem.data:00000181 __c.2011 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:981 .progmem.data:00000171 __c.2013 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:977 .progmem.data:00000161 __c.2016 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:973 .progmem.data:00000151 __c.2018 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:969 .progmem.data:00000141 __c.2020 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:965 .progmem.data:00000131 __c.2022 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:961 .progmem.data:00000123 __c.2025 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:957 .progmem.data:00000114 __c.2027 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:953 .progmem.data:00000105 __c.2029 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:949 .progmem.data:000000f6 __c.2031 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:945 .progmem.data:000000e9 __c.2034 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:941 .progmem.data:000000da __c.2036 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:937 .progmem.data:000000cb __c.2038 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:933 .progmem.data:000000bc __c.2040 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:929 .progmem.data:000000ad __c.2043 |
| *COM*:00000001 SenderOkay |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:925 .progmem.data:0000009e __c.2045 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:921 .progmem.data:0000008f __c.2048 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:917 .progmem.data:00000080 __c.2050 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:913 .progmem.data:00000071 __c.2052 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:909 .progmem.data:00000062 __c.2054 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:905 .progmem.data:00000056 __c.2057 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:901 .progmem.data:0000004a __c.2059 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:897 .progmem.data:0000003e __c.2061 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:893 .progmem.data:00000032 __c.2063 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:889 .progmem.data:0000002a __c.2066 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:885 .progmem.data:0000001c __c.2068 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:881 .progmem.data:0000000e __c.2070 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:877 .progmem.data:00000000 __c.2072 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:838 .bss:00000000 TestInt |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cc3clghb.s:844 .data:00000000 Array |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 gps_p |
| *COM*:00000002 gps_d |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| *COM*:00000002 StickNick |
| *COM*:00000002 StickRoll |
| *COM*:00000002 StickGier |
| *COM*:00000001 MotorenEin |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| _printf_P |
| GetActiveParamSetNumber |
| EE_Parameter |
| HoehenWert |
| SollHoehe |
| MessLuftdruck |
| DruckOffsetSetting |
| __divmodsi4 |
| KompassValue |
| PPM_in |
| AdNeutralNick |
| AccumulateNick |
| MessanzahlNick |
| __divmodhi4 |
| AdNeutralRoll |
| AccumulateRoll |
| MessanzahlRoll |
| AdNeutralGier |
| AccumulateGier |
| MessanzahlGier |
| NeutralAccX |
| accumulate_AccNick |
| messanzahl_AccNick |
| NeutralAccY |
| accumulate_AccRoll |
| messanzahl_AccRoll |
| NeutralAccZ |
| Aktuell_az |
| __fixsfsi |
| UBat |
| KompassRichtung |
| KompassStartwert |
| Poti1 |
| Poti2 |
| Poti3 |
| Poti4 |
| Parameter_ServoNickControl |
| ServoValue |
| /branches/chris_hallo2/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/chris_hallo2/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/chris_hallo2/printf_P.d |
|---|
| 0,0 → 1,2 |
| printf_P.o printf_P.d : printf_P.c main.h old_macros.h _settings.h printf_P.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/chris_hallo2/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/chris_hallo2/printf_P.lst |
|---|
| 0,0 → 1,997 |
| 1 .file "printf_P.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global Putchar |
| 13 Putchar: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 982F mov r25,r24 |
| 17 0002 8091 0000 lds r24,PrintZiel |
| 18 0006 8130 cpi r24,lo8(1) |
| 19 0008 01F4 brne .L2 |
| 20 000a 8091 0000 lds r24,DispPtr |
| 21 000e E82F mov r30,r24 |
| 22 0010 FF27 clr r31 |
| 23 0012 E050 subi r30,lo8(-(DisplayBuff)) |
| 24 0014 F040 sbci r31,hi8(-(DisplayBuff)) |
| 25 0016 9083 st Z,r25 |
| 26 0018 8F5F subi r24,lo8(-(1)) |
| 27 001a 8093 0000 sts DispPtr,r24 |
| 28 001e 21E0 ldi r18,lo8(1) |
| 29 0020 30E0 ldi r19,hi8(1) |
| 30 0022 00C0 rjmp .L4 |
| 31 .L2: |
| 32 0024 892F mov r24,r25 |
| 33 0026 0E94 0000 call uart_putchar |
| 34 002a 282F mov r18,r24 |
| 35 002c 3327 clr r19 |
| 36 .L4: |
| 37 002e C901 movw r24,r18 |
| 38 /* epilogue: frame size=0 */ |
| 39 0030 0895 ret |
| 40 /* epilogue end (size=1) */ |
| 41 /* function Putchar size 25 (24) */ |
| 43 .global PAD_0 |
| 45 PAD_0: |
| 46 /* prologue: frame size=0 */ |
| 47 0032 1F93 push r17 |
| 48 /* prologue end (size=1) */ |
| 49 0034 182F mov r17,r24 |
| 50 0036 00C0 rjmp .L7 |
| 51 .L8: |
| 52 0038 80E3 ldi r24,lo8(48) |
| 53 003a 0E94 0000 call Putchar |
| 54 003e 1150 subi r17,lo8(-(-1)) |
| 55 .L7: |
| 56 0040 1116 cp __zero_reg__,r17 |
| 57 0042 04F0 brlt .L8 |
| 58 /* epilogue: frame size=0 */ |
| 59 0044 1F91 pop r17 |
| 60 0046 0895 ret |
| 61 /* epilogue end (size=2) */ |
| 62 /* function PAD_0 size 11 (8) */ |
| 64 .global PAD_SP |
| 66 PAD_SP: |
| 67 /* prologue: frame size=0 */ |
| 68 0048 1F93 push r17 |
| 69 /* prologue end (size=1) */ |
| 70 004a 182F mov r17,r24 |
| 71 004c 00C0 rjmp .L12 |
| 72 .L13: |
| 73 004e 80E2 ldi r24,lo8(32) |
| 74 0050 0E94 0000 call Putchar |
| 75 0054 1150 subi r17,lo8(-(-1)) |
| 76 .L12: |
| 77 0056 1116 cp __zero_reg__,r17 |
| 78 0058 04F0 brlt .L13 |
| 79 /* epilogue: frame size=0 */ |
| 80 005a 1F91 pop r17 |
| 81 005c 0895 ret |
| 82 /* epilogue end (size=2) */ |
| 83 /* function PAD_SP size 11 (8) */ |
| 85 .global PRINTP |
| 87 PRINTP: |
| 88 /* prologue: frame size=0 */ |
| 89 005e 0F93 push r16 |
| 90 0060 1F93 push r17 |
| 91 0062 CF93 push r28 |
| 92 0064 DF93 push r29 |
| 93 /* prologue end (size=4) */ |
| 94 0066 8C01 movw r16,r24 |
| 95 0068 EB01 movw r28,r22 |
| 96 006a 00C0 rjmp .L17 |
| 97 .L18: |
| 98 006c F801 movw r30,r16 |
| 99 006e 0F5F subi r16,lo8(-(1)) |
| 100 0070 1F4F sbci r17,hi8(-(1)) |
| 101 /* #APP */ |
| 102 0072 E491 lpm r30, Z |
| 103 |
| 104 /* #NOAPP */ |
| 105 0074 8E2F mov r24,r30 |
| 106 0076 0E94 0000 call Putchar |
| 107 007a 2197 sbiw r28,1 |
| 108 .L17: |
| 109 007c 2097 sbiw r28,0 |
| 110 007e 01F4 brne .L18 |
| 111 /* epilogue: frame size=0 */ |
| 112 0080 DF91 pop r29 |
| 113 0082 CF91 pop r28 |
| 114 0084 1F91 pop r17 |
| 115 0086 0F91 pop r16 |
| 116 0088 0895 ret |
| 117 /* epilogue end (size=5) */ |
| 118 /* function PRINTP size 25 (16) */ |
| 120 .global PRINT |
| 122 PRINT: |
| 123 /* prologue: frame size=0 */ |
| 124 008a 0F93 push r16 |
| 125 008c 1F93 push r17 |
| 126 008e CF93 push r28 |
| 127 0090 DF93 push r29 |
| 128 /* prologue end (size=4) */ |
| 129 0092 8C01 movw r16,r24 |
| 130 0094 EB01 movw r28,r22 |
| 131 0096 00C0 rjmp .L22 |
| 132 .L23: |
| 133 0098 F801 movw r30,r16 |
| 134 009a 8191 ld r24,Z+ |
| 135 009c 8F01 movw r16,r30 |
| 136 009e 0E94 0000 call Putchar |
| 137 00a2 2197 sbiw r28,1 |
| 138 .L22: |
| 139 00a4 2097 sbiw r28,0 |
| 140 00a6 01F4 brne .L23 |
| 141 /* epilogue: frame size=0 */ |
| 142 00a8 DF91 pop r29 |
| 143 00aa CF91 pop r28 |
| 144 00ac 1F91 pop r17 |
| 145 00ae 0F91 pop r16 |
| 146 00b0 0895 ret |
| 147 /* epilogue end (size=5) */ |
| 148 /* function PRINT size 20 (11) */ |
| 150 .global _printf_P |
| 152 _printf_P: |
| 153 /* prologue: frame size=51 */ |
| 154 00b2 2F92 push r2 |
| 155 00b4 3F92 push r3 |
| 156 00b6 4F92 push r4 |
| 157 00b8 5F92 push r5 |
| 158 00ba 6F92 push r6 |
| 159 00bc 7F92 push r7 |
| 160 00be 8F92 push r8 |
| 161 00c0 9F92 push r9 |
| 162 00c2 AF92 push r10 |
| 163 00c4 BF92 push r11 |
| 164 00c6 CF92 push r12 |
| 165 00c8 DF92 push r13 |
| 166 00ca EF92 push r14 |
| 167 00cc FF92 push r15 |
| 168 00ce 0F93 push r16 |
| 169 00d0 1F93 push r17 |
| 170 00d2 CF93 push r28 |
| 171 00d4 DF93 push r29 |
| 172 00d6 CDB7 in r28,__SP_L__ |
| 173 00d8 DEB7 in r29,__SP_H__ |
| 174 00da E397 sbiw r28,51 |
| 175 00dc 0FB6 in __tmp_reg__,__SREG__ |
| 176 00de F894 cli |
| 177 00e0 DEBF out __SP_H__,r29 |
| 178 00e2 0FBE out __SREG__,__tmp_reg__ |
| 179 00e4 CDBF out __SP_L__,r28 |
| 180 /* prologue end (size=26) */ |
| 181 00e6 2996 adiw r28,72-63 |
| 182 00e8 8FAD ldd r24,Y+63 |
| 183 00ea 2997 sbiw r28,72-63 |
| 184 00ec 8093 0000 sts PrintZiel,r24 |
| 185 00f0 CE01 movw r24,r28 |
| 186 00f2 855B subi r24,lo8(-(75)) |
| 187 00f4 9F4F sbci r25,hi8(-(75)) |
| 188 00f6 9D83 std Y+5,r25 |
| 189 00f8 8C83 std Y+4,r24 |
| 190 00fa 2B96 adiw r28,73-62 |
| 191 00fc 8EAD ldd r24,Y+62 |
| 192 00fe 9FAD ldd r25,Y+63 |
| 193 0100 2B97 sbiw r28,73-62 |
| 194 0102 9FA7 std Y+47,r25 |
| 195 0104 8EA7 std Y+46,r24 |
| 196 0106 2224 clr r2 |
| 197 0108 3324 clr r3 |
| 198 010a 2101 movw r4,r2 |
| 199 010c 00C0 rjmp .L27 |
| 200 .L28: |
| 201 010e 1301 movw r2,r6 |
| 202 0110 2401 movw r4,r8 |
| 203 .L27: |
| 204 0112 0EA5 ldd r16,Y+46 |
| 205 0114 1FA5 ldd r17,Y+47 |
| 206 0116 00C0 rjmp .L29 |
| 207 .L30: |
| 208 0118 0F5F subi r16,lo8(-(1)) |
| 209 011a 1F4F sbci r17,hi8(-(1)) |
| 210 .L29: |
| 211 011c F801 movw r30,r16 |
| 212 /* #APP */ |
| 213 011e F490 lpm r15, Z |
| 214 |
| 215 /* #NOAPP */ |
| 216 0120 FF20 tst r15 |
| 217 0122 01F0 breq .L31 |
| 218 0124 F5E2 ldi r31,lo8(37) |
| 219 0126 FF16 cp r15,r31 |
| 220 0128 01F4 brne .L30 |
| 221 .L31: |
| 222 012a B801 movw r22,r16 |
| 223 012c 8EA5 ldd r24,Y+46 |
| 224 012e 9FA5 ldd r25,Y+47 |
| 225 0130 681B sub r22,r24 |
| 226 0132 790B sbc r23,r25 |
| 227 0134 01F0 breq .L33 |
| 228 0136 0E94 0000 call PRINTP |
| 229 .L33: |
| 230 013a FF20 tst r15 |
| 231 013c 01F4 brne .+2 |
| 232 013e 00C0 rjmp .L152 |
| 233 0140 0F5F subi r16,lo8(-(1)) |
| 234 0142 1F4F sbci r17,hi8(-(1)) |
| 235 0144 1FA7 std Y+47,r17 |
| 236 0146 0EA7 std Y+46,r16 |
| 237 0148 1982 std Y+1,__zero_reg__ |
| 238 014a AC81 ldd r26,Y+4 |
| 239 014c BD81 ldd r27,Y+5 |
| 240 014e 1BAA std Y+51,__zero_reg__ |
| 241 0150 1AAA std Y+50,__zero_reg__ |
| 242 0152 9FEF ldi r25,lo8(-1) |
| 243 0154 99AB std Y+49,r25 |
| 244 .L174: |
| 245 0156 EEA5 ldd r30,Y+46 |
| 246 0158 FFA5 ldd r31,Y+47 |
| 247 015a CF01 movw r24,r30 |
| 248 015c 0196 adiw r24,1 |
| 249 015e 9FA7 std Y+47,r25 |
| 250 0160 8EA7 std Y+46,r24 |
| 251 /* #APP */ |
| 252 0162 B490 lpm r11, Z |
| 253 |
| 254 /* #NOAPP */ |
| 255 .L175: |
| 256 0164 95E7 ldi r25,lo8(117) |
| 257 0166 B916 cp r11,r25 |
| 258 0168 01F0 breq .L39 |
| 259 016a 8B2D mov r24,r11 |
| 260 016c 8062 ori r24,lo8(32) |
| 261 016e 8837 cpi r24,lo8(120) |
| 262 0170 01F4 brne .L41 |
| 263 .L39: |
| 264 0172 EBA9 ldd r30,Y+51 |
| 265 0174 E0FF sbrs r30,0 |
| 266 0176 00C0 rjmp .L42 |
| 267 0178 2D90 ld r2,X+ |
| 268 017a 3D90 ld r3,X+ |
| 269 017c 4D90 ld r4,X+ |
| 270 017e 5C90 ld r5,X |
| 271 0180 1397 sbiw r26,3 |
| 272 0182 1496 adiw r26,4 |
| 273 0184 00C0 rjmp .L41 |
| 274 .L42: |
| 275 0186 8D91 ld r24,X+ |
| 276 0188 9C91 ld r25,X |
| 277 018a 1197 sbiw r26,1 |
| 278 018c 1C01 movw r2,r24 |
| 279 018e 4424 clr r4 |
| 280 0190 5524 clr r5 |
| 281 0192 1296 adiw r26,2 |
| 282 .L41: |
| 283 0194 F0E2 ldi r31,lo8(32) |
| 284 0196 BF16 cp r11,r31 |
| 285 0198 01F4 brne .L44 |
| 286 019a 8981 ldd r24,Y+1 |
| 287 019c 8823 tst r24 |
| 288 019e 01F4 brne .L174 |
| 289 01a0 00C0 rjmp .L156 |
| 290 .L44: |
| 291 01a2 83E2 ldi r24,lo8(35) |
| 292 01a4 B816 cp r11,r24 |
| 293 01a6 01F4 brne .+2 |
| 294 01a8 00C0 rjmp .L155 |
| 295 01aa 9AE2 ldi r25,lo8(42) |
| 296 01ac B916 cp r11,r25 |
| 297 01ae 01F0 breq .L49 |
| 298 01b0 EDE2 ldi r30,lo8(45) |
| 299 01b2 BE16 cp r11,r30 |
| 300 01b4 01F4 brne .L164 |
| 301 01b6 00C0 rjmp .L51 |
| 302 .L49: |
| 303 01b8 FD01 movw r30,r26 |
| 304 01ba 1296 adiw r26,2 |
| 305 01bc E081 ld r30,Z |
| 306 01be EAAB std Y+50,r30 |
| 307 01c0 E7FF sbrs r30,7 |
| 308 01c2 00C0 rjmp .L174 |
| 309 01c4 E195 neg r30 |
| 310 01c6 EAAB std Y+50,r30 |
| 311 .L51: |
| 312 01c8 FBA9 ldd r31,Y+51 |
| 313 01ca F061 ori r31,lo8(16) |
| 314 01cc FF7D andi r31,lo8(-33) |
| 315 01ce 00C0 rjmp .L169 |
| 316 .L164: |
| 317 01d0 8BE2 ldi r24,lo8(43) |
| 318 01d2 B816 cp r11,r24 |
| 319 01d4 01F4 brne .+2 |
| 320 01d6 00C0 rjmp .L156 |
| 321 01d8 9EE2 ldi r25,lo8(46) |
| 322 01da B916 cp r11,r25 |
| 323 01dc 01F4 brne .L56 |
| 324 01de 2EA5 ldd r18,Y+46 |
| 325 01e0 3FA5 ldd r19,Y+47 |
| 326 01e2 2F5F subi r18,lo8(-(1)) |
| 327 01e4 3F4F sbci r19,hi8(-(1)) |
| 328 01e6 EEA5 ldd r30,Y+46 |
| 329 01e8 FFA5 ldd r31,Y+47 |
| 330 /* #APP */ |
| 331 01ea 8491 lpm r24, Z |
| 332 |
| 333 /* #NOAPP */ |
| 334 01ec 8A32 cpi r24,lo8(42) |
| 335 01ee 01F0 breq .L58 |
| 336 01f0 B82E mov r11,r24 |
| 337 01f2 20E0 ldi r18,lo8(0) |
| 338 01f4 30E0 ldi r19,hi8(0) |
| 339 01f6 00C0 rjmp .L60 |
| 340 .L58: |
| 341 01f8 FD01 movw r30,r26 |
| 342 01fa 1296 adiw r26,2 |
| 343 01fc 4081 ld r20,Z |
| 344 01fe 5181 ldd r21,Z+1 |
| 345 0200 57FF sbrs r21,7 |
| 346 0202 00C0 rjmp .L61 |
| 347 0204 4FEF ldi r20,lo8(-1) |
| 348 0206 5FEF ldi r21,hi8(-1) |
| 349 .L61: |
| 350 0208 49AB std Y+49,r20 |
| 351 020a 3FA7 std Y+47,r19 |
| 352 020c 2EA7 std Y+46,r18 |
| 353 020e 00C0 rjmp .L174 |
| 354 .L62: |
| 355 0210 C901 movw r24,r18 |
| 356 0212 03E0 ldi r16,3 |
| 357 0214 880F 1: lsl r24 |
| 358 0216 991F rol r25 |
| 359 0218 0A95 dec r16 |
| 360 021a 01F4 brne 1b |
| 361 021c 220F lsl r18 |
| 362 021e 331F rol r19 |
| 363 0220 280F add r18,r24 |
| 364 0222 391F adc r19,r25 |
| 365 0224 2B0D add r18,r11 |
| 366 0226 311D adc r19,__zero_reg__ |
| 367 0228 2053 subi r18,lo8(-(-48)) |
| 368 022a 3040 sbci r19,hi8(-(-48)) |
| 369 /* #APP */ |
| 370 022c B490 lpm r11, Z |
| 371 |
| 372 /* #NOAPP */ |
| 373 .L60: |
| 374 022e 3196 adiw r30,1 |
| 375 0230 8B2D mov r24,r11 |
| 376 0232 8053 subi r24,lo8(-(-48)) |
| 377 0234 8A30 cpi r24,lo8(10) |
| 378 0236 00F0 brlo .L62 |
| 379 0238 FFA7 std Y+47,r31 |
| 380 023a EEA7 std Y+46,r30 |
| 381 023c A901 movw r20,r18 |
| 382 023e 37FF sbrs r19,7 |
| 383 0240 00C0 rjmp .L64 |
| 384 0242 4FEF ldi r20,lo8(-1) |
| 385 0244 5FEF ldi r21,hi8(-1) |
| 386 .L64: |
| 387 0246 49AB std Y+49,r20 |
| 388 0248 00C0 rjmp .L175 |
| 389 .L56: |
| 390 024a F0E3 ldi r31,lo8(48) |
| 391 024c BF16 cp r11,r31 |
| 392 024e 01F4 brne .L65 |
| 393 0250 8BA9 ldd r24,Y+51 |
| 394 0252 84FD sbrc r24,4 |
| 395 0254 00C0 rjmp .L174 |
| 396 0256 8062 ori r24,lo8(32) |
| 397 0258 8BAB std Y+51,r24 |
| 398 025a 00C0 rjmp .L174 |
| 399 .L65: |
| 400 025c 8B2D mov r24,r11 |
| 401 025e 8153 subi r24,lo8(-(-49)) |
| 402 0260 8930 cpi r24,lo8(9) |
| 403 0262 00F4 brsh .L68 |
| 404 0264 20E0 ldi r18,lo8(0) |
| 405 0266 30E0 ldi r19,hi8(0) |
| 406 .L70: |
| 407 0268 C901 movw r24,r18 |
| 408 026a F3E0 ldi r31,3 |
| 409 026c 880F 1: lsl r24 |
| 410 026e 991F rol r25 |
| 411 0270 FA95 dec r31 |
| 412 0272 01F4 brne 1b |
| 413 0274 220F lsl r18 |
| 414 0276 331F rol r19 |
| 415 0278 280F add r18,r24 |
| 416 027a 391F adc r19,r25 |
| 417 027c 2B0D add r18,r11 |
| 418 027e 311D adc r19,__zero_reg__ |
| 419 0280 2053 subi r18,lo8(-(-48)) |
| 420 0282 3040 sbci r19,hi8(-(-48)) |
| 421 0284 EEA5 ldd r30,Y+46 |
| 422 0286 FFA5 ldd r31,Y+47 |
| 423 0288 CF01 movw r24,r30 |
| 424 028a 0196 adiw r24,1 |
| 425 028c 9FA7 std Y+47,r25 |
| 426 028e 8EA7 std Y+46,r24 |
| 427 /* #APP */ |
| 428 0290 B490 lpm r11, Z |
| 429 |
| 430 /* #NOAPP */ |
| 431 0292 8B2D mov r24,r11 |
| 432 0294 8053 subi r24,lo8(-(-48)) |
| 433 0296 8A30 cpi r24,lo8(10) |
| 434 0298 00F0 brlo .L70 |
| 435 029a 2AAB std Y+50,r18 |
| 436 029c 00C0 rjmp .L175 |
| 437 .L68: |
| 438 029e 98E6 ldi r25,lo8(104) |
| 439 02a0 B916 cp r11,r25 |
| 440 02a2 01F4 brne .L72 |
| 441 02a4 EBA9 ldd r30,Y+51 |
| 442 02a6 E460 ori r30,lo8(4) |
| 443 02a8 EBAB std Y+51,r30 |
| 444 02aa 00C0 rjmp .L174 |
| 445 .L156: |
| 446 02ac B982 std Y+1,r11 |
| 447 02ae 00C0 rjmp .L174 |
| 448 .L155: |
| 449 02b0 FBA9 ldd r31,Y+51 |
| 450 02b2 F860 ori r31,lo8(8) |
| 451 .L169: |
| 452 02b4 FBAB std Y+51,r31 |
| 453 02b6 00C0 rjmp .L174 |
| 454 .L72: |
| 455 02b8 8CE6 ldi r24,lo8(108) |
| 456 02ba B816 cp r11,r24 |
| 457 02bc 01F4 brne .L74 |
| 458 02be 9BA9 ldd r25,Y+51 |
| 459 02c0 9160 ori r25,lo8(1) |
| 460 02c2 9BAB std Y+51,r25 |
| 461 02c4 00C0 rjmp .L174 |
| 462 .L74: |
| 463 02c6 BD83 std Y+5,r27 |
| 464 02c8 AC83 std Y+4,r26 |
| 465 02ca E3E6 ldi r30,lo8(99) |
| 466 02cc BE16 cp r11,r30 |
| 467 02ce 01F4 brne .L76 |
| 468 02d0 1296 adiw r26,2 |
| 469 02d2 BD83 std Y+5,r27 |
| 470 02d4 AC83 std Y+4,r26 |
| 471 02d6 1297 sbiw r26,2 |
| 472 02d8 8C91 ld r24,X |
| 473 02da 8E83 std Y+6,r24 |
| 474 02dc 00C0 rjmp .L173 |
| 475 .L76: |
| 476 02de F4E4 ldi r31,lo8(68) |
| 477 02e0 BF16 cp r11,r31 |
| 478 02e2 01F0 breq .L79 |
| 479 02e4 84E6 ldi r24,lo8(100) |
| 480 02e6 B816 cp r11,r24 |
| 481 02e8 01F0 breq .L81 |
| 482 02ea 99E6 ldi r25,lo8(105) |
| 483 02ec B916 cp r11,r25 |
| 484 02ee 01F4 brne .L166 |
| 485 02f0 00C0 rjmp .L81 |
| 486 .L79: |
| 487 02f2 EBA9 ldd r30,Y+51 |
| 488 02f4 E160 ori r30,lo8(1) |
| 489 02f6 EBAB std Y+51,r30 |
| 490 .L81: |
| 491 02f8 FBA9 ldd r31,Y+51 |
| 492 02fa F0FF sbrs r31,0 |
| 493 02fc 00C0 rjmp .L84 |
| 494 02fe 1496 adiw r26,4 |
| 495 0300 BD83 std Y+5,r27 |
| 496 0302 AC83 std Y+4,r26 |
| 497 0304 5E90 ld r5,-X |
| 498 0306 4E90 ld r4,-X |
| 499 0308 3E90 ld r3,-X |
| 500 030a 2E90 ld r2,-X |
| 501 030c 00C0 rjmp .L86 |
| 502 .L84: |
| 503 030e 1296 adiw r26,2 |
| 504 0310 BD83 std Y+5,r27 |
| 505 0312 AC83 std Y+4,r26 |
| 506 0314 9E91 ld r25,-X |
| 507 0316 8E91 ld r24,-X |
| 508 0318 1C01 movw r2,r24 |
| 509 031a 4424 clr r4 |
| 510 031c 37FC sbrc r3,7 |
| 511 031e 4094 com r4 |
| 512 0320 542C mov r5,r4 |
| 513 .L86: |
| 514 0322 57FC sbrc r5,7 |
| 515 0324 00C0 rjmp .L87 |
| 516 0326 8AE0 ldi r24,lo8(10) |
| 517 0328 88AB std Y+48,r24 |
| 518 032a 00C0 rjmp .L89 |
| 519 .L87: |
| 520 032c 5094 com r5 |
| 521 032e 4094 com r4 |
| 522 0330 3094 com r3 |
| 523 0332 2094 com r2 |
| 524 0334 211C adc r2,__zero_reg__ |
| 525 0336 311C adc r3,__zero_reg__ |
| 526 0338 411C adc r4,__zero_reg__ |
| 527 033a 511C adc r5,__zero_reg__ |
| 528 033c 8DE2 ldi r24,lo8(45) |
| 529 033e 8983 std Y+1,r24 |
| 530 0340 9AE0 ldi r25,lo8(10) |
| 531 0342 98AB std Y+48,r25 |
| 532 0344 00C0 rjmp .L89 |
| 533 .L166: |
| 534 0346 EFE4 ldi r30,lo8(79) |
| 535 0348 BE16 cp r11,r30 |
| 536 034a 01F0 breq .L90 |
| 537 034c FFE6 ldi r31,lo8(111) |
| 538 034e BF16 cp r11,r31 |
| 539 0350 01F4 brne .L92 |
| 540 0352 88E0 ldi r24,lo8(8) |
| 541 0354 00C0 rjmp .L170 |
| 542 .L90: |
| 543 0356 9BA9 ldd r25,Y+51 |
| 544 0358 9160 ori r25,lo8(1) |
| 545 035a 9BAB std Y+51,r25 |
| 546 035c E8E0 ldi r30,lo8(8) |
| 547 035e 00C0 rjmp .L171 |
| 548 .L92: |
| 549 0360 F0E7 ldi r31,lo8(112) |
| 550 0362 BF16 cp r11,r31 |
| 551 0364 01F4 brne .L95 |
| 552 0366 1296 adiw r26,2 |
| 553 0368 BD83 std Y+5,r27 |
| 554 036a AC83 std Y+4,r26 |
| 555 036c 9E91 ld r25,-X |
| 556 036e 8E91 ld r24,-X |
| 557 0370 1C01 movw r2,r24 |
| 558 0372 4424 clr r4 |
| 559 0374 5524 clr r5 |
| 560 0376 8BA9 ldd r24,Y+51 |
| 561 0378 8064 ori r24,lo8(64) |
| 562 037a 8BAB std Y+51,r24 |
| 563 037c 90E1 ldi r25,lo8(16) |
| 564 037e 98AB std Y+48,r25 |
| 565 0380 78E7 ldi r23,lo8(120) |
| 566 0382 B72E mov r11,r23 |
| 567 0384 00C0 rjmp .L94 |
| 568 .L95: |
| 569 0386 E3E7 ldi r30,lo8(115) |
| 570 0388 BE16 cp r11,r30 |
| 571 038a 01F4 brne .L97 |
| 572 038c 1296 adiw r26,2 |
| 573 038e BD83 std Y+5,r27 |
| 574 0390 AC83 std Y+4,r26 |
| 575 0392 DE90 ld r13,-X |
| 576 0394 CE90 ld r12,-X |
| 577 0396 C114 cp r12,__zero_reg__ |
| 578 0398 D104 cpc r13,__zero_reg__ |
| 579 039a 01F4 brne .L99 |
| 580 039c 88E2 ldi r24,lo8(40) |
| 581 039e 8E83 std Y+6,r24 |
| 582 03a0 8EE6 ldi r24,lo8(110) |
| 583 03a2 8F83 std Y+7,r24 |
| 584 03a4 85E7 ldi r24,lo8(117) |
| 585 03a6 8887 std Y+8,r24 |
| 586 03a8 8CE6 ldi r24,lo8(108) |
| 587 03aa 8987 std Y+9,r24 |
| 588 03ac 8A87 std Y+10,r24 |
| 589 03ae 89E2 ldi r24,lo8(41) |
| 590 03b0 8B87 std Y+11,r24 |
| 591 03b2 1C86 std Y+12,__zero_reg__ |
| 592 03b4 66E0 ldi r22,lo8(6) |
| 593 03b6 C62E mov r12,r22 |
| 594 03b8 D12C mov r13,__zero_reg__ |
| 595 03ba CC0E add r12,r28 |
| 596 03bc DD1E adc r13,r29 |
| 597 .L99: |
| 598 03be F9A9 ldd r31,Y+49 |
| 599 03c0 F7FD sbrc r31,7 |
| 600 03c2 00C0 rjmp .L101 |
| 601 03c4 4F2F mov r20,r31 |
| 602 03c6 5527 clr r21 |
| 603 03c8 47FD sbrc r20,7 |
| 604 03ca 5095 com r21 |
| 605 03cc 60E0 ldi r22,lo8(0) |
| 606 03ce 70E0 ldi r23,hi8(0) |
| 607 03d0 C601 movw r24,r12 |
| 608 03d2 0E94 0000 call memchr |
| 609 03d6 0097 sbiw r24,0 |
| 610 03d8 01F4 brne .L103 |
| 611 03da 19A9 ldd r17,Y+49 |
| 612 03dc 00C0 rjmp .L105 |
| 613 .L103: |
| 614 03de 8C19 sub r24,r12 |
| 615 03e0 19A9 ldd r17,Y+49 |
| 616 03e2 8117 cp r24,r17 |
| 617 03e4 04F4 brge .L105 |
| 618 03e6 182F mov r17,r24 |
| 619 03e8 00C0 rjmp .L105 |
| 620 .L101: |
| 621 03ea F601 movw r30,r12 |
| 622 03ec 0190 ld __tmp_reg__,Z+ |
| 623 03ee 0020 tst __tmp_reg__ |
| 624 03f0 01F4 brne .-6 |
| 625 03f2 3197 sbiw r30,1 |
| 626 03f4 1E2F mov r17,r30 |
| 627 03f6 1C19 sub r17,r12 |
| 628 .L105: |
| 629 03f8 1982 std Y+1,__zero_reg__ |
| 630 03fa 4201 movw r8,r4 |
| 631 03fc 3101 movw r6,r2 |
| 632 03fe 40E0 ldi r20,lo8(0) |
| 633 0400 00C0 rjmp .L107 |
| 634 .L97: |
| 635 0402 85E5 ldi r24,lo8(85) |
| 636 0404 B816 cp r11,r24 |
| 637 0406 01F0 breq .L108 |
| 638 0408 95E7 ldi r25,lo8(117) |
| 639 040a B916 cp r11,r25 |
| 640 040c 01F4 brne .L110 |
| 641 040e EAE0 ldi r30,lo8(10) |
| 642 .L171: |
| 643 0410 E8AB std Y+48,r30 |
| 644 0412 00C0 rjmp .L94 |
| 645 .L108: |
| 646 0414 FBA9 ldd r31,Y+51 |
| 647 0416 F160 ori r31,lo8(1) |
| 648 0418 FBAB std Y+51,r31 |
| 649 041a 8AE0 ldi r24,lo8(10) |
| 650 .L170: |
| 651 041c 88AB std Y+48,r24 |
| 652 041e 00C0 rjmp .L94 |
| 653 .L110: |
| 654 0420 98E5 ldi r25,lo8(88) |
| 655 0422 B916 cp r11,r25 |
| 656 0424 01F0 breq .L112 |
| 657 0426 E8E7 ldi r30,lo8(120) |
| 658 0428 BE16 cp r11,r30 |
| 659 042a 01F0 breq .+2 |
| 660 042c 00C0 rjmp .L114 |
| 661 .L112: |
| 662 042e FBA9 ldd r31,Y+51 |
| 663 0430 F3FD sbrc r31,3 |
| 664 0432 00C0 rjmp .L115 |
| 665 0434 80E1 ldi r24,lo8(16) |
| 666 0436 00C0 rjmp .L170 |
| 667 .L115: |
| 668 0438 2114 cp r2,__zero_reg__ |
| 669 043a 3104 cpc r3,__zero_reg__ |
| 670 043c 4104 cpc r4,__zero_reg__ |
| 671 043e 5104 cpc r5,__zero_reg__ |
| 672 0440 01F4 brne .L117 |
| 673 0442 90E1 ldi r25,lo8(16) |
| 674 0444 98AB std Y+48,r25 |
| 675 0446 00C0 rjmp .L94 |
| 676 .L117: |
| 677 0448 EBA9 ldd r30,Y+51 |
| 678 044a E064 ori r30,lo8(64) |
| 679 044c EBAB std Y+51,r30 |
| 680 044e F0E1 ldi r31,lo8(16) |
| 681 0450 F8AB std Y+48,r31 |
| 682 .L94: |
| 683 0452 1982 std Y+1,__zero_reg__ |
| 684 .L89: |
| 685 0454 89A9 ldd r24,Y+49 |
| 686 0456 87FD sbrc r24,7 |
| 687 0458 00C0 rjmp .L119 |
| 688 045a 9BA9 ldd r25,Y+51 |
| 689 045c 9F7D andi r25,lo8(-33) |
| 690 045e 9BAB std Y+51,r25 |
| 691 .L119: |
| 692 0460 2114 cp r2,__zero_reg__ |
| 693 0462 3104 cpc r3,__zero_reg__ |
| 694 0464 4104 cpc r4,__zero_reg__ |
| 695 0466 5104 cpc r5,__zero_reg__ |
| 696 0468 01F4 brne .L121 |
| 697 046a E9A9 ldd r30,Y+49 |
| 698 046c EE23 tst r30 |
| 699 046e 01F4 brne .L121 |
| 700 0470 6624 clr r6 |
| 701 0472 7724 clr r7 |
| 702 0474 4301 movw r8,r6 |
| 703 0476 5EE2 ldi r21,lo8(46) |
| 704 0478 C52E mov r12,r21 |
| 705 047a D12C mov r13,__zero_reg__ |
| 706 047c CC0E add r12,r28 |
| 707 047e DD1E adc r13,r29 |
| 708 0480 00C0 rjmp .L124 |
| 709 .L121: |
| 710 0482 4EE2 ldi r20,lo8(46) |
| 711 0484 C42E mov r12,r20 |
| 712 0486 D12C mov r13,__zero_reg__ |
| 713 0488 CC0E add r12,r28 |
| 714 048a DD1E adc r13,r29 |
| 715 048c F8A9 ldd r31,Y+48 |
| 716 048e EF2E mov r14,r31 |
| 717 0490 FF24 clr r15 |
| 718 0492 0027 clr r16 |
| 719 0494 1127 clr r17 |
| 720 .L125: |
| 721 0496 C201 movw r24,r4 |
| 722 0498 B101 movw r22,r2 |
| 723 049a A801 movw r20,r16 |
| 724 049c 9701 movw r18,r14 |
| 725 049e 0E94 0000 call __udivmodsi4 |
| 726 04a2 6A30 cpi r22,lo8(10) |
| 727 04a4 00F4 brsh .L126 |
| 728 04a6 30E3 ldi r19,lo8(48) |
| 729 04a8 A32E mov r10,r19 |
| 730 04aa A60E add r10,r22 |
| 731 04ac 00C0 rjmp .L128 |
| 732 .L126: |
| 733 04ae 27E5 ldi r18,lo8(87) |
| 734 04b0 A22E mov r10,r18 |
| 735 04b2 A60E add r10,r22 |
| 736 04b4 88E5 ldi r24,lo8(88) |
| 737 04b6 B816 cp r11,r24 |
| 738 04b8 01F4 brne .L128 |
| 739 04ba 9FED ldi r25,lo8(-33) |
| 740 04bc A922 and r10,r25 |
| 741 .L128: |
| 742 04be F601 movw r30,r12 |
| 743 04c0 A292 st -Z,r10 |
| 744 04c2 6F01 movw r12,r30 |
| 745 04c4 C201 movw r24,r4 |
| 746 04c6 B101 movw r22,r2 |
| 747 04c8 A801 movw r20,r16 |
| 748 04ca 9701 movw r18,r14 |
| 749 04cc 0E94 0000 call __udivmodsi4 |
| 750 04d0 3901 movw r6,r18 |
| 751 04d2 4A01 movw r8,r20 |
| 752 04d4 2E14 cp r2,r14 |
| 753 04d6 3F04 cpc r3,r15 |
| 754 04d8 4006 cpc r4,r16 |
| 755 04da 5106 cpc r5,r17 |
| 756 04dc 00F0 brlo .L130 |
| 757 04de 1901 movw r2,r18 |
| 758 04e0 2A01 movw r4,r20 |
| 759 04e2 00C0 rjmp .L125 |
| 760 .L130: |
| 761 04e4 F8A9 ldd r31,Y+48 |
| 762 04e6 F830 cpi r31,lo8(8) |
| 763 04e8 01F4 brne .L124 |
| 764 04ea 8BA9 ldd r24,Y+51 |
| 765 04ec 83FF sbrs r24,3 |
| 766 04ee 00C0 rjmp .L124 |
| 767 04f0 90E3 ldi r25,lo8(48) |
| 768 04f2 A916 cp r10,r25 |
| 769 04f4 01F0 breq .L124 |
| 770 04f6 80E3 ldi r24,lo8(48) |
| 771 04f8 F601 movw r30,r12 |
| 772 04fa 8293 st -Z,r24 |
| 773 04fc 6F01 movw r12,r30 |
| 774 .L124: |
| 775 04fe CE01 movw r24,r28 |
| 776 0500 8C19 sub r24,r12 |
| 777 0502 182F mov r17,r24 |
| 778 0504 125D subi r17,lo8(-(46)) |
| 779 0506 49A9 ldd r20,Y+49 |
| 780 0508 00C0 rjmp .L107 |
| 781 .L114: |
| 782 050a BB20 tst r11 |
| 783 050c 01F4 brne .+2 |
| 784 050e 00C0 rjmp .L152 |
| 785 0510 BE82 std Y+6,r11 |
| 786 .L173: |
| 787 0512 1982 std Y+1,__zero_reg__ |
| 788 0514 4201 movw r8,r4 |
| 789 0516 3101 movw r6,r2 |
| 790 0518 00E0 ldi r16,lo8(0) |
| 791 051a 11E0 ldi r17,lo8(1) |
| 792 051c 96E0 ldi r25,lo8(6) |
| 793 051e C92E mov r12,r25 |
| 794 0520 D12C mov r13,__zero_reg__ |
| 795 0522 CC0E add r12,r28 |
| 796 0524 DD1E adc r13,r29 |
| 797 0526 21E0 ldi r18,lo8(1) |
| 798 0528 00C0 rjmp .L136 |
| 799 .L107: |
| 800 052a 212F mov r18,r17 |
| 801 052c 042F mov r16,r20 |
| 802 052e 011B sub r16,r17 |
| 803 0530 07FD sbrc r16,7 |
| 804 0532 00E0 ldi r16,lo8(0) |
| 805 .L136: |
| 806 0534 8981 ldd r24,Y+1 |
| 807 0536 8823 tst r24 |
| 808 0538 01F0 breq .L138 |
| 809 053a 812F mov r24,r17 |
| 810 053c 8F5F subi r24,lo8(-(1)) |
| 811 053e 00C0 rjmp .L140 |
| 812 .L138: |
| 813 0540 9BA9 ldd r25,Y+51 |
| 814 0542 96FD sbrc r25,6 |
| 815 0544 00C0 rjmp .L141 |
| 816 0546 812F mov r24,r17 |
| 817 0548 00C0 rjmp .L140 |
| 818 .L141: |
| 819 054a 822F mov r24,r18 |
| 820 054c 8E5F subi r24,lo8(-(2)) |
| 821 .L140: |
| 822 054e A82E mov r10,r24 |
| 823 0550 A00E add r10,r16 |
| 824 0552 EBA9 ldd r30,Y+51 |
| 825 0554 EE2E mov r14,r30 |
| 826 0556 FF24 clr r15 |
| 827 0558 80E3 ldi r24,lo8(48) |
| 828 055a 482E mov r4,r24 |
| 829 055c 512C mov r5,__zero_reg__ |
| 830 055e 4E20 and r4,r14 |
| 831 0560 5F20 and r5,r15 |
| 832 0562 4114 cp r4,__zero_reg__ |
| 833 0564 5104 cpc r5,__zero_reg__ |
| 834 0566 01F4 brne .L143 |
| 835 0568 8AA9 ldd r24,Y+50 |
| 836 056a 8A19 sub r24,r10 |
| 837 056c 0E94 0000 call PAD_SP |
| 838 .L143: |
| 839 0570 8981 ldd r24,Y+1 |
| 840 0572 8823 tst r24 |
| 841 0574 01F0 breq .L145 |
| 842 0576 61E0 ldi r22,lo8(1) |
| 843 0578 70E0 ldi r23,hi8(1) |
| 844 057a CE01 movw r24,r28 |
| 845 057c 0196 adiw r24,1 |
| 846 057e 00C0 rjmp .L172 |
| 847 .L145: |
| 848 0580 E6FE sbrs r14,6 |
| 849 0582 00C0 rjmp .L147 |
| 850 0584 80E3 ldi r24,lo8(48) |
| 851 0586 8A83 std Y+2,r24 |
| 852 0588 BB82 std Y+3,r11 |
| 853 058a 62E0 ldi r22,lo8(2) |
| 854 058c 70E0 ldi r23,hi8(2) |
| 855 058e CE01 movw r24,r28 |
| 856 0590 0296 adiw r24,2 |
| 857 .L172: |
| 858 0592 0E94 0000 call PRINT |
| 859 .L147: |
| 860 0596 F0E2 ldi r31,lo8(32) |
| 861 0598 4F16 cp r4,r31 |
| 862 059a 5104 cpc r5,__zero_reg__ |
| 863 059c 01F4 brne .L149 |
| 864 059e 8AA9 ldd r24,Y+50 |
| 865 05a0 8A19 sub r24,r10 |
| 866 05a2 0E94 0000 call PAD_0 |
| 867 .L149: |
| 868 05a6 802F mov r24,r16 |
| 869 05a8 0E94 0000 call PAD_0 |
| 870 05ac 612F mov r22,r17 |
| 871 05ae 7727 clr r23 |
| 872 05b0 67FD sbrc r22,7 |
| 873 05b2 7095 com r23 |
| 874 05b4 C601 movw r24,r12 |
| 875 05b6 0E94 0000 call PRINT |
| 876 05ba E4FE sbrs r14,4 |
| 877 05bc 00C0 rjmp .L28 |
| 878 05be 8AA9 ldd r24,Y+50 |
| 879 05c0 8A19 sub r24,r10 |
| 880 05c2 0E94 0000 call PAD_SP |
| 881 05c6 00C0 rjmp .L28 |
| 882 .L35: |
| 883 .L152: |
| 884 /* epilogue: frame size=51 */ |
| 885 05c8 E396 adiw r28,51 |
| 886 05ca 0FB6 in __tmp_reg__,__SREG__ |
| 887 05cc F894 cli |
| 888 05ce DEBF out __SP_H__,r29 |
| 889 05d0 0FBE out __SREG__,__tmp_reg__ |
| 890 05d2 CDBF out __SP_L__,r28 |
| 891 05d4 DF91 pop r29 |
| 892 05d6 CF91 pop r28 |
| 893 05d8 1F91 pop r17 |
| 894 05da 0F91 pop r16 |
| 895 05dc FF90 pop r15 |
| 896 05de EF90 pop r14 |
| 897 05e0 DF90 pop r13 |
| 898 05e2 CF90 pop r12 |
| 899 05e4 BF90 pop r11 |
| 900 05e6 AF90 pop r10 |
| 901 05e8 9F90 pop r9 |
| 902 05ea 8F90 pop r8 |
| 903 05ec 7F90 pop r7 |
| 904 05ee 6F90 pop r6 |
| 905 05f0 5F90 pop r5 |
| 906 05f2 4F90 pop r4 |
| 907 05f4 3F90 pop r3 |
| 908 05f6 2F90 pop r2 |
| 909 05f8 0895 ret |
| 910 /* epilogue end (size=25) */ |
| 911 /* function _printf_P size 694 (643) */ |
| 913 .comm DiffNick,2,1 |
| 914 .comm DiffRoll,2,1 |
| 915 .comm SenderOkay,1,1 |
| 916 .comm CosinusNickWinkel,1,1 |
| 917 .comm CosinusRollWinkel,1,1 |
| 918 .comm durchschnitt_northing,4,1 |
| 919 .comm durchschnitt_easting,4,1 |
| 920 .comm gps_p,2,1 |
| 921 .comm gps_d,2,1 |
| 922 .comm skal,2,1 |
| 923 .comm gps_gethome,2,1 |
| 924 .comm PrintZiel,1,1 |
| 925 .comm RemoteTasten,1,1 |
| 926 .comm Timeout,1,1 |
| 927 .comm IntegralNick,4,1 |
| 928 .comm IntegralNick2,4,1 |
| 929 .comm IntegralRoll,4,1 |
| 930 .comm IntegralRoll2,4,1 |
| 931 .comm Mess_IntegralNick,4,1 |
| 932 .comm Mess_IntegralNick2,4,1 |
| 933 .comm Mess_IntegralRoll,4,1 |
| 934 .comm Mess_IntegralRoll2,4,1 |
| 935 .comm Integral_Gier,4,1 |
| 936 .comm Mess_Integral_Gier,4,1 |
| 937 .comm h,1,1 |
| 938 .comm m,1,1 |
| 939 .comm s,1,1 |
| 940 .comm Motor_Vorne,1,1 |
| 941 .comm Motor_Hinten,1,1 |
| 942 .comm Motor_Rechts,1,1 |
| 943 .comm Motor_Links,1,1 |
| 944 .comm Count,1,1 |
| 945 .comm MotorWert,5,1 |
| 946 .comm StickNick,2,1 |
| 947 .comm StickRoll,2,1 |
| 948 .comm StickGier,2,1 |
| 949 .comm MotorenEin,1,1 |
| 950 /* File "printf_P.c": code 786 = 0x0312 ( 710), prologues 36, epilogues 40 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 printf_P.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:13 .text:00000000 Putchar |
| *COM*:00000001 PrintZiel |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:45 .text:00000032 PAD_0 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:66 .text:00000048 PAD_SP |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:87 .text:0000005e PRINTP |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:122 .text:0000008a PRINT |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/cckDPzml.s:152 .text:000000b2 _printf_P |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 gps_p |
| *COM*:00000002 gps_d |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| *COM*:00000002 StickNick |
| *COM*:00000002 StickRoll |
| *COM*:00000002 StickGier |
| *COM*:00000001 MotorenEin |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| DispPtr |
| DisplayBuff |
| uart_putchar |
| memchr |
| __udivmodsi4 |
| /branches/chris_hallo2/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
| } |
| } |
| } |
| /branches/chris_hallo2/rc.d |
|---|
| 0,0 → 1,2 |
| rc.o rc.d : rc.c rc.h main.h old_macros.h _settings.h printf_P.h timer0.h \ |
| uart.h analog.h twimaster.h menu.h fc.h gps.h |
| /branches/chris_hallo2/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/chris_hallo2/rc.lst |
|---|
| 0,0 → 1,286 |
| 1 .file "rc.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global rc_sum_init |
| 13 rc_sum_init: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 83EC ldi r24,lo8(-61) |
| 17 0002 8093 8100 sts 129,r24 |
| 18 0006 EFE6 ldi r30,lo8(111) |
| 19 0008 F0E0 ldi r31,hi8(111) |
| 20 000a 8081 ld r24,Z |
| 21 000c 8062 ori r24,lo8(32) |
| 22 000e 8083 st Z,r24 |
| 23 0010 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
| 24 0014 1092 0000 sts AdNeutralGier,__zero_reg__ |
| 25 0018 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
| 26 001c 1092 0000 sts AdNeutralRoll,__zero_reg__ |
| 27 0020 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
| 28 0024 1092 0000 sts AdNeutralNick,__zero_reg__ |
| 29 /* epilogue: frame size=0 */ |
| 30 0028 0895 ret |
| 31 /* epilogue end (size=1) */ |
| 32 /* function rc_sum_init size 21 (20) */ |
| 34 .global __vector_12 |
| 36 __vector_12: |
| 37 /* prologue: frame size=0 */ |
| 38 002a 1F92 push __zero_reg__ |
| 39 002c 0F92 push __tmp_reg__ |
| 40 002e 0FB6 in __tmp_reg__,__SREG__ |
| 41 0030 0F92 push __tmp_reg__ |
| 42 0032 1124 clr __zero_reg__ |
| 43 0034 0F93 push r16 |
| 44 0036 1F93 push r17 |
| 45 0038 2F93 push r18 |
| 46 003a 3F93 push r19 |
| 47 003c 4F93 push r20 |
| 48 003e 5F93 push r21 |
| 49 0040 6F93 push r22 |
| 50 0042 7F93 push r23 |
| 51 0044 8F93 push r24 |
| 52 0046 9F93 push r25 |
| 53 0048 AF93 push r26 |
| 54 004a BF93 push r27 |
| 55 004c CF93 push r28 |
| 56 004e DF93 push r29 |
| 57 0050 EF93 push r30 |
| 58 0052 FF93 push r31 |
| 59 /* prologue end (size=21) */ |
| 60 0054 2091 8600 lds r18,134 |
| 61 0058 3091 8700 lds r19,(134)+1 |
| 62 005c 8091 0000 lds r24,AltICR.1969 |
| 63 0060 9091 0000 lds r25,(AltICR.1969)+1 |
| 64 0064 281B sub r18,r24 |
| 65 0066 390B sbc r19,r25 |
| 66 0068 8091 8600 lds r24,134 |
| 67 006c 9091 8700 lds r25,(134)+1 |
| 68 0070 9093 0000 sts (AltICR.1969)+1,r25 |
| 69 0074 8093 0000 sts AltICR.1969,r24 |
| 70 0078 C901 movw r24,r18 |
| 71 007a 8D5D subi r24,lo8(-(-1501)) |
| 72 007c 9540 sbci r25,hi8(-(-1501)) |
| 73 007e 8356 subi r24,lo8(6499) |
| 74 0080 9941 sbci r25,hi8(6499) |
| 75 0082 00F4 brsh .L4 |
| 76 0084 81E0 ldi r24,lo8(1) |
| 77 0086 90E0 ldi r25,hi8(1) |
| 78 0088 9093 0000 sts (index.1971)+1,r25 |
| 79 008c 8093 0000 sts index.1971,r24 |
| 80 0090 1092 0000 sts NewPpmData,__zero_reg__ |
| 81 0094 00C0 rjmp .L14 |
| 82 .L4: |
| 83 0096 C091 0000 lds r28,index.1971 |
| 84 009a D091 0000 lds r29,(index.1971)+1 |
| 85 009e CA30 cpi r28,10 |
| 86 00a0 D105 cpc r29,__zero_reg__ |
| 87 00a2 04F0 brlt .+2 |
| 88 00a4 00C0 rjmp .L14 |
| 89 00a6 C901 movw r24,r18 |
| 90 00a8 8B5F subi r24,lo8(-(-251)) |
| 91 00aa 9040 sbci r25,hi8(-(-251)) |
| 92 00ac 845B subi r24,lo8(436) |
| 93 00ae 9140 sbci r25,hi8(436) |
| 94 00b0 00F0 brlo .+2 |
| 95 00b2 00C0 rjmp .L8 |
| 96 00b4 A901 movw r20,r18 |
| 97 00b6 425D subi r20,lo8(-(-466)) |
| 98 00b8 5140 sbci r21,hi8(-(-466)) |
| 99 00ba FE01 movw r30,r28 |
| 100 00bc EE0F lsl r30 |
| 101 00be FF1F rol r31 |
| 102 00c0 E050 subi r30,lo8(-(PPM_in)) |
| 103 00c2 F040 sbci r31,hi8(-(PPM_in)) |
| 104 00c4 8081 ld r24,Z |
| 105 00c6 9181 ldd r25,Z+1 |
| 106 00c8 FA01 movw r30,r20 |
| 107 00ca E81B sub r30,r24 |
| 108 00cc F90B sbc r31,r25 |
| 109 00ce CF01 movw r24,r30 |
| 110 00d0 F7FF sbrs r31,7 |
| 111 00d2 00C0 rjmp .L11 |
| 112 00d4 9095 com r25 |
| 113 00d6 8195 neg r24 |
| 114 00d8 9F4F sbci r25,lo8(-1) |
| 115 .L11: |
| 116 00da 0697 sbiw r24,6 |
| 117 00dc 04F4 brge .L10 |
| 118 00de 8091 0000 lds r24,SenderOkay |
| 119 00e2 883C cpi r24,lo8(-56) |
| 120 00e4 00F4 brsh .L10 |
| 121 00e6 8091 0000 lds r24,SenderOkay |
| 122 00ea 865F subi r24,lo8(-(10)) |
| 123 00ec 8093 0000 sts SenderOkay,r24 |
| 124 .L10: |
| 125 00f0 FE01 movw r30,r28 |
| 126 00f2 EE0F lsl r30 |
| 127 00f4 FF1F rol r31 |
| 128 00f6 8F01 movw r16,r30 |
| 129 00f8 0050 subi r16,lo8(-(PPM_in)) |
| 130 00fa 1040 sbci r17,hi8(-(PPM_in)) |
| 131 00fc D801 movw r26,r16 |
| 132 00fe 2D91 ld r18,X+ |
| 133 0100 3C91 ld r19,X |
| 134 0102 C901 movw r24,r18 |
| 135 0104 880F lsl r24 |
| 136 0106 991F rol r25 |
| 137 0108 820F add r24,r18 |
| 138 010a 931F adc r25,r19 |
| 139 010c 840F add r24,r20 |
| 140 010e 951F adc r25,r21 |
| 141 0110 64E0 ldi r22,lo8(4) |
| 142 0112 70E0 ldi r23,hi8(4) |
| 143 0114 0E94 0000 call __divmodhi4 |
| 144 0118 D801 movw r26,r16 |
| 145 011a 8D91 ld r24,X+ |
| 146 011c 9C91 ld r25,X |
| 147 011e 1197 sbiw r26,1 |
| 148 0120 9B01 movw r18,r22 |
| 149 0122 281B sub r18,r24 |
| 150 0124 390B sbc r19,r25 |
| 151 0126 E050 subi r30,lo8(-(PPM_diff)) |
| 152 0128 F040 sbci r31,hi8(-(PPM_diff)) |
| 153 012a 3183 std Z+1,r19 |
| 154 012c 2083 st Z,r18 |
| 155 012e 1196 adiw r26,1 |
| 156 0130 7C93 st X,r23 |
| 157 0132 6E93 st -X,r22 |
| 158 .L8: |
| 159 0134 2196 adiw r28,1 |
| 160 0136 D093 0000 sts (index.1971)+1,r29 |
| 161 013a C093 0000 sts index.1971,r28 |
| 162 .L14: |
| 163 /* epilogue: frame size=0 */ |
| 164 013e FF91 pop r31 |
| 165 0140 EF91 pop r30 |
| 166 0142 DF91 pop r29 |
| 167 0144 CF91 pop r28 |
| 168 0146 BF91 pop r27 |
| 169 0148 AF91 pop r26 |
| 170 014a 9F91 pop r25 |
| 171 014c 8F91 pop r24 |
| 172 014e 7F91 pop r23 |
| 173 0150 6F91 pop r22 |
| 174 0152 5F91 pop r21 |
| 175 0154 4F91 pop r20 |
| 176 0156 3F91 pop r19 |
| 177 0158 2F91 pop r18 |
| 178 015a 1F91 pop r17 |
| 179 015c 0F91 pop r16 |
| 180 015e 0F90 pop __tmp_reg__ |
| 181 0160 0FBE out __SREG__,__tmp_reg__ |
| 182 0162 0F90 pop __tmp_reg__ |
| 183 0164 1F90 pop __zero_reg__ |
| 184 0166 1895 reti |
| 185 /* epilogue end (size=21) */ |
| 186 /* function __vector_12 size 162 (120) */ |
| 188 .global NewPpmData |
| 189 .data |
| 192 NewPpmData: |
| 193 0000 01 .byte 1 |
| 194 .lcomm index.1971,2 |
| 195 .lcomm AltICR.1969,2 |
| 196 .comm PPM_in,22,1 |
| 197 .comm PPM_diff,22,1 |
| 198 .comm DiffNick,2,1 |
| 199 .comm DiffRoll,2,1 |
| 200 .comm SenderOkay,1,1 |
| 201 .comm CosinusNickWinkel,1,1 |
| 202 .comm CosinusRollWinkel,1,1 |
| 203 .comm durchschnitt_northing,4,1 |
| 204 .comm durchschnitt_easting,4,1 |
| 205 .comm gps_p,2,1 |
| 206 .comm gps_d,2,1 |
| 207 .comm skal,2,1 |
| 208 .comm gps_gethome,2,1 |
| 209 .comm RemoteTasten,1,1 |
| 210 .comm Timeout,1,1 |
| 211 .comm IntegralNick,4,1 |
| 212 .comm IntegralNick2,4,1 |
| 213 .comm IntegralRoll,4,1 |
| 214 .comm IntegralRoll2,4,1 |
| 215 .comm Mess_IntegralNick,4,1 |
| 216 .comm Mess_IntegralNick2,4,1 |
| 217 .comm Mess_IntegralRoll,4,1 |
| 218 .comm Mess_IntegralRoll2,4,1 |
| 219 .comm Integral_Gier,4,1 |
| 220 .comm Mess_Integral_Gier,4,1 |
| 221 .comm h,1,1 |
| 222 .comm m,1,1 |
| 223 .comm s,1,1 |
| 224 .comm Motor_Vorne,1,1 |
| 225 .comm Motor_Hinten,1,1 |
| 226 .comm Motor_Rechts,1,1 |
| 227 .comm Motor_Links,1,1 |
| 228 .comm Count,1,1 |
| 229 .comm MotorWert,5,1 |
| 230 .comm StickNick,2,1 |
| 231 .comm StickRoll,2,1 |
| 232 .comm StickGier,2,1 |
| 233 .comm MotorenEin,1,1 |
| 234 /* File "rc.c": code 183 = 0x00b7 ( 140), prologues 21, epilogues 22 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 rc.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccqyyvXd.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccqyyvXd.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccqyyvXd.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccqyyvXd.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccqyyvXd.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccqyyvXd.s:13 .text:00000000 rc_sum_init |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccqyyvXd.s:36 .text:0000002a __vector_12 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccqyyvXd.s:194 .bss:00000002 AltICR.1969 |
| .bss:00000000 index.1971 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccqyyvXd.s:192 .data:00000000 NewPpmData |
| *COM*:00000016 PPM_in |
| *COM*:00000001 SenderOkay |
| *COM*:00000016 PPM_diff |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 gps_p |
| *COM*:00000002 gps_d |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| *COM*:00000002 StickNick |
| *COM*:00000002 StickRoll |
| *COM*:00000002 StickGier |
| *COM*:00000001 MotorenEin |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| AdNeutralGier |
| AdNeutralRoll |
| AdNeutralNick |
| __divmodhi4 |
| /branches/chris_hallo2/readme.txt |
|---|
| 0,0 → 1,84 |
| GPS-Modifikation auf Basis der Original V0.6 by Holger Buss & Ingo Busker |
| ----- BETA V0.2----- |
| Copyright by Christopher Hartmann und Daniel Schmitz. |
| -Disclaimer- |
| Wir übernehmen keinerlei Garantie für die Funktionstüchtigkeit dieser Software |
| jegliche Änderung geschehen auf Eigene Gefahr |
| für eventuelle Schäden übernehmen wir keinerlei Haftung |
| ______ |
| Parametrierung ist noch nicht abgeschlossen !!!! |
| Kompass nicht integriert !!!! -> Ufo muss nach Norden ausgerichtet sein !!!!!! |
| Im Koptertool nicht vergessen GPS zu aktivieren ! |
| Testparamter : P:2 / D:2 |
| ________ ***************ÄNDERUNGEN**************************** |
| folgende Änderungen am GPS-Empfänger vornehmen (siehe auch Pitschu Anleitung für Details) |
| folgende Einstellungen werden nicht mehr benötigt (muss nicht zwingend deaktiviert werden) |
| unter Messages: |
| -NAV-POSLLH |
| -NAV-POSUTM |
| -NAV-VELNED |
| folgende Einstellungen müssen aktiviert werden: (für Target1) |
| unter Messages: |
| -NAV-POSECEF |
| -NAV-VELECEF |
| _________****************************************************** |
| features: |
| -Auslesen der GPS Daten im UBX Protokoll (modifizierte Version, - Original von Pitschu (Peter Schulten) ) |
| - integrierter PD Regler - Parametrierung des P-, D-Anteils (der D-Anteil sollte ggf. durch Änderung im Quelltext weiter verkleinert werden) |
| User Parameter 1: P-Regler, 2:D-Regler |
| - Rotationsmatrix für Kompass |
| - Postiton Hold (Aktivierung über Poti 1 ( 0=Aus , >0 =aktiviert) |
| - kruzes Piepsen bestätigt Aktivierung des PH |
| - rote LED der Flight-Ctrl für Statusanzeige: (blinkend : GPS Aktiv) |
| - Aktivierung des Postiton-Hold ohne Empfang von GPS unterbunden |
| - Einbinden des GPS-Empfängers bitte Erklärung von PITSCHU aus XUFO-Forum entnehmen (http://forum.xufo.net/bb/viewtopic.php?t=5980) |
| ----- BAUDRATE einstellen auf 57600 ------ |
| _____ |
| in Planung: (TWI: teilweise Integriert, siehe Quelltext -- UNGETESTET -- ) |
| - Kompass (TWI) |
| - dynamische Parametrierung anhand der mittleren Abweichung der GPS Daten (höhrere Genauigkeit im PH) |
| -"Home Postition" (TWI) |
| - Eingangsdatenfilterung (Kompensation von Ungenauigkeit) |
| - Auslagerung auf externen Prozessor |
| . |
| /branches/chris_hallo2/timer0.c |
|---|
| 0,0 → 1,139 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<2); |
| } |
| else |
| PORTD &= ~(1<<2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/chris_hallo2/timer0.d |
|---|
| 0,0 → 1,2 |
| timer0.o timer0.d : timer0.c main.h old_macros.h _settings.h printf_P.h timer0.h \ |
| uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/chris_hallo2/timer0.h |
|---|
| 0,0 → 1,14 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/chris_hallo2/timer0.lst |
|---|
| 0,0 → 1,506 |
| 1 .file "timer0.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global __vector_18 |
| 13 __vector_18: |
| 14 /* prologue: frame size=0 */ |
| 15 0000 1F92 push __zero_reg__ |
| 16 0002 0F92 push __tmp_reg__ |
| 17 0004 0FB6 in __tmp_reg__,__SREG__ |
| 18 0006 0F92 push __tmp_reg__ |
| 19 0008 1124 clr __zero_reg__ |
| 20 000a 2F93 push r18 |
| 21 000c 3F93 push r19 |
| 22 000e 5F93 push r21 |
| 23 0010 6F93 push r22 |
| 24 0012 7F93 push r23 |
| 25 0014 8F93 push r24 |
| 26 0016 9F93 push r25 |
| 27 0018 AF93 push r26 |
| 28 001a BF93 push r27 |
| 29 /* prologue end (size=14) */ |
| 30 001c 8091 0000 lds r24,cnt.1975 |
| 31 0020 8150 subi r24,lo8(-(-1)) |
| 32 0022 8093 0000 sts cnt.1975,r24 |
| 33 0026 8F3F cpi r24,lo8(-1) |
| 34 0028 01F4 brne .L2 |
| 35 002a 89E0 ldi r24,lo8(9) |
| 36 002c 8093 0000 sts cnt.1975,r24 |
| 37 0030 8091 0000 lds r24,cnt_1ms.1974 |
| 38 0034 8F5F subi r24,lo8(-(1)) |
| 39 0036 8170 andi r24,lo8(1) |
| 40 0038 8093 0000 sts cnt_1ms.1974,r24 |
| 41 003c 8823 tst r24 |
| 42 003e 01F4 brne .L4 |
| 43 0040 81E0 ldi r24,lo8(1) |
| 44 0042 8093 0000 sts UpdateMotor,r24 |
| 45 .L4: |
| 46 0046 8091 0000 lds r24,CountMilliseconds |
| 47 004a 9091 0000 lds r25,(CountMilliseconds)+1 |
| 48 004e 0196 adiw r24,1 |
| 49 0050 9093 0000 sts (CountMilliseconds)+1,r25 |
| 50 0054 8093 0000 sts CountMilliseconds,r24 |
| 51 0058 8091 0000 lds r24,Timeout |
| 52 005c 8823 tst r24 |
| 53 005e 01F0 breq .L2 |
| 54 0060 8091 0000 lds r24,Timeout |
| 55 0064 8150 subi r24,lo8(-(-1)) |
| 56 0066 8093 0000 sts Timeout,r24 |
| 57 .L2: |
| 58 006a 8091 0000 lds r24,beeptime |
| 59 006e 9091 0000 lds r25,(beeptime)+1 |
| 60 0072 0297 sbiw r24,2 |
| 61 0074 00F0 brlo .L7 |
| 62 0076 8091 0000 lds r24,beeptime |
| 63 007a 9091 0000 lds r25,(beeptime)+1 |
| 64 007e 0197 sbiw r24,1 |
| 65 0080 9093 0000 sts (beeptime)+1,r25 |
| 66 0084 8093 0000 sts beeptime,r24 |
| 67 0088 5A9A sbi 43-0x20,2 |
| 68 008a 00C0 rjmp .L9 |
| 69 .L7: |
| 70 008c 5A98 cbi 43-0x20,2 |
| 71 .L9: |
| 72 008e 8091 0000 lds r24,EE_Parameter+8 |
| 73 0092 83FF sbrs r24,3 |
| 74 0094 00C0 rjmp .L17 |
| 75 0096 349B sbis 38-0x20,4 |
| 76 0098 00C0 rjmp .L12 |
| 77 009a 8091 0000 lds r24,cntKompass |
| 78 009e 9091 0000 lds r25,(cntKompass)+1 |
| 79 00a2 0196 adiw r24,1 |
| 80 00a4 9093 0000 sts (cntKompass)+1,r25 |
| 81 00a8 8093 0000 sts cntKompass,r24 |
| 82 00ac 00C0 rjmp .L17 |
| 83 .L12: |
| 84 00ae 8091 0000 lds r24,cntKompass |
| 85 00b2 9091 0000 lds r25,(cntKompass)+1 |
| 86 00b6 892B or r24,r25 |
| 87 00b8 01F0 breq .L14 |
| 88 00ba 8091 0000 lds r24,cntKompass |
| 89 00be 9091 0000 lds r25,(cntKompass)+1 |
| 90 00c2 805A subi r24,lo8(4000) |
| 91 00c4 9F40 sbci r25,hi8(4000) |
| 92 00c6 00F4 brsh .L14 |
| 93 00c8 8091 0000 lds r24,cntKompass |
| 94 00cc 9091 0000 lds r25,(cntKompass)+1 |
| 95 00d0 9093 0000 sts (KompassValue)+1,r25 |
| 96 00d4 8093 0000 sts KompassValue,r24 |
| 97 .L14: |
| 98 00d8 8091 0000 lds r24,KompassValue |
| 99 00dc 9091 0000 lds r25,(KompassValue)+1 |
| 100 00e0 2091 0000 lds r18,KompassStartwert |
| 101 00e4 3091 0000 lds r19,(KompassStartwert)+1 |
| 102 00e8 821B sub r24,r18 |
| 103 00ea 930B sbc r25,r19 |
| 104 00ec 845E subi r24,lo8(-(540)) |
| 105 00ee 9D4F sbci r25,hi8(-(540)) |
| 106 00f0 68E6 ldi r22,lo8(360) |
| 107 00f2 71E0 ldi r23,hi8(360) |
| 108 00f4 0E94 0000 call __divmodhi4 |
| 109 00f8 845B subi r24,lo8(-(-180)) |
| 110 00fa 9040 sbci r25,hi8(-(-180)) |
| 111 00fc 9093 0000 sts (KompassRichtung)+1,r25 |
| 112 0100 8093 0000 sts KompassRichtung,r24 |
| 113 0104 1092 0000 sts (cntKompass)+1,__zero_reg__ |
| 114 0108 1092 0000 sts cntKompass,__zero_reg__ |
| 115 .L17: |
| 116 /* epilogue: frame size=0 */ |
| 117 010c BF91 pop r27 |
| 118 010e AF91 pop r26 |
| 119 0110 9F91 pop r25 |
| 120 0112 8F91 pop r24 |
| 121 0114 7F91 pop r23 |
| 122 0116 6F91 pop r22 |
| 123 0118 5F91 pop r21 |
| 124 011a 3F91 pop r19 |
| 125 011c 2F91 pop r18 |
| 126 011e 0F90 pop __tmp_reg__ |
| 127 0120 0FBE out __SREG__,__tmp_reg__ |
| 128 0122 0F90 pop __tmp_reg__ |
| 129 0124 1F90 pop __zero_reg__ |
| 130 0126 1895 reti |
| 131 /* epilogue end (size=14) */ |
| 132 /* function __vector_18 size 150 (122) */ |
| 134 .global SetDelay |
| 136 SetDelay: |
| 137 /* prologue: frame size=0 */ |
| 138 /* prologue end (size=0) */ |
| 139 0128 2091 0000 lds r18,CountMilliseconds |
| 140 012c 3091 0000 lds r19,(CountMilliseconds)+1 |
| 141 0130 2F5F subi r18,lo8(-(1)) |
| 142 0132 3F4F sbci r19,hi8(-(1)) |
| 143 0134 820F add r24,r18 |
| 144 0136 931F adc r25,r19 |
| 145 /* epilogue: frame size=0 */ |
| 146 0138 0895 ret |
| 147 /* epilogue end (size=1) */ |
| 148 /* function SetDelay size 9 (8) */ |
| 150 .global CheckDelay |
| 152 CheckDelay: |
| 153 /* prologue: frame size=0 */ |
| 154 /* prologue end (size=0) */ |
| 155 013a 2091 0000 lds r18,CountMilliseconds |
| 156 013e 3091 0000 lds r19,(CountMilliseconds)+1 |
| 157 0142 821B sub r24,r18 |
| 158 0144 930B sbc r25,r19 |
| 159 0146 892F mov r24,r25 |
| 160 0148 9927 clr r25 |
| 161 014a 8695 lsr r24 |
| 162 014c 8074 andi r24,lo8(64) |
| 163 014e 9927 clr r25 |
| 164 /* epilogue: frame size=0 */ |
| 165 0150 0895 ret |
| 166 /* epilogue end (size=1) */ |
| 167 /* function CheckDelay size 12 (11) */ |
| 169 .global __vector_9 |
| 171 __vector_9: |
| 172 /* prologue: frame size=0 */ |
| 173 0152 1F92 push __zero_reg__ |
| 174 0154 0F92 push __tmp_reg__ |
| 175 0156 0FB6 in __tmp_reg__,__SREG__ |
| 176 0158 0F92 push __tmp_reg__ |
| 177 015a 1124 clr __zero_reg__ |
| 178 015c EF92 push r14 |
| 179 015e FF92 push r15 |
| 180 0160 0F93 push r16 |
| 181 0162 1F93 push r17 |
| 182 0164 2F93 push r18 |
| 183 0166 3F93 push r19 |
| 184 0168 4F93 push r20 |
| 185 016a 5F93 push r21 |
| 186 016c 6F93 push r22 |
| 187 016e 7F93 push r23 |
| 188 0170 8F93 push r24 |
| 189 0172 9F93 push r25 |
| 190 0174 AF93 push r26 |
| 191 0176 BF93 push r27 |
| 192 0178 CF93 push r28 |
| 193 017a DF93 push r29 |
| 194 017c EF93 push r30 |
| 195 017e FF93 push r31 |
| 196 /* prologue end (size=23) */ |
| 197 0180 8091 0000 lds r24,timer.2061 |
| 198 0184 8150 subi r24,lo8(-(-1)) |
| 199 0186 8093 0000 sts timer.2061,r24 |
| 200 018a 8F3F cpi r24,lo8(-1) |
| 201 018c 01F0 breq .+2 |
| 202 018e 00C0 rjmp .L23 |
| 203 0190 83E8 ldi r24,lo8(-125) |
| 204 0192 8093 B000 sts 176,r24 |
| 205 0196 8091 0000 lds r24,Parameter_ServoNickControl |
| 206 019a C82F mov r28,r24 |
| 207 019c DD27 clr r29 |
| 208 019e D093 0000 sts (ServoValue)+1,r29 |
| 209 01a2 C093 0000 sts ServoValue,r28 |
| 210 01a6 8091 0000 lds r24,EE_Parameter+38 |
| 211 01aa E090 0000 lds r14,EE_Parameter+34 |
| 212 01ae 80FF sbrs r24,0 |
| 213 01b0 00C0 rjmp .L25 |
| 214 01b2 6091 0000 lds r22,IntegralNick |
| 215 01b6 7091 0000 lds r23,(IntegralNick)+1 |
| 216 01ba 8091 0000 lds r24,(IntegralNick)+2 |
| 217 01be 9091 0000 lds r25,(IntegralNick)+3 |
| 218 01c2 FF24 clr r15 |
| 219 01c4 0027 clr r16 |
| 220 01c6 1127 clr r17 |
| 221 01c8 20E8 ldi r18,lo8(128) |
| 222 01ca 30E0 ldi r19,hi8(128) |
| 223 01cc 40E0 ldi r20,hlo8(128) |
| 224 01ce 50E0 ldi r21,hhi8(128) |
| 225 01d0 0E94 0000 call __divmodsi4 |
| 226 01d4 C801 movw r24,r16 |
| 227 01d6 B701 movw r22,r14 |
| 228 01d8 0E94 0000 call __mulsi3 |
| 229 01dc 20E0 ldi r18,lo8(512) |
| 230 01de 32E0 ldi r19,hi8(512) |
| 231 01e0 40E0 ldi r20,hlo8(512) |
| 232 01e2 50E0 ldi r21,hhi8(512) |
| 233 01e4 0E94 0000 call __divmodsi4 |
| 234 01e8 C20F add r28,r18 |
| 235 01ea D31F adc r29,r19 |
| 236 01ec 00C0 rjmp .L34 |
| 237 .L25: |
| 238 01ee 6091 0000 lds r22,IntegralNick |
| 239 01f2 7091 0000 lds r23,(IntegralNick)+1 |
| 240 01f6 8091 0000 lds r24,(IntegralNick)+2 |
| 241 01fa 9091 0000 lds r25,(IntegralNick)+3 |
| 242 01fe FF24 clr r15 |
| 243 0200 0027 clr r16 |
| 244 0202 1127 clr r17 |
| 245 0204 20E8 ldi r18,lo8(128) |
| 246 0206 30E0 ldi r19,hi8(128) |
| 247 0208 40E0 ldi r20,hlo8(128) |
| 248 020a 50E0 ldi r21,hhi8(128) |
| 249 020c 0E94 0000 call __divmodsi4 |
| 250 0210 C801 movw r24,r16 |
| 251 0212 B701 movw r22,r14 |
| 252 0214 0E94 0000 call __mulsi3 |
| 253 0218 20E0 ldi r18,lo8(512) |
| 254 021a 32E0 ldi r19,hi8(512) |
| 255 021c 40E0 ldi r20,hlo8(512) |
| 256 021e 50E0 ldi r21,hhi8(512) |
| 257 0220 0E94 0000 call __divmodsi4 |
| 258 0224 C21B sub r28,r18 |
| 259 0226 D30B sbc r29,r19 |
| 260 .L34: |
| 261 0228 D093 0000 sts (ServoValue)+1,r29 |
| 262 022c C093 0000 sts ServoValue,r28 |
| 263 0230 2091 0000 lds r18,ServoValue |
| 264 0234 3091 0000 lds r19,(ServoValue)+1 |
| 265 0238 8091 0000 lds r24,EE_Parameter+35 |
| 266 023c 9927 clr r25 |
| 267 023e 2817 cp r18,r24 |
| 268 0240 3907 cpc r19,r25 |
| 269 0242 04F0 brlt .L35 |
| 270 0244 8091 0000 lds r24,EE_Parameter+36 |
| 271 0248 9927 clr r25 |
| 272 024a 8217 cp r24,r18 |
| 273 024c 9307 cpc r25,r19 |
| 274 024e 04F4 brge .L30 |
| 275 .L35: |
| 276 0250 9093 0000 sts (ServoValue)+1,r25 |
| 277 0254 8093 0000 sts ServoValue,r24 |
| 278 .L30: |
| 279 0258 8091 0000 lds r24,ServoValue |
| 280 025c 9091 0000 lds r25,(ServoValue)+1 |
| 281 0260 9093 0000 sts (DebugOut+38)+1,r25 |
| 282 0264 8093 0000 sts DebugOut+38,r24 |
| 283 0268 8093 B300 sts 179,r24 |
| 284 026c 8091 0000 lds r24,EE_Parameter+37 |
| 285 0270 8093 0000 sts timer.2061,r24 |
| 286 0274 00C0 rjmp .L33 |
| 287 .L23: |
| 288 0276 83E0 ldi r24,lo8(3) |
| 289 0278 8093 B000 sts 176,r24 |
| 290 027c 5F98 cbi 43-0x20,7 |
| 291 .L33: |
| 292 /* epilogue: frame size=0 */ |
| 293 027e FF91 pop r31 |
| 294 0280 EF91 pop r30 |
| 295 0282 DF91 pop r29 |
| 296 0284 CF91 pop r28 |
| 297 0286 BF91 pop r27 |
| 298 0288 AF91 pop r26 |
| 299 028a 9F91 pop r25 |
| 300 028c 8F91 pop r24 |
| 301 028e 7F91 pop r23 |
| 302 0290 6F91 pop r22 |
| 303 0292 5F91 pop r21 |
| 304 0294 4F91 pop r20 |
| 305 0296 3F91 pop r19 |
| 306 0298 2F91 pop r18 |
| 307 029a 1F91 pop r17 |
| 308 029c 0F91 pop r16 |
| 309 029e FF90 pop r15 |
| 310 02a0 EF90 pop r14 |
| 311 02a2 0F90 pop __tmp_reg__ |
| 312 02a4 0FBE out __SREG__,__tmp_reg__ |
| 313 02a6 0F90 pop __tmp_reg__ |
| 314 02a8 1F90 pop __zero_reg__ |
| 315 02aa 1895 reti |
| 316 /* epilogue end (size=23) */ |
| 317 /* function __vector_9 size 173 (127) */ |
| 319 .global Timer_Init |
| 321 Timer_Init: |
| 322 /* prologue: frame size=0 */ |
| 323 /* prologue end (size=0) */ |
| 324 02ac 8091 0000 lds r24,CountMilliseconds |
| 325 02b0 9091 0000 lds r25,(CountMilliseconds)+1 |
| 326 02b4 0B96 adiw r24,11 |
| 327 02b6 9093 0000 sts (tim_main)+1,r25 |
| 328 02ba 8093 0000 sts tim_main,r24 |
| 329 02be 82E0 ldi r24,lo8(2) |
| 330 02c0 85BD out 69-0x20,r24 |
| 331 02c2 83EA ldi r24,lo8(-93) |
| 332 02c4 84BD out 68-0x20,r24 |
| 333 02c6 17BC out 71-0x20,__zero_reg__ |
| 334 02c8 88E7 ldi r24,lo8(120) |
| 335 02ca 88BD out 72-0x20,r24 |
| 336 02cc 96E0 ldi r25,lo8(6) |
| 337 02ce 96BD out 70-0x20,r25 |
| 338 02d0 83EC ldi r24,lo8(-61) |
| 339 02d2 8093 B000 sts 176,r24 |
| 340 02d6 9093 B100 sts 177,r25 |
| 341 02da E0E7 ldi r30,lo8(112) |
| 342 02dc F0E0 ldi r31,hi8(112) |
| 343 02de 8081 ld r24,Z |
| 344 02e0 8260 ori r24,lo8(2) |
| 345 02e2 8083 st Z,r24 |
| 346 02e4 EEE6 ldi r30,lo8(110) |
| 347 02e6 F0E0 ldi r31,hi8(110) |
| 348 02e8 8081 ld r24,Z |
| 349 02ea 8160 ori r24,lo8(1) |
| 350 02ec 8083 st Z,r24 |
| 351 02ee 8AE0 ldi r24,lo8(10) |
| 352 02f0 8093 B300 sts 179,r24 |
| 353 02f4 1092 B200 sts 178,__zero_reg__ |
| 354 /* epilogue: frame size=0 */ |
| 355 02f8 0895 ret |
| 356 /* epilogue end (size=1) */ |
| 357 /* function Timer_Init size 39 (38) */ |
| 359 .global Delay_ms |
| 361 Delay_ms: |
| 362 /* prologue: frame size=0 */ |
| 363 /* prologue end (size=0) */ |
| 364 02fa 2091 0000 lds r18,CountMilliseconds |
| 365 02fe 3091 0000 lds r19,(CountMilliseconds)+1 |
| 366 0302 2F5F subi r18,lo8(-(1)) |
| 367 0304 3F4F sbci r19,hi8(-(1)) |
| 368 0306 280F add r18,r24 |
| 369 0308 391F adc r19,r25 |
| 370 .L39: |
| 371 030a 8091 0000 lds r24,CountMilliseconds |
| 372 030e 9091 0000 lds r25,(CountMilliseconds)+1 |
| 373 0312 A901 movw r20,r18 |
| 374 0314 481B sub r20,r24 |
| 375 0316 590B sbc r21,r25 |
| 376 0318 57FF sbrs r21,7 |
| 377 031a 00C0 rjmp .L39 |
| 378 /* epilogue: frame size=0 */ |
| 379 031c 0895 ret |
| 380 /* epilogue end (size=1) */ |
| 381 /* function Delay_ms size 18 (17) */ |
| 383 .global CountMilliseconds |
| 384 .global CountMilliseconds |
| 385 .section .bss |
| 388 CountMilliseconds: |
| 389 0000 0000 .skip 2,0 |
| 390 .global UpdateMotor |
| 391 .global UpdateMotor |
| 394 UpdateMotor: |
| 395 0002 00 .skip 1,0 |
| 396 .global cntKompass |
| 397 .global cntKompass |
| 400 cntKompass: |
| 401 0003 0000 .skip 2,0 |
| 402 .global beeptime |
| 403 .global beeptime |
| 406 beeptime: |
| 407 0005 0000 .skip 2,0 |
| 408 .global ServoValue |
| 409 .global ServoValue |
| 412 ServoValue: |
| 413 0007 0000 .skip 2,0 |
| 414 .data |
| 417 timer.2061: |
| 418 0000 0A .byte 10 |
| 419 .lcomm cnt.1975,1 |
| 422 cnt_1ms.1974: |
| 423 0001 01 .byte 1 |
| 424 .lcomm tim_main,2 |
| 425 .comm DiffNick,2,1 |
| 426 .comm DiffRoll,2,1 |
| 427 .comm SenderOkay,1,1 |
| 428 .comm CosinusNickWinkel,1,1 |
| 429 .comm CosinusRollWinkel,1,1 |
| 430 .comm durchschnitt_northing,4,1 |
| 431 .comm durchschnitt_easting,4,1 |
| 432 .comm gps_p,2,1 |
| 433 .comm gps_d,2,1 |
| 434 .comm skal,2,1 |
| 435 .comm gps_gethome,2,1 |
| 436 .comm RemoteTasten,1,1 |
| 437 .comm Timeout,1,1 |
| 438 .comm IntegralNick,4,1 |
| 439 .comm IntegralNick2,4,1 |
| 440 .comm IntegralRoll,4,1 |
| 441 .comm IntegralRoll2,4,1 |
| 442 .comm Mess_IntegralNick,4,1 |
| 443 .comm Mess_IntegralNick2,4,1 |
| 444 .comm Mess_IntegralRoll,4,1 |
| 445 .comm Mess_IntegralRoll2,4,1 |
| 446 .comm Integral_Gier,4,1 |
| 447 .comm Mess_Integral_Gier,4,1 |
| 448 .comm h,1,1 |
| 449 .comm m,1,1 |
| 450 .comm s,1,1 |
| 451 .comm Motor_Vorne,1,1 |
| 452 .comm Motor_Hinten,1,1 |
| 453 .comm Motor_Rechts,1,1 |
| 454 .comm Motor_Links,1,1 |
| 455 .comm Count,1,1 |
| 456 .comm MotorWert,5,1 |
| 457 .comm StickNick,2,1 |
| 458 .comm StickRoll,2,1 |
| 459 .comm StickGier,2,1 |
| 460 .comm MotorenEin,1,1 |
| 461 /* File "timer0.c": code 401 = 0x0191 ( 323), prologues 37, epilogues 41 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 timer0.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:13 .text:00000000 __vector_18 |
| .bss:00000009 cnt.1975 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:422 .data:00000001 cnt_1ms.1974 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:394 .bss:00000002 UpdateMotor |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:388 .bss:00000000 CountMilliseconds |
| *COM*:00000001 Timeout |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:406 .bss:00000005 beeptime |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:400 .bss:00000003 cntKompass |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:136 .text:00000128 SetDelay |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:152 .text:0000013a CheckDelay |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:171 .text:00000152 __vector_9 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:417 .data:00000000 timer.2061 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:412 .bss:00000007 ServoValue |
| *COM*:00000004 IntegralNick |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:321 .text:000002ac Timer_Init |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:419 .bss:0000000a tim_main |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccHWrDwn.s:361 .text:000002fa Delay_ms |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 gps_p |
| *COM*:00000002 gps_d |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000001 RemoteTasten |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| *COM*:00000002 StickNick |
| *COM*:00000002 StickRoll |
| *COM*:00000002 StickGier |
| *COM*:00000001 MotorenEin |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| KompassValue |
| KompassStartwert |
| __divmodhi4 |
| KompassRichtung |
| Parameter_ServoNickControl |
| __divmodsi4 |
| __mulsi3 |
| DebugOut |
| /branches/chris_hallo2/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/chris_hallo2/twimaster.d |
|---|
| 0,0 → 1,2 |
| twimaster.o twimaster.d : twimaster.c main.h old_macros.h _settings.h printf_P.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/chris_hallo2/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/chris_hallo2/twimaster.lst |
|---|
| 0,0 → 1,321 |
| 1 .file "twimaster.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global i2c_init |
| 13 i2c_init: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 1092 B900 sts 185,__zero_reg__ |
| 17 0004 8AE2 ldi r24,lo8(42) |
| 18 0006 8093 B800 sts 184,r24 |
| 19 /* epilogue: frame size=0 */ |
| 20 000a 0895 ret |
| 21 /* epilogue end (size=1) */ |
| 22 /* function i2c_init size 6 (5) */ |
| 24 .global i2c_start |
| 26 i2c_start: |
| 27 /* prologue: frame size=0 */ |
| 28 /* prologue end (size=0) */ |
| 29 000c 85EA ldi r24,lo8(-91) |
| 30 000e 8093 BC00 sts 188,r24 |
| 31 0012 80E0 ldi r24,lo8(0) |
| 32 0014 90E0 ldi r25,hi8(0) |
| 33 /* epilogue: frame size=0 */ |
| 34 0016 0895 ret |
| 35 /* epilogue end (size=1) */ |
| 36 /* function i2c_start size 6 (5) */ |
| 38 .global i2c_stop |
| 40 i2c_stop: |
| 41 /* prologue: frame size=0 */ |
| 42 /* prologue end (size=0) */ |
| 43 0018 84E9 ldi r24,lo8(-108) |
| 44 001a 8093 BC00 sts 188,r24 |
| 45 /* epilogue: frame size=0 */ |
| 46 001e 0895 ret |
| 47 /* epilogue end (size=1) */ |
| 48 /* function i2c_stop size 4 (3) */ |
| 50 .global i2c_write_byte |
| 52 i2c_write_byte: |
| 53 /* prologue: frame size=0 */ |
| 54 /* prologue end (size=0) */ |
| 55 0020 1092 B900 sts 185,__zero_reg__ |
| 56 0024 8093 BB00 sts 187,r24 |
| 57 0028 85E8 ldi r24,lo8(-123) |
| 58 002a 8093 BC00 sts 188,r24 |
| 59 002e 80E0 ldi r24,lo8(0) |
| 60 0030 90E0 ldi r25,hi8(0) |
| 61 /* epilogue: frame size=0 */ |
| 62 0032 0895 ret |
| 63 /* epilogue end (size=1) */ |
| 64 /* function i2c_write_byte size 10 (9) */ |
| 66 .global __vector_26 |
| 68 __vector_26: |
| 69 /* prologue: frame size=0 */ |
| 70 0034 1F92 push __zero_reg__ |
| 71 0036 0F92 push __tmp_reg__ |
| 72 0038 0FB6 in __tmp_reg__,__SREG__ |
| 73 003a 0F92 push __tmp_reg__ |
| 74 003c 1124 clr __zero_reg__ |
| 75 003e 8F93 push r24 |
| 76 0040 9F93 push r25 |
| 77 0042 EF93 push r30 |
| 78 0044 FF93 push r31 |
| 79 /* prologue end (size=9) */ |
| 80 0046 8091 0000 lds r24,twi_state |
| 81 004a 8F5F subi r24,lo8(-(1)) |
| 82 004c 8093 0000 sts twi_state,r24 |
| 83 0050 8150 subi r24,lo8(-(-1)) |
| 84 0052 8330 cpi r24,lo8(3) |
| 85 0054 01F4 brne .+2 |
| 86 0056 00C0 rjmp .L14 |
| 87 0058 8430 cpi r24,lo8(4) |
| 88 005a 00F4 brsh .L19 |
| 89 005c 8130 cpi r24,lo8(1) |
| 90 005e 01F0 breq .L12 |
| 91 0060 8230 cpi r24,lo8(2) |
| 92 0062 00F4 brsh .L13 |
| 93 0064 00C0 rjmp .L38 |
| 94 .L19: |
| 95 0066 8530 cpi r24,lo8(5) |
| 96 0068 01F4 brne .+2 |
| 97 006a 00C0 rjmp .L16 |
| 98 006c 8530 cpi r24,lo8(5) |
| 99 006e 00F0 brlo .L15 |
| 100 0070 8630 cpi r24,lo8(6) |
| 101 0072 01F4 brne .+2 |
| 102 0074 00C0 rjmp .L17 |
| 103 0076 8730 cpi r24,lo8(7) |
| 104 0078 01F0 breq .+2 |
| 105 007a 00C0 rjmp .L37 |
| 106 007c 00C0 rjmp .L18 |
| 107 .L38: |
| 108 007e 8091 0000 lds r24,motor |
| 109 0082 880F lsl r24 |
| 110 0084 8E5A subi r24,lo8(-(82)) |
| 111 0086 00C0 rjmp .L39 |
| 112 .L12: |
| 113 0088 8091 0000 lds r24,motor |
| 114 008c 8F5F subi r24,lo8(-(1)) |
| 115 008e 8093 0000 sts motor,r24 |
| 116 0092 8150 subi r24,lo8(-(-1)) |
| 117 0094 8130 cpi r24,lo8(1) |
| 118 0096 01F4 brne .+2 |
| 119 0098 00C0 rjmp .L32 |
| 120 009a 8130 cpi r24,lo8(1) |
| 121 009c 00F0 brlo .L20 |
| 122 009e 8230 cpi r24,lo8(2) |
| 123 00a0 01F4 brne .+2 |
| 124 00a2 00C0 rjmp .L33 |
| 125 00a4 8330 cpi r24,lo8(3) |
| 126 00a6 01F0 breq .+2 |
| 127 00a8 00C0 rjmp .L37 |
| 128 00aa 00C0 rjmp .L34 |
| 129 .L20: |
| 130 00ac 8091 0000 lds r24,Motor_Vorne |
| 131 .L39: |
| 132 00b0 1092 B900 sts 185,__zero_reg__ |
| 133 00b4 8093 BB00 sts 187,r24 |
| 134 00b8 85E8 ldi r24,lo8(-123) |
| 135 .L40: |
| 136 00ba 8093 BC00 sts 188,r24 |
| 137 00be 00C0 rjmp .L37 |
| 138 .L13: |
| 139 00c0 84E9 ldi r24,lo8(-108) |
| 140 00c2 8093 BC00 sts 188,r24 |
| 141 00c6 8091 0000 lds r24,motor |
| 142 00ca 8430 cpi r24,lo8(4) |
| 143 00cc 00F4 brsh .L24 |
| 144 00ce 1092 0000 sts twi_state,__zero_reg__ |
| 145 00d2 00C0 rjmp .L26 |
| 146 .L24: |
| 147 00d4 1092 0000 sts motor,__zero_reg__ |
| 148 .L26: |
| 149 00d8 85EA ldi r24,lo8(-91) |
| 150 00da 00C0 rjmp .L40 |
| 151 .L14: |
| 152 00dc 8091 0000 lds r24,motorread |
| 153 00e0 880F lsl r24 |
| 154 00e2 8D5A subi r24,lo8(-(83)) |
| 155 00e4 00C0 rjmp .L39 |
| 156 .L15: |
| 157 00e6 8091 0000 lds r24,motorread |
| 158 00ea 8130 cpi r24,lo8(1) |
| 159 00ec 01F0 breq .L32 |
| 160 00ee 8130 cpi r24,lo8(1) |
| 161 00f0 00F0 brlo .L20 |
| 162 00f2 8230 cpi r24,lo8(2) |
| 163 00f4 01F0 breq .L33 |
| 164 00f6 8330 cpi r24,lo8(3) |
| 165 00f8 01F4 brne .L37 |
| 166 00fa 00C0 rjmp .L34 |
| 167 .L16: |
| 168 00fc 8091 BB00 lds r24,187 |
| 169 0100 E091 0000 lds r30,motorread |
| 170 0104 FF27 clr r31 |
| 171 0106 E050 subi r30,lo8(-(motor_rx)) |
| 172 0108 F040 sbci r31,hi8(-(motor_rx)) |
| 173 010a 8083 st Z,r24 |
| 174 .L17: |
| 175 010c 8091 0000 lds r24,motorread |
| 176 0110 8130 cpi r24,lo8(1) |
| 177 0112 01F0 breq .L32 |
| 178 0114 8130 cpi r24,lo8(1) |
| 179 0116 00F0 brlo .L20 |
| 180 0118 8230 cpi r24,lo8(2) |
| 181 011a 01F0 breq .L33 |
| 182 011c 8330 cpi r24,lo8(3) |
| 183 011e 01F4 brne .L37 |
| 184 0120 00C0 rjmp .L34 |
| 185 .L32: |
| 186 0122 8091 0000 lds r24,Motor_Hinten |
| 187 0126 00C0 rjmp .L39 |
| 188 .L33: |
| 189 0128 8091 0000 lds r24,Motor_Rechts |
| 190 012c 00C0 rjmp .L39 |
| 191 .L34: |
| 192 012e 8091 0000 lds r24,Motor_Links |
| 193 0132 00C0 rjmp .L39 |
| 194 .L18: |
| 195 0134 8091 0000 lds r24,motorread |
| 196 0138 9091 BB00 lds r25,187 |
| 197 013c E82F mov r30,r24 |
| 198 013e FF27 clr r31 |
| 199 0140 E050 subi r30,lo8(-(motor_rx)) |
| 200 0142 F040 sbci r31,hi8(-(motor_rx)) |
| 201 0144 9483 std Z+4,r25 |
| 202 0146 8F5F subi r24,lo8(-(1)) |
| 203 0148 8093 0000 sts motorread,r24 |
| 204 014c 8430 cpi r24,lo8(4) |
| 205 014e 00F0 brlo .L35 |
| 206 0150 1092 0000 sts motorread,__zero_reg__ |
| 207 .L35: |
| 208 0154 84E9 ldi r24,lo8(-108) |
| 209 0156 8093 BC00 sts 188,r24 |
| 210 015a 1092 0000 sts twi_state,__zero_reg__ |
| 211 .L37: |
| 212 /* epilogue: frame size=0 */ |
| 213 015e FF91 pop r31 |
| 214 0160 EF91 pop r30 |
| 215 0162 9F91 pop r25 |
| 216 0164 8F91 pop r24 |
| 217 0166 0F90 pop __tmp_reg__ |
| 218 0168 0FBE out __SREG__,__tmp_reg__ |
| 219 016a 0F90 pop __tmp_reg__ |
| 220 016c 1F90 pop __zero_reg__ |
| 221 016e 1895 reti |
| 222 /* epilogue end (size=9) */ |
| 223 /* function __vector_26 size 158 (140) */ |
| 225 .global twi_state |
| 226 .global twi_state |
| 227 .section .bss |
| 230 twi_state: |
| 231 0000 00 .skip 1,0 |
| 232 .global motor |
| 233 .global motor |
| 236 motor: |
| 237 0001 00 .skip 1,0 |
| 238 .global motorread |
| 239 .global motorread |
| 242 motorread: |
| 243 0002 00 .skip 1,0 |
| 244 .comm DiffNick,2,1 |
| 245 .comm DiffRoll,2,1 |
| 246 .comm SenderOkay,1,1 |
| 247 .comm CosinusNickWinkel,1,1 |
| 248 .comm CosinusRollWinkel,1,1 |
| 249 .comm durchschnitt_northing,4,1 |
| 250 .comm durchschnitt_easting,4,1 |
| 251 .comm gps_p,2,1 |
| 252 .comm gps_d,2,1 |
| 253 .comm skal,2,1 |
| 254 .comm gps_gethome,2,1 |
| 255 .comm motor_rx,8,1 |
| 256 .comm RemoteTasten,1,1 |
| 257 .comm Timeout,1,1 |
| 258 .comm IntegralNick,4,1 |
| 259 .comm IntegralNick2,4,1 |
| 260 .comm IntegralRoll,4,1 |
| 261 .comm IntegralRoll2,4,1 |
| 262 .comm Mess_IntegralNick,4,1 |
| 263 .comm Mess_IntegralNick2,4,1 |
| 264 .comm Mess_IntegralRoll,4,1 |
| 265 .comm Mess_IntegralRoll2,4,1 |
| 266 .comm Integral_Gier,4,1 |
| 267 .comm Mess_Integral_Gier,4,1 |
| 268 .comm h,1,1 |
| 269 .comm m,1,1 |
| 270 .comm s,1,1 |
| 271 .comm Motor_Vorne,1,1 |
| 272 .comm Motor_Hinten,1,1 |
| 273 .comm Motor_Rechts,1,1 |
| 274 .comm Motor_Links,1,1 |
| 275 .comm Count,1,1 |
| 276 .comm MotorWert,5,1 |
| 277 .comm StickNick,2,1 |
| 278 .comm StickRoll,2,1 |
| 279 .comm StickGier,2,1 |
| 280 .comm MotorenEin,1,1 |
| 281 /* File "twimaster.c": code 184 = 0x00b8 ( 162), prologues 9, epilogues 13 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 twimaster.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:13 .text:00000000 i2c_init |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:26 .text:0000000c i2c_start |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:40 .text:00000018 i2c_stop |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:52 .text:00000020 i2c_write_byte |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:68 .text:00000034 __vector_26 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:230 .bss:00000000 twi_state |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:236 .bss:00000001 motor |
| *COM*:00000001 Motor_Vorne |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccQBlghb.s:242 .bss:00000002 motorread |
| *COM*:00000008 motor_rx |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 gps_p |
| *COM*:00000002 gps_d |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000001 RemoteTasten |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| *COM*:00000002 StickNick |
| *COM*:00000002 StickRoll |
| *COM*:00000002 StickGier |
| *COM*:00000001 MotorenEin |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| /branches/chris_hallo2/uart.c |
|---|
| 0,0 → 1,656 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // + |
| // + GPS read out: |
| // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
| // + only for non-profit use |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| //gpsInfo_t gpsPoints[5]; // stored position to fly to (currently only 1 target supported) |
| //gpsInfo_t *gpsTarget; // points to one of the targets |
| gpsInfo_t actualPos; // measured position (last gps record) |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| #define CLASS_NAV 0x01 |
| #define MSGID_POSECEF 0x01 |
| #define MSGID_STATUS 0x03 |
| //#define MSGID_POSLLH 0x02 |
| #define MSGID_VELECEF 0x11 |
| //#define MSGID_POSUTM 0x08 |
| //#define MSGID_VELNED 0x12 |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| /* |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| */ |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEF_X; // ecef x / cm |
| long ECEF_Y; // ecef y / cm |
| long ECEF_Z; // ecef z / cm |
| unsigned long Pacc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_POSECEF_t ; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEFVX; // ecef x velocity cm/s |
| long ECEFVY; // ecef y velocity cm/s |
| long ECEFVZ; // ecef z velocity cm/s |
| unsigned long SAcc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_VELECEF_t; |
| NAV_STATUS_t navStatus; |
| NAV_POSECEF_t navPosECEF; |
| NAV_VELECEF_t navVelECEF; |
| //NAV_POSLLH_t navPosLlh; |
| //NAV_POSUTM_t navPosUtm; |
| //NAV_VELECEF avVelNed; |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| // distance to target position |
| long rollOffset; // in 10cm |
| long nickOffset; |
| #define GPS_INTCYCLES 100 |
| #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| void GPSscanData (void) |
| { |
| if (navPosECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
| actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
| actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
| navPosECEF.packetStatus = 0; |
| } |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.state = navStatus.GPSfix; |
| navStatus.packetStatus = 0; |
| } |
| if (navVelECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
| actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
| actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
| navVelECEF.packetStatus = 0; |
| } |
| /* |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; ///10; // in 10cm; |
| actualPos.easting = navPosUtm.EAST; //10; |
| actualPos.altitude = navPosUtm.ALT; //10; |
| navPosUtm.packetStatus = 0; |
| } |
| if (navPosLlh.packetStatus == 1) |
| navPosLlh.packetStatus = 0; |
| if (navVelNed.packetStatus == 1){ |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| navVelNed.packetStatus = 0;} |
| navPosLlh and navVelNed currently not used |
| */ |
| if (actualPos.state != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn GPS Signal brauchbar |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| uint8_t c; |
| uint8_t re; |
| re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
| c = SioTmp; |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR0 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR0B |= _B1(UDRIE0); //enable further irqs |
| } |
| #endif |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| case MSGID_POSECEF: |
| ubxP = (char*)&navPosECEF; |
| ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
| ubxSp = (char*)&navPosECEF.packetStatus; |
| ignorePacket = navPosECEF.packetStatus; |
| break; |
| case MSGID_VELECEF: |
| ubxP = (char*)&navVelECEF; |
| ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
| ubxSp = (char*)&navVelECEF.packetStatus; |
| ignorePacket = navVelECEF.packetStatus; |
| break; |
| /* |
| case MSGID_POSLLH: |
| ubxP = (char*)&navPosLlh; |
| ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
| ubxSp = (char*)&navPosLlh.packetStatus; |
| ignorePacket = navPosLlh.packetStatus; |
| break; |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| */ |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
| } |
| GPSscanData (); |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned int tmp_int_arr1[1]; |
| unsigned int tmp_int_arr2[2]; |
| unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| unsigned char tmp_char_arr3[3]; |
| unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| gpsState = GPS_EMPTY; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/chris_hallo2/uart.d |
|---|
| 0,0 → 1,2 |
| uart.o uart.d : uart.c main.h old_macros.h _settings.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h |
| /branches/chris_hallo2/uart.h |
|---|
| 0,0 → 1,118 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| #define _B1(bit) (1 << (bit)) |
| #define _B0(bit) (0 << (bit)) |
| typedef struct { |
| long x; // in cm (+ = north) |
| long y; // in cm (+ = east) |
| long z; // in cm |
| long vx; |
| long vy; |
| long vz; |
| //long groundSpeed; |
| //long heading; |
| uint8_t state; // status of data: 0 = invlid; 1 = valid |
| uint8_t noSV; // number of sats |
| } gpsInfo_t; |
| extern gpsInfo_t lockedPos; // stored position to fly to |
| extern gpsInfo_t actualPos; // measured position (last gps record) |
| extern void GPSscanData (void); |
| extern void GPSupdate(void); |
| extern void GPSsaveTarget (uint8_t mode); |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/chris_hallo2/uart.lst |
|---|
| 0,0 → 1,1374 |
| 1 .file "uart.c" |
| 2 .arch atmega644 |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .text |
| 11 .global __vector_22 |
| 13 __vector_22: |
| 14 /* prologue: frame size=0 */ |
| 15 0000 1F92 push __zero_reg__ |
| 16 0002 0F92 push __tmp_reg__ |
| 17 0004 0FB6 in __tmp_reg__,__SREG__ |
| 18 0006 0F92 push __tmp_reg__ |
| 19 0008 1124 clr __zero_reg__ |
| 20 000a 8F93 push r24 |
| 21 000c 9F93 push r25 |
| 22 000e EF93 push r30 |
| 23 0010 FF93 push r31 |
| 24 /* prologue end (size=9) */ |
| 25 0012 8091 0000 lds r24,UebertragungAbgeschlossen |
| 26 0016 8823 tst r24 |
| 27 0018 01F4 brne .L2 |
| 28 001a 8091 0000 lds r24,ptr.2021 |
| 29 001e 9091 0000 lds r25,(ptr.2021)+1 |
| 30 0022 0196 adiw r24,1 |
| 31 0024 9093 0000 sts (ptr.2021)+1,r25 |
| 32 0028 8093 0000 sts ptr.2021,r24 |
| 33 002c FC01 movw r30,r24 |
| 34 002e E050 subi r30,lo8(-(SendeBuffer)) |
| 35 0030 F040 sbci r31,hi8(-(SendeBuffer)) |
| 36 0032 E081 ld r30,Z |
| 37 0034 ED30 cpi r30,lo8(13) |
| 38 0036 01F0 breq .L4 |
| 39 0038 8639 cpi r24,150 |
| 40 003a 9105 cpc r25,__zero_reg__ |
| 41 003c 01F4 brne .L6 |
| 42 .L4: |
| 43 003e 1092 0000 sts (ptr.2021)+1,__zero_reg__ |
| 44 0042 1092 0000 sts ptr.2021,__zero_reg__ |
| 45 0046 81E0 ldi r24,lo8(1) |
| 46 0048 8093 0000 sts UebertragungAbgeschlossen,r24 |
| 47 .L6: |
| 48 004c E093 C600 sts 198,r30 |
| 49 0050 00C0 rjmp .L8 |
| 50 .L2: |
| 51 0052 1092 0000 sts (ptr.2021)+1,__zero_reg__ |
| 52 0056 1092 0000 sts ptr.2021,__zero_reg__ |
| 53 .L8: |
| 54 /* epilogue: frame size=0 */ |
| 55 005a FF91 pop r31 |
| 56 005c EF91 pop r30 |
| 57 005e 9F91 pop r25 |
| 58 0060 8F91 pop r24 |
| 59 0062 0F90 pop __tmp_reg__ |
| 60 0064 0FBE out __SREG__,__tmp_reg__ |
| 61 0066 0F90 pop __tmp_reg__ |
| 62 0068 1F90 pop __zero_reg__ |
| 63 006a 1895 reti |
| 64 /* epilogue end (size=9) */ |
| 65 /* function __vector_22 size 54 (36) */ |
| 67 .global GPSscanData |
| 69 GPSscanData: |
| 70 /* prologue: frame size=0 */ |
| 71 /* prologue end (size=0) */ |
| 72 006c 8091 0000 lds r24,navPosECEF+20 |
| 73 0070 8130 cpi r24,lo8(1) |
| 74 0072 01F4 brne .L10 |
| 75 0074 8091 0000 lds r24,navPosECEF+4 |
| 76 0078 9091 0000 lds r25,(navPosECEF+4)+1 |
| 77 007c A091 0000 lds r26,(navPosECEF+4)+2 |
| 78 0080 B091 0000 lds r27,(navPosECEF+4)+3 |
| 79 0084 8093 0000 sts actualPos,r24 |
| 80 0088 9093 0000 sts (actualPos)+1,r25 |
| 81 008c A093 0000 sts (actualPos)+2,r26 |
| 82 0090 B093 0000 sts (actualPos)+3,r27 |
| 83 0094 8091 0000 lds r24,navPosECEF+8 |
| 84 0098 9091 0000 lds r25,(navPosECEF+8)+1 |
| 85 009c A091 0000 lds r26,(navPosECEF+8)+2 |
| 86 00a0 B091 0000 lds r27,(navPosECEF+8)+3 |
| 87 00a4 8093 0000 sts actualPos+4,r24 |
| 88 00a8 9093 0000 sts (actualPos+4)+1,r25 |
| 89 00ac A093 0000 sts (actualPos+4)+2,r26 |
| 90 00b0 B093 0000 sts (actualPos+4)+3,r27 |
| 91 00b4 8091 0000 lds r24,navPosECEF+12 |
| 92 00b8 9091 0000 lds r25,(navPosECEF+12)+1 |
| 93 00bc A091 0000 lds r26,(navPosECEF+12)+2 |
| 94 00c0 B091 0000 lds r27,(navPosECEF+12)+3 |
| 95 00c4 8093 0000 sts actualPos+8,r24 |
| 96 00c8 9093 0000 sts (actualPos+8)+1,r25 |
| 97 00cc A093 0000 sts (actualPos+8)+2,r26 |
| 98 00d0 B093 0000 sts (actualPos+8)+3,r27 |
| 99 00d4 1092 0000 sts navPosECEF+20,__zero_reg__ |
| 100 .L10: |
| 101 00d8 8091 0000 lds r24,navStatus+16 |
| 102 00dc 8130 cpi r24,lo8(1) |
| 103 00de 01F4 brne .L12 |
| 104 00e0 8091 0000 lds r24,navStatus+4 |
| 105 00e4 8093 0000 sts actualPos+24,r24 |
| 106 00e8 1092 0000 sts navStatus+16,__zero_reg__ |
| 107 .L12: |
| 108 00ec 8091 0000 lds r24,navVelECEF+20 |
| 109 00f0 8130 cpi r24,lo8(1) |
| 110 00f2 01F4 brne .L14 |
| 111 00f4 8091 0000 lds r24,navVelECEF+4 |
| 112 00f8 9091 0000 lds r25,(navVelECEF+4)+1 |
| 113 00fc A091 0000 lds r26,(navVelECEF+4)+2 |
| 114 0100 B091 0000 lds r27,(navVelECEF+4)+3 |
| 115 0104 8093 0000 sts actualPos+12,r24 |
| 116 0108 9093 0000 sts (actualPos+12)+1,r25 |
| 117 010c A093 0000 sts (actualPos+12)+2,r26 |
| 118 0110 B093 0000 sts (actualPos+12)+3,r27 |
| 119 0114 8091 0000 lds r24,navVelECEF+8 |
| 120 0118 9091 0000 lds r25,(navVelECEF+8)+1 |
| 121 011c A091 0000 lds r26,(navVelECEF+8)+2 |
| 122 0120 B091 0000 lds r27,(navVelECEF+8)+3 |
| 123 0124 8093 0000 sts actualPos+16,r24 |
| 124 0128 9093 0000 sts (actualPos+16)+1,r25 |
| 125 012c A093 0000 sts (actualPos+16)+2,r26 |
| 126 0130 B093 0000 sts (actualPos+16)+3,r27 |
| 127 0134 8091 0000 lds r24,navVelECEF+12 |
| 128 0138 9091 0000 lds r25,(navVelECEF+12)+1 |
| 129 013c A091 0000 lds r26,(navVelECEF+12)+2 |
| 130 0140 B091 0000 lds r27,(navVelECEF+12)+3 |
| 131 0144 8093 0000 sts actualPos+20,r24 |
| 132 0148 9093 0000 sts (actualPos+20)+1,r25 |
| 133 014c A093 0000 sts (actualPos+20)+2,r26 |
| 134 0150 B093 0000 sts (actualPos+20)+3,r27 |
| 135 0154 1092 0000 sts navVelECEF+20,__zero_reg__ |
| 136 .L14: |
| 137 0158 8091 0000 lds r24,actualPos+24 |
| 138 015c 8111 cpse r24,__zero_reg__ |
| 139 015e 289A sbi 37-0x20,0 |
| 140 .L18: |
| 141 0160 0895 ret |
| 142 /* epilogue: frame size=0 */ |
| 143 /* epilogue: noreturn */ |
| 144 /* epilogue end (size=0) */ |
| 145 /* function GPSscanData size 124 (124) */ |
| 147 .global __vector_20 |
| 149 __vector_20: |
| 150 /* prologue: frame size=0 */ |
| 151 0162 1F92 push __zero_reg__ |
| 152 0164 0F92 push __tmp_reg__ |
| 153 0166 0FB6 in __tmp_reg__,__SREG__ |
| 154 0168 0F92 push __tmp_reg__ |
| 155 016a 1124 clr __zero_reg__ |
| 156 016c 2F93 push r18 |
| 157 016e 3F93 push r19 |
| 158 0170 4F93 push r20 |
| 159 0172 5F93 push r21 |
| 160 0174 6F93 push r22 |
| 161 0176 7F93 push r23 |
| 162 0178 8F93 push r24 |
| 163 017a 9F93 push r25 |
| 164 017c AF93 push r26 |
| 165 017e BF93 push r27 |
| 166 0180 CF93 push r28 |
| 167 0182 DF93 push r29 |
| 168 0184 EF93 push r30 |
| 169 0186 FF93 push r31 |
| 170 /* prologue end (size=19) */ |
| 171 0188 8091 C600 lds r24,198 |
| 172 018c 8093 0000 sts SioTmp,r24 |
| 173 0190 8091 C000 lds r24,192 |
| 174 0194 4091 0000 lds r20,SioTmp |
| 175 0198 8871 andi r24,lo8(24) |
| 176 019a 01F0 breq .+2 |
| 177 019c 00C0 rjmp .L20 |
| 178 019e 8091 0000 lds r24,gpsState |
| 179 01a2 8430 cpi r24,lo8(4) |
| 180 01a4 01F4 brne .+2 |
| 181 01a6 00C0 rjmp .L27 |
| 182 01a8 8530 cpi r24,lo8(5) |
| 183 01aa 00F4 brsh .L32 |
| 184 01ac 8130 cpi r24,lo8(1) |
| 185 01ae 01F0 breq .L24 |
| 186 01b0 8130 cpi r24,lo8(1) |
| 187 01b2 00F0 brlo .L23 |
| 188 01b4 8230 cpi r24,lo8(2) |
| 189 01b6 01F0 breq .L25 |
| 190 01b8 8330 cpi r24,lo8(3) |
| 191 01ba 01F0 breq .+2 |
| 192 01bc 00C0 rjmp .L22 |
| 193 01be 00C0 rjmp .L26 |
| 194 .L32: |
| 195 01c0 8630 cpi r24,lo8(6) |
| 196 01c2 01F4 brne .+2 |
| 197 01c4 00C0 rjmp .L29 |
| 198 01c6 8630 cpi r24,lo8(6) |
| 199 01c8 00F4 brsh .+2 |
| 200 01ca 00C0 rjmp .L28 |
| 201 01cc 8730 cpi r24,lo8(7) |
| 202 01ce 01F4 brne .+2 |
| 203 01d0 00C0 rjmp .L30 |
| 204 01d2 8830 cpi r24,lo8(8) |
| 205 01d4 01F0 breq .+2 |
| 206 01d6 00C0 rjmp .L22 |
| 207 01d8 00C0 rjmp .L31 |
| 208 .L23: |
| 209 01da 453B cpi r20,lo8(-75) |
| 210 01dc 01F0 breq .+2 |
| 211 01de 00C0 rjmp .L33 |
| 212 01e0 81E0 ldi r24,lo8(1) |
| 213 01e2 00C0 rjmp .L79 |
| 214 .L24: |
| 215 01e4 4236 cpi r20,lo8(98) |
| 216 01e6 01F4 brne .L35 |
| 217 01e8 82E0 ldi r24,lo8(2) |
| 218 .L79: |
| 219 01ea 8093 0000 sts gpsState,r24 |
| 220 01ee 00C0 rjmp .L33 |
| 221 .L35: |
| 222 01f0 453B cpi r20,lo8(-75) |
| 223 01f2 01F4 brne .+2 |
| 224 01f4 00C0 rjmp .L33 |
| 225 01f6 00C0 rjmp .L22 |
| 226 .L25: |
| 227 01f8 4130 cpi r20,lo8(1) |
| 228 01fa 01F0 breq .+2 |
| 229 01fc 00C0 rjmp .L22 |
| 230 01fe 83E0 ldi r24,lo8(3) |
| 231 0200 00C0 rjmp .L79 |
| 232 .L26: |
| 233 0202 4093 0000 sts msgID,r20 |
| 234 0206 4F5F subi r20,lo8(-(1)) |
| 235 0208 4093 0000 sts CK_A,r20 |
| 236 020c 8091 0000 lds r24,CK_A |
| 237 0210 8F5F subi r24,lo8(-(1)) |
| 238 0212 8093 0000 sts CK_B,r24 |
| 239 0216 84E0 ldi r24,lo8(4) |
| 240 0218 8093 0000 sts gpsState,r24 |
| 241 021c 8091 0000 lds r24,msgID |
| 242 0220 8330 cpi r24,lo8(3) |
| 243 0222 01F0 breq .L42 |
| 244 0224 8131 cpi r24,lo8(17) |
| 245 0226 01F0 breq .L43 |
| 246 0228 8130 cpi r24,lo8(1) |
| 247 022a 01F0 breq .+2 |
| 248 022c 00C0 rjmp .L77 |
| 249 022e 00C0 rjmp .L41 |
| 250 .L42: |
| 251 0230 80E0 ldi r24,lo8(navStatus) |
| 252 0232 90E0 ldi r25,hi8(navStatus) |
| 253 0234 9093 0000 sts (ubxP)+1,r25 |
| 254 0238 8093 0000 sts ubxP,r24 |
| 255 023c 20E0 ldi r18,lo8(navStatus+289) |
| 256 023e 30E0 ldi r19,hi8(navStatus+289) |
| 257 0240 3093 0000 sts (ubxEp)+1,r19 |
| 258 0244 2093 0000 sts ubxEp,r18 |
| 259 0248 4096 adiw r24,16 |
| 260 024a 9093 0000 sts (ubxSp)+1,r25 |
| 261 024e 8093 0000 sts ubxSp,r24 |
| 262 0252 8091 0000 lds r24,navStatus+16 |
| 263 0256 00C0 rjmp .L80 |
| 264 .L41: |
| 265 0258 80E0 ldi r24,lo8(navPosECEF) |
| 266 025a 90E0 ldi r25,hi8(navPosECEF) |
| 267 025c 9093 0000 sts (ubxP)+1,r25 |
| 268 0260 8093 0000 sts ubxP,r24 |
| 269 0264 20E0 ldi r18,lo8(navPosECEF+441) |
| 270 0266 30E0 ldi r19,hi8(navPosECEF+441) |
| 271 0268 3093 0000 sts (ubxEp)+1,r19 |
| 272 026c 2093 0000 sts ubxEp,r18 |
| 273 0270 4496 adiw r24,20 |
| 274 0272 9093 0000 sts (ubxSp)+1,r25 |
| 275 0276 8093 0000 sts ubxSp,r24 |
| 276 027a 8091 0000 lds r24,navPosECEF+20 |
| 277 027e 00C0 rjmp .L80 |
| 278 .L43: |
| 279 0280 80E0 ldi r24,lo8(navVelECEF) |
| 280 0282 90E0 ldi r25,hi8(navVelECEF) |
| 281 0284 9093 0000 sts (ubxP)+1,r25 |
| 282 0288 8093 0000 sts ubxP,r24 |
| 283 028c 20E0 ldi r18,lo8(navVelECEF+441) |
| 284 028e 30E0 ldi r19,hi8(navVelECEF+441) |
| 285 0290 3093 0000 sts (ubxEp)+1,r19 |
| 286 0294 2093 0000 sts ubxEp,r18 |
| 287 0298 4496 adiw r24,20 |
| 288 029a 9093 0000 sts (ubxSp)+1,r25 |
| 289 029e 8093 0000 sts ubxSp,r24 |
| 290 02a2 8091 0000 lds r24,navVelECEF+20 |
| 291 .L80: |
| 292 02a6 8093 0000 sts ignorePacket,r24 |
| 293 02aa 00C0 rjmp .L33 |
| 294 .L77: |
| 295 02ac 81E0 ldi r24,lo8(1) |
| 296 02ae 8093 0000 sts ignorePacket,r24 |
| 297 02b2 1092 0000 sts (ubxSp)+1,__zero_reg__ |
| 298 02b6 1092 0000 sts ubxSp,__zero_reg__ |
| 299 02ba 00C0 rjmp .L33 |
| 300 .L27: |
| 301 02bc 842F mov r24,r20 |
| 302 02be 9927 clr r25 |
| 303 02c0 9093 0000 sts (msgLen)+1,r25 |
| 304 02c4 8093 0000 sts msgLen,r24 |
| 305 02c8 8091 0000 lds r24,CK_A |
| 306 02cc 840F add r24,r20 |
| 307 02ce 8093 0000 sts CK_A,r24 |
| 308 02d2 8091 0000 lds r24,CK_B |
| 309 02d6 9091 0000 lds r25,CK_A |
| 310 02da 890F add r24,r25 |
| 311 02dc 8093 0000 sts CK_B,r24 |
| 312 02e0 85E0 ldi r24,lo8(5) |
| 313 02e2 00C0 rjmp .L79 |
| 314 .L28: |
| 315 02e4 2091 0000 lds r18,msgLen |
| 316 02e8 3091 0000 lds r19,(msgLen)+1 |
| 317 02ec 842F mov r24,r20 |
| 318 02ee 9927 clr r25 |
| 319 02f0 982F mov r25,r24 |
| 320 02f2 8827 clr r24 |
| 321 02f4 280F add r18,r24 |
| 322 02f6 391F adc r19,r25 |
| 323 02f8 3093 0000 sts (msgLen)+1,r19 |
| 324 02fc 2093 0000 sts msgLen,r18 |
| 325 0300 8091 0000 lds r24,CK_A |
| 326 0304 840F add r24,r20 |
| 327 0306 8093 0000 sts CK_A,r24 |
| 328 030a 8091 0000 lds r24,CK_B |
| 329 030e 9091 0000 lds r25,CK_A |
| 330 0312 890F add r24,r25 |
| 331 0314 8093 0000 sts CK_B,r24 |
| 332 0318 86E0 ldi r24,lo8(6) |
| 333 031a 00C0 rjmp .L79 |
| 334 .L29: |
| 335 031c 8091 0000 lds r24,CK_A |
| 336 0320 840F add r24,r20 |
| 337 0322 8093 0000 sts CK_A,r24 |
| 338 0326 8091 0000 lds r24,CK_B |
| 339 032a 9091 0000 lds r25,CK_A |
| 340 032e 890F add r24,r25 |
| 341 0330 8093 0000 sts CK_B,r24 |
| 342 0334 8091 0000 lds r24,ignorePacket |
| 343 0338 8823 tst r24 |
| 344 033a 01F4 brne .L44 |
| 345 033c E091 0000 lds r30,ubxP |
| 346 0340 F091 0000 lds r31,(ubxP)+1 |
| 347 0344 8091 0000 lds r24,ubxEp |
| 348 0348 9091 0000 lds r25,(ubxEp)+1 |
| 349 034c E817 cp r30,r24 |
| 350 034e F907 cpc r31,r25 |
| 351 0350 00F4 brsh .L44 |
| 352 0352 4193 st Z+,r20 |
| 353 0354 F093 0000 sts (ubxP)+1,r31 |
| 354 0358 E093 0000 sts ubxP,r30 |
| 355 .L44: |
| 356 035c 8091 0000 lds r24,msgLen |
| 357 0360 9091 0000 lds r25,(msgLen)+1 |
| 358 0364 0197 sbiw r24,1 |
| 359 0366 9093 0000 sts (msgLen)+1,r25 |
| 360 036a 8093 0000 sts msgLen,r24 |
| 361 036e 8091 0000 lds r24,msgLen |
| 362 0372 9091 0000 lds r25,(msgLen)+1 |
| 363 0376 892B or r24,r25 |
| 364 0378 01F4 brne .L33 |
| 365 037a 87E0 ldi r24,lo8(7) |
| 366 037c 00C0 rjmp .L79 |
| 367 .L30: |
| 368 037e 8091 0000 lds r24,CK_A |
| 369 0382 4817 cp r20,r24 |
| 370 0384 01F4 brne .L22 |
| 371 0386 88E0 ldi r24,lo8(8) |
| 372 0388 00C0 rjmp .L79 |
| 373 .L31: |
| 374 038a 8091 0000 lds r24,CK_B |
| 375 038e 4817 cp r20,r24 |
| 376 0390 01F4 brne .L22 |
| 377 0392 E091 0000 lds r30,ubxSp |
| 378 0396 F091 0000 lds r31,(ubxSp)+1 |
| 379 039a 3097 sbiw r30,0 |
| 380 039c 01F0 breq .L22 |
| 381 039e 81E0 ldi r24,lo8(1) |
| 382 03a0 8083 st Z,r24 |
| 383 .L22: |
| 384 03a2 1092 0000 sts gpsState,__zero_reg__ |
| 385 03a6 00C0 rjmp .L33 |
| 386 .L20: |
| 387 03a8 1092 0000 sts gpsState,__zero_reg__ |
| 388 03ac 0E94 0000 call GPSscanData |
| 389 .L33: |
| 390 03b0 0E94 0000 call GPSscanData |
| 391 03b4 4091 0000 lds r20,buf_ptr.2054 |
| 392 03b8 4639 cpi r20,lo8(-106) |
| 393 03ba 00F0 brlo .L53 |
| 394 03bc 1092 0000 sts UartState.2055,__zero_reg__ |
| 395 .L53: |
| 396 03c0 8091 0000 lds r24,SioTmp |
| 397 03c4 8D30 cpi r24,lo8(13) |
| 398 03c6 01F0 breq .+2 |
| 399 03c8 00C0 rjmp .L55 |
| 400 03ca 8091 0000 lds r24,UartState.2055 |
| 401 03ce 8230 cpi r24,lo8(2) |
| 402 03d0 01F0 breq .+2 |
| 403 03d2 00C0 rjmp .L55 |
| 404 03d4 1092 0000 sts UartState.2055,__zero_reg__ |
| 405 03d8 A42F mov r26,r20 |
| 406 03da BB27 clr r27 |
| 407 03dc FD01 movw r30,r26 |
| 408 03de E050 subi r30,lo8(-(RxdBuffer-2)) |
| 409 03e0 F040 sbci r31,hi8(-(RxdBuffer-2)) |
| 410 03e2 3081 ld r19,Z |
| 411 03e4 ED01 movw r28,r26 |
| 412 03e6 C050 subi r28,lo8(-(RxdBuffer-1)) |
| 413 03e8 D040 sbci r29,hi8(-(RxdBuffer-1)) |
| 414 03ea 2881 ld r18,Y |
| 415 03ec 8091 0000 lds r24,crc.2051 |
| 416 03f0 9091 0000 lds r25,(crc.2051)+1 |
| 417 03f4 831B sub r24,r19 |
| 418 03f6 9109 sbc r25,__zero_reg__ |
| 419 03f8 821B sub r24,r18 |
| 420 03fa 9109 sbc r25,__zero_reg__ |
| 421 03fc 9F70 andi r25,hi8(4095) |
| 422 03fe 9093 0000 sts (crc.2051)+1,r25 |
| 423 0402 8093 0000 sts crc.2051,r24 |
| 424 0406 9C01 movw r18,r24 |
| 425 0408 96E0 ldi r25,6 |
| 426 040a 3695 1: lsr r19 |
| 427 040c 2795 ror r18 |
| 428 040e 9A95 dec r25 |
| 429 0410 01F4 brne 1b |
| 430 0412 235C subi r18,lo8(-(61)) |
| 431 0414 2093 0000 sts crc1.2052,r18 |
| 432 0418 982F mov r25,r24 |
| 433 041a 9F73 andi r25,lo8(63) |
| 434 041c 935C subi r25,lo8(-(61)) |
| 435 041e 9093 0000 sts crc2.2053,r25 |
| 436 0422 8081 ld r24,Z |
| 437 0424 2817 cp r18,r24 |
| 438 0426 01F4 brne .L58 |
| 439 0428 8881 ld r24,Y |
| 440 042a 9817 cp r25,r24 |
| 441 042c 01F4 brne .L58 |
| 442 042e 91E0 ldi r25,lo8(1) |
| 443 0430 00C0 rjmp .L61 |
| 444 .L58: |
| 445 0432 8091 0000 lds r24,CntCrcError |
| 446 0436 8F5F subi r24,lo8(-(1)) |
| 447 0438 8093 0000 sts CntCrcError,r24 |
| 448 043c 90E0 ldi r25,lo8(0) |
| 449 .L61: |
| 450 043e 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 451 0442 8823 tst r24 |
| 452 0444 01F0 breq .+2 |
| 453 0446 00C0 rjmp .L76 |
| 454 0448 9923 tst r25 |
| 455 044a 01F4 brne .+2 |
| 456 044c 00C0 rjmp .L76 |
| 457 044e 81E0 ldi r24,lo8(1) |
| 458 0450 8093 0000 sts NeuerDatensatzEmpfangen,r24 |
| 459 0454 4093 0000 sts AnzahlEmpfangsBytes,r20 |
| 460 0458 A050 subi r26,lo8(-(RxdBuffer)) |
| 461 045a B040 sbci r27,hi8(-(RxdBuffer)) |
| 462 045c 8DE0 ldi r24,lo8(13) |
| 463 045e 8C93 st X,r24 |
| 464 0460 8091 0000 lds r24,RxdBuffer+2 |
| 465 0464 8235 cpi r24,lo8(82) |
| 466 0466 01F0 breq .+2 |
| 467 0468 00C0 rjmp .L76 |
| 468 046a 88E1 ldi r24,lo8(24) |
| 469 046c 90E0 ldi r25,hi8(24) |
| 470 046e 2CE0 ldi r18,lo8(12) |
| 471 /* #APP */ |
| 472 0470 0FB6 in __tmp_reg__,__SREG__ |
| 473 0472 F894 cli |
| 474 0474 A895 wdr |
| 475 0476 8093 6000 sts 96,r24 |
| 476 047a 0FBE out __SREG__,__tmp_reg__ |
| 477 047c 2093 6000 sts 96,r18 |
| 478 /* #NOAPP */ |
| 479 0480 00C0 rjmp .L76 |
| 480 .L55: |
| 481 0482 8091 0000 lds r24,UartState.2055 |
| 482 0486 8130 cpi r24,lo8(1) |
| 483 0488 01F0 breq .L68 |
| 484 048a 8130 cpi r24,lo8(1) |
| 485 048c 00F0 brlo .L67 |
| 486 048e 8230 cpi r24,lo8(2) |
| 487 0490 01F4 brne .L78 |
| 488 0492 00C0 rjmp .L69 |
| 489 .L67: |
| 490 0494 8091 0000 lds r24,SioTmp |
| 491 0498 8332 cpi r24,lo8(35) |
| 492 049a 01F4 brne .L70 |
| 493 049c 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 494 04a0 8823 tst r24 |
| 495 04a2 01F4 brne .L70 |
| 496 04a4 81E0 ldi r24,lo8(1) |
| 497 04a6 8093 0000 sts UartState.2055,r24 |
| 498 .L70: |
| 499 04aa 8091 0000 lds r24,SioTmp |
| 500 04ae 8093 0000 sts RxdBuffer,r24 |
| 501 04b2 81E0 ldi r24,lo8(1) |
| 502 04b4 8093 0000 sts buf_ptr.2054,r24 |
| 503 04b8 8091 0000 lds r24,SioTmp |
| 504 04bc 9927 clr r25 |
| 505 04be 00C0 rjmp .L81 |
| 506 .L68: |
| 507 04c0 82E0 ldi r24,lo8(2) |
| 508 04c2 8093 0000 sts UartState.2055,r24 |
| 509 04c6 E42F mov r30,r20 |
| 510 04c8 FF27 clr r31 |
| 511 04ca 8091 0000 lds r24,SioTmp |
| 512 04ce E050 subi r30,lo8(-(RxdBuffer)) |
| 513 04d0 F040 sbci r31,hi8(-(RxdBuffer)) |
| 514 04d2 8083 st Z,r24 |
| 515 .L83: |
| 516 04d4 4F5F subi r20,lo8(-(1)) |
| 517 04d6 4093 0000 sts buf_ptr.2054,r20 |
| 518 .L82: |
| 519 04da 2091 0000 lds r18,SioTmp |
| 520 04de 8091 0000 lds r24,crc.2051 |
| 521 04e2 9091 0000 lds r25,(crc.2051)+1 |
| 522 04e6 820F add r24,r18 |
| 523 04e8 911D adc r25,__zero_reg__ |
| 524 .L81: |
| 525 04ea 9093 0000 sts (crc.2051)+1,r25 |
| 526 04ee 8093 0000 sts crc.2051,r24 |
| 527 04f2 00C0 rjmp .L76 |
| 528 .L69: |
| 529 04f4 E42F mov r30,r20 |
| 530 04f6 FF27 clr r31 |
| 531 04f8 8091 0000 lds r24,SioTmp |
| 532 04fc E050 subi r30,lo8(-(RxdBuffer)) |
| 533 04fe F040 sbci r31,hi8(-(RxdBuffer)) |
| 534 0500 8083 st Z,r24 |
| 535 0502 4639 cpi r20,lo8(-106) |
| 536 0504 00F0 brlo .L83 |
| 537 0506 1092 0000 sts UartState.2055,__zero_reg__ |
| 538 050a 00C0 rjmp .L82 |
| 539 .L78: |
| 540 050c 1092 0000 sts UartState.2055,__zero_reg__ |
| 541 .L76: |
| 542 /* epilogue: frame size=0 */ |
| 543 0510 FF91 pop r31 |
| 544 0512 EF91 pop r30 |
| 545 0514 DF91 pop r29 |
| 546 0516 CF91 pop r28 |
| 547 0518 BF91 pop r27 |
| 548 051a AF91 pop r26 |
| 549 051c 9F91 pop r25 |
| 550 051e 8F91 pop r24 |
| 551 0520 7F91 pop r23 |
| 552 0522 6F91 pop r22 |
| 553 0524 5F91 pop r21 |
| 554 0526 4F91 pop r20 |
| 555 0528 3F91 pop r19 |
| 556 052a 2F91 pop r18 |
| 557 052c 0F90 pop __tmp_reg__ |
| 558 052e 0FBE out __SREG__,__tmp_reg__ |
| 559 0530 0F90 pop __tmp_reg__ |
| 560 0532 1F90 pop __zero_reg__ |
| 561 0534 1895 reti |
| 562 /* epilogue end (size=19) */ |
| 563 /* function __vector_20 size 495 (457) */ |
| 565 .global AddCRC |
| 567 AddCRC: |
| 568 /* prologue: frame size=0 */ |
| 569 /* prologue end (size=0) */ |
| 570 0536 DC01 movw r26,r24 |
| 571 0538 20E0 ldi r18,lo8(0) |
| 572 053a 30E0 ldi r19,hi8(0) |
| 573 053c 40E0 ldi r20,lo8(0) |
| 574 053e 50E0 ldi r21,hi8(0) |
| 575 0540 E0E0 ldi r30,lo8(SendeBuffer) |
| 576 0542 F0E0 ldi r31,hi8(SendeBuffer) |
| 577 0544 00C0 rjmp .L85 |
| 578 .L86: |
| 579 0546 8191 ld r24,Z+ |
| 580 0548 280F add r18,r24 |
| 581 054a 311D adc r19,__zero_reg__ |
| 582 054c 4F5F subi r20,lo8(-(1)) |
| 583 054e 5F4F sbci r21,hi8(-(1)) |
| 584 .L85: |
| 585 0550 4A17 cp r20,r26 |
| 586 0552 5B07 cpc r21,r27 |
| 587 0554 01F4 brne .L86 |
| 588 0556 3F70 andi r19,hi8(4095) |
| 589 0558 C901 movw r24,r18 |
| 590 055a 66E0 ldi r22,6 |
| 591 055c 9695 1: lsr r25 |
| 592 055e 8795 ror r24 |
| 593 0560 6A95 dec r22 |
| 594 0562 01F4 brne 1b |
| 595 0564 835C subi r24,lo8(-(61)) |
| 596 0566 FD01 movw r30,r26 |
| 597 0568 E050 subi r30,lo8(-(SendeBuffer)) |
| 598 056a F040 sbci r31,hi8(-(SendeBuffer)) |
| 599 056c 8083 st Z,r24 |
| 600 056e 1196 adiw r26,1 |
| 601 0570 2F73 andi r18,lo8(63) |
| 602 0572 235C subi r18,lo8(-(61)) |
| 603 0574 FD01 movw r30,r26 |
| 604 0576 E050 subi r30,lo8(-(SendeBuffer)) |
| 605 0578 F040 sbci r31,hi8(-(SendeBuffer)) |
| 606 057a 2083 st Z,r18 |
| 607 057c A050 subi r26,lo8(-(SendeBuffer+1)) |
| 608 057e B040 sbci r27,hi8(-(SendeBuffer+1)) |
| 609 0580 8DE0 ldi r24,lo8(13) |
| 610 0582 8C93 st X,r24 |
| 611 0584 1092 0000 sts UebertragungAbgeschlossen,__zero_reg__ |
| 612 0588 8091 0000 lds r24,SendeBuffer |
| 613 058c 8093 C600 sts 198,r24 |
| 614 /* epilogue: frame size=0 */ |
| 615 0590 0895 ret |
| 616 /* epilogue end (size=1) */ |
| 617 /* function AddCRC size 47 (46) */ |
| 619 .global SendOutData |
| 621 SendOutData: |
| 622 /* prologue: frame size=0 */ |
| 623 0592 EF92 push r14 |
| 624 0594 FF92 push r15 |
| 625 0596 0F93 push r16 |
| 626 0598 1F93 push r17 |
| 627 059a CF93 push r28 |
| 628 059c DF93 push r29 |
| 629 /* prologue end (size=6) */ |
| 630 059e 7A01 movw r14,r20 |
| 631 05a0 722F mov r23,r18 |
| 632 05a2 93E2 ldi r25,lo8(35) |
| 633 05a4 9093 0000 sts SendeBuffer,r25 |
| 634 05a8 6093 0000 sts SendeBuffer+1,r22 |
| 635 05ac 8093 0000 sts SendeBuffer+2,r24 |
| 636 05b0 03E0 ldi r16,lo8(3) |
| 637 05b2 10E0 ldi r17,hi8(3) |
| 638 05b4 60E0 ldi r22,lo8(0) |
| 639 05b6 A0E0 ldi r26,lo8(SendeBuffer+3) |
| 640 05b8 B0E0 ldi r27,hi8(SendeBuffer+3) |
| 641 05ba 00C0 rjmp .L90 |
| 642 .L91: |
| 643 05bc F701 movw r30,r14 |
| 644 05be E60F add r30,r22 |
| 645 05c0 F11D adc r31,__zero_reg__ |
| 646 05c2 9081 ld r25,Z |
| 647 05c4 6F5F subi r22,lo8(-(1)) |
| 648 05c6 7150 subi r23,lo8(-(-1)) |
| 649 05c8 01F4 brne .L92 |
| 650 05ca E0E0 ldi r30,lo8(0) |
| 651 05cc 40E0 ldi r20,lo8(0) |
| 652 05ce 00C0 rjmp .L94 |
| 653 .L92: |
| 654 05d0 F701 movw r30,r14 |
| 655 05d2 E60F add r30,r22 |
| 656 05d4 F11D adc r31,__zero_reg__ |
| 657 05d6 4081 ld r20,Z |
| 658 05d8 6F5F subi r22,lo8(-(1)) |
| 659 05da 7150 subi r23,lo8(-(-1)) |
| 660 05dc 01F4 brne .L95 |
| 661 05de E0E0 ldi r30,lo8(0) |
| 662 05e0 00C0 rjmp .L94 |
| 663 .L95: |
| 664 05e2 F701 movw r30,r14 |
| 665 05e4 E60F add r30,r22 |
| 666 05e6 F11D adc r31,__zero_reg__ |
| 667 05e8 E081 ld r30,Z |
| 668 05ea 6F5F subi r22,lo8(-(1)) |
| 669 05ec 7150 subi r23,lo8(-(-1)) |
| 670 .L94: |
| 671 05ee 892F mov r24,r25 |
| 672 05f0 8695 lsr r24 |
| 673 05f2 8695 lsr r24 |
| 674 05f4 835C subi r24,lo8(-(61)) |
| 675 05f6 8C93 st X,r24 |
| 676 05f8 5527 clr r21 |
| 677 05fa 892F mov r24,r25 |
| 678 05fc 9927 clr r25 |
| 679 05fe 8370 andi r24,lo8(3) |
| 680 0600 9070 andi r25,hi8(3) |
| 681 0602 24E0 ldi r18,4 |
| 682 0604 880F 1: lsl r24 |
| 683 0606 991F rol r25 |
| 684 0608 2A95 dec r18 |
| 685 060a 01F4 brne 1b |
| 686 060c 9A01 movw r18,r20 |
| 687 060e 94E0 ldi r25,4 |
| 688 0610 3695 1: lsr r19 |
| 689 0612 2795 ror r18 |
| 690 0614 9A95 dec r25 |
| 691 0616 01F4 brne 1b |
| 692 0618 822B or r24,r18 |
| 693 061a 835C subi r24,lo8(-(61)) |
| 694 061c ED01 movw r28,r26 |
| 695 061e 8983 std Y+1,r24 |
| 696 0620 4F70 andi r20,lo8(15) |
| 697 0622 5070 andi r21,hi8(15) |
| 698 0624 440F lsl r20 |
| 699 0626 551F rol r21 |
| 700 0628 440F lsl r20 |
| 701 062a 551F rol r21 |
| 702 062c 8E2F mov r24,r30 |
| 703 062e 8295 swap r24 |
| 704 0630 8695 lsr r24 |
| 705 0632 8695 lsr r24 |
| 706 0634 8370 andi r24,0x3 |
| 707 0636 842B or r24,r20 |
| 708 0638 835C subi r24,lo8(-(61)) |
| 709 063a 8A83 std Y+2,r24 |
| 710 063c EF73 andi r30,lo8(63) |
| 711 063e E35C subi r30,lo8(-(61)) |
| 712 0640 EB83 std Y+3,r30 |
| 713 0642 0C5F subi r16,lo8(-(4)) |
| 714 0644 1F4F sbci r17,hi8(-(4)) |
| 715 0646 1496 adiw r26,4 |
| 716 .L90: |
| 717 0648 7723 tst r23 |
| 718 064a 01F0 breq .+2 |
| 719 064c 00C0 rjmp .L91 |
| 720 064e C801 movw r24,r16 |
| 721 0650 0E94 0000 call AddCRC |
| 722 /* epilogue: frame size=0 */ |
| 723 0654 DF91 pop r29 |
| 724 0656 CF91 pop r28 |
| 725 0658 1F91 pop r17 |
| 726 065a 0F91 pop r16 |
| 727 065c FF90 pop r15 |
| 728 065e EF90 pop r14 |
| 729 0660 0895 ret |
| 730 /* epilogue end (size=7) */ |
| 731 /* function SendOutData size 106 (93) */ |
| 733 .global Decode64 |
| 735 Decode64: |
| 736 /* prologue: frame size=0 */ |
| 737 0662 1F93 push r17 |
| 738 0664 CF93 push r28 |
| 739 0666 DF93 push r29 |
| 740 /* prologue end (size=3) */ |
| 741 0668 EC01 movw r28,r24 |
| 742 066a 70E0 ldi r23,lo8(0) |
| 743 066c A22F mov r26,r18 |
| 744 066e BB27 clr r27 |
| 745 0670 1297 sbiw r26,2 |
| 746 0672 00C0 rjmp .L100 |
| 747 .L101: |
| 748 0674 E42F mov r30,r20 |
| 749 0676 FF27 clr r31 |
| 750 0678 E050 subi r30,lo8(-(RxdBuffer)) |
| 751 067a F040 sbci r31,hi8(-(RxdBuffer)) |
| 752 067c 3081 ld r19,Z |
| 753 067e 4F5F subi r20,lo8(-(1)) |
| 754 0680 E42F mov r30,r20 |
| 755 0682 FF27 clr r31 |
| 756 0684 E050 subi r30,lo8(-(RxdBuffer)) |
| 757 0686 F040 sbci r31,hi8(-(RxdBuffer)) |
| 758 0688 5081 ld r21,Z |
| 759 068a 4F5F subi r20,lo8(-(1)) |
| 760 068c E42F mov r30,r20 |
| 761 068e FF27 clr r31 |
| 762 0690 E050 subi r30,lo8(-(RxdBuffer)) |
| 763 0692 F040 sbci r31,hi8(-(RxdBuffer)) |
| 764 0694 1081 ld r17,Z |
| 765 0696 4F5F subi r20,lo8(-(1)) |
| 766 0698 E42F mov r30,r20 |
| 767 069a FF27 clr r31 |
| 768 069c E050 subi r30,lo8(-(RxdBuffer)) |
| 769 069e F040 sbci r31,hi8(-(RxdBuffer)) |
| 770 06a0 2081 ld r18,Z |
| 771 06a2 4F5F subi r20,lo8(-(1)) |
| 772 06a4 842F mov r24,r20 |
| 773 06a6 9927 clr r25 |
| 774 06a8 A817 cp r26,r24 |
| 775 06aa B907 cpc r27,r25 |
| 776 06ac 04F0 brlt .L106 |
| 777 06ae 5D53 subi r21,lo8(-(-61)) |
| 778 06b0 FE01 movw r30,r28 |
| 779 06b2 E70F add r30,r23 |
| 780 06b4 F11D adc r31,__zero_reg__ |
| 781 06b6 3D53 subi r19,lo8(-(-61)) |
| 782 06b8 330F lsl r19 |
| 783 06ba 330F lsl r19 |
| 784 06bc 852F mov r24,r21 |
| 785 06be 8295 swap r24 |
| 786 06c0 8F70 andi r24,0x0f |
| 787 06c2 382B or r19,r24 |
| 788 06c4 3083 st Z,r19 |
| 789 06c6 6130 cpi r22,lo8(1) |
| 790 06c8 01F0 breq .L106 |
| 791 06ca 912F mov r25,r17 |
| 792 06cc 9D53 subi r25,lo8(-(-61)) |
| 793 06ce 7F5F subi r23,lo8(-(1)) |
| 794 06d0 FE01 movw r30,r28 |
| 795 06d2 E70F add r30,r23 |
| 796 06d4 F11D adc r31,__zero_reg__ |
| 797 06d6 7150 subi r23,lo8(-(-1)) |
| 798 06d8 5295 swap r21 |
| 799 06da 507F andi r21,0xf0 |
| 800 06dc 892F mov r24,r25 |
| 801 06de 8695 lsr r24 |
| 802 06e0 8695 lsr r24 |
| 803 06e2 582B or r21,r24 |
| 804 06e4 5083 st Z,r21 |
| 805 06e6 6350 subi r22,lo8(-(-3)) |
| 806 06e8 6F3F cpi r22,lo8(-1) |
| 807 06ea 01F0 breq .L106 |
| 808 06ec 7E5F subi r23,lo8(-(2)) |
| 809 06ee FE01 movw r30,r28 |
| 810 06f0 E70F add r30,r23 |
| 811 06f2 F11D adc r31,__zero_reg__ |
| 812 06f4 9295 swap r25 |
| 813 06f6 990F lsl r25 |
| 814 06f8 990F lsl r25 |
| 815 06fa 907C andi r25,0xc0 |
| 816 06fc 2D53 subi r18,lo8(-(-61)) |
| 817 06fe 922B or r25,r18 |
| 818 0700 9083 st Z,r25 |
| 819 0702 7F5F subi r23,lo8(-(1)) |
| 820 .L100: |
| 821 0704 6623 tst r22 |
| 822 0706 01F0 breq .+2 |
| 823 0708 00C0 rjmp .L101 |
| 824 .L106: |
| 825 /* epilogue: frame size=0 */ |
| 826 070a DF91 pop r29 |
| 827 070c CF91 pop r28 |
| 828 070e 1F91 pop r17 |
| 829 0710 0895 ret |
| 830 /* epilogue end (size=4) */ |
| 831 /* function Decode64 size 88 (81) */ |
| 833 .global uart_putchar |
| 835 uart_putchar: |
| 836 /* prologue: frame size=0 */ |
| 837 0712 1F93 push r17 |
| 838 /* prologue end (size=1) */ |
| 839 0714 182F mov r17,r24 |
| 840 0716 8A30 cpi r24,lo8(10) |
| 841 0718 01F4 brne .L112 |
| 842 071a 8DE0 ldi r24,lo8(13) |
| 843 071c 0E94 0000 call uart_putchar |
| 844 .L112: |
| 845 0720 8091 C000 lds r24,192 |
| 846 0724 85FF sbrs r24,5 |
| 847 0726 00C0 rjmp .L112 |
| 848 0728 1093 C600 sts 198,r17 |
| 849 072c 80E0 ldi r24,lo8(0) |
| 850 072e 90E0 ldi r25,hi8(0) |
| 851 /* epilogue: frame size=0 */ |
| 852 0730 1F91 pop r17 |
| 853 0732 0895 ret |
| 854 /* epilogue end (size=2) */ |
| 855 /* function uart_putchar size 17 (14) */ |
| 857 .global WriteProgramData |
| 859 WriteProgramData: |
| 860 /* prologue: frame size=0 */ |
| 861 /* prologue end (size=0) */ |
| 862 /* epilogue: frame size=0 */ |
| 863 0734 0895 ret |
| 864 /* epilogue end (size=1) */ |
| 865 /* function WriteProgramData size 1 (0) */ |
| 867 .global UART_Init |
| 869 UART_Init: |
| 870 /* prologue: frame size=0 */ |
| 871 /* prologue end (size=0) */ |
| 872 0736 E1EC ldi r30,lo8(193) |
| 873 0738 F0E0 ldi r31,hi8(193) |
| 874 073a 88E1 ldi r24,lo8(24) |
| 875 073c 8083 st Z,r24 |
| 876 073e A0EC ldi r26,lo8(192) |
| 877 0740 B0E0 ldi r27,hi8(192) |
| 878 0742 8C91 ld r24,X |
| 879 0744 8260 ori r24,lo8(2) |
| 880 0746 8C93 st X,r24 |
| 881 0748 8081 ld r24,Z |
| 882 074a 8068 ori r24,lo8(-128) |
| 883 074c 8083 st Z,r24 |
| 884 074e 8081 ld r24,Z |
| 885 0750 8064 ori r24,lo8(64) |
| 886 0752 8083 st Z,r24 |
| 887 0754 8AE2 ldi r24,lo8(42) |
| 888 0756 8093 C400 sts 196,r24 |
| 889 075a 88EC ldi r24,lo8(200) |
| 890 075c 90E0 ldi r25,hi8(200) |
| 891 075e 0E94 0000 call SetDelay |
| 892 0762 9093 0000 sts (Debug_Timer)+1,r25 |
| 893 0766 8093 0000 sts Debug_Timer,r24 |
| 894 076a 1092 0000 sts gpsState,__zero_reg__ |
| 895 /* epilogue: frame size=0 */ |
| 896 076e 0895 ret |
| 897 /* epilogue end (size=1) */ |
| 898 /* function UART_Init size 29 (28) */ |
| 900 .global DatenUebertragung |
| 902 DatenUebertragung: |
| 903 /* prologue: frame size=0 */ |
| 904 /* prologue end (size=0) */ |
| 905 0770 8091 0000 lds r24,UebertragungAbgeschlossen |
| 906 0774 8823 tst r24 |
| 907 0776 01F4 brne .+2 |
| 908 0778 00C0 rjmp .L136 |
| 909 077a 8091 0000 lds r24,DebugGetAnforderung |
| 910 077e 8823 tst r24 |
| 911 0780 01F0 breq .L122 |
| 912 0782 8091 0000 lds r24,UebertragungAbgeschlossen |
| 913 0786 8823 tst r24 |
| 914 0788 01F0 breq .L122 |
| 915 078a 2BE0 ldi r18,lo8(11) |
| 916 078c 40E0 ldi r20,lo8(DebugIn) |
| 917 078e 50E0 ldi r21,hi8(DebugIn) |
| 918 0790 6091 0000 lds r22,MeineSlaveAdresse |
| 919 0794 87E4 ldi r24,lo8(71) |
| 920 0796 0E94 0000 call SendOutData |
| 921 079a 1092 0000 sts DebugGetAnforderung,__zero_reg__ |
| 922 .L122: |
| 923 079e 8091 0000 lds r24,Debug_Timer |
| 924 07a2 9091 0000 lds r25,(Debug_Timer)+1 |
| 925 07a6 0E94 0000 call CheckDelay |
| 926 07aa 8823 tst r24 |
| 927 07ac 01F4 brne .L125 |
| 928 07ae 8091 0000 lds r24,DebugDataAnforderung |
| 929 07b2 8823 tst r24 |
| 930 07b4 01F0 breq .L127 |
| 931 .L125: |
| 932 07b6 8091 0000 lds r24,UebertragungAbgeschlossen |
| 933 07ba 8823 tst r24 |
| 934 07bc 01F0 breq .L127 |
| 935 07be 22E3 ldi r18,lo8(50) |
| 936 07c0 40E0 ldi r20,lo8(DebugOut) |
| 937 07c2 50E0 ldi r21,hi8(DebugOut) |
| 938 07c4 6091 0000 lds r22,MeineSlaveAdresse |
| 939 07c8 84E4 ldi r24,lo8(68) |
| 940 07ca 0E94 0000 call SendOutData |
| 941 07ce 1092 0000 sts DebugDataAnforderung,__zero_reg__ |
| 942 07d2 8AEF ldi r24,lo8(250) |
| 943 07d4 90E0 ldi r25,hi8(250) |
| 944 07d6 0E94 0000 call SetDelay |
| 945 07da 9093 0000 sts (Debug_Timer)+1,r25 |
| 946 07de 8093 0000 sts Debug_Timer,r24 |
| 947 .L127: |
| 948 07e2 8091 0000 lds r24,DebugDisplayAnforderung |
| 949 07e6 8823 tst r24 |
| 950 07e8 01F0 breq .L129 |
| 951 07ea 8091 0000 lds r24,UebertragungAbgeschlossen |
| 952 07ee 8823 tst r24 |
| 953 07f0 01F0 breq .L129 |
| 954 07f2 0E94 0000 call Menu |
| 955 07f6 1092 0000 sts DebugDisplayAnforderung,__zero_reg__ |
| 956 07fa 8091 0000 lds r24,dis_zeile.2372 |
| 957 07fe 8F5F subi r24,lo8(-(1)) |
| 958 0800 8093 0000 sts dis_zeile.2372,r24 |
| 959 0804 8430 cpi r24,lo8(4) |
| 960 0806 01F4 brne .L132 |
| 961 0808 1092 0000 sts dis_zeile.2372,__zero_reg__ |
| 962 .L132: |
| 963 080c 8091 0000 lds r24,dis_zeile.2372 |
| 964 0810 44E1 ldi r20,lo8(20) |
| 965 0812 849F mul r24,r20 |
| 966 0814 A001 movw r20,r0 |
| 967 0816 1124 clr r1 |
| 968 0818 4050 subi r20,lo8(-(DisplayBuff)) |
| 969 081a 5040 sbci r21,hi8(-(DisplayBuff)) |
| 970 081c 24E1 ldi r18,lo8(20) |
| 971 081e 60E0 ldi r22,lo8(0) |
| 972 0820 805D subi r24,lo8(-(48)) |
| 973 0822 0E94 0000 call SendOutData |
| 974 .L129: |
| 975 0826 8091 0000 lds r24,GetVersionAnforderung |
| 976 082a 8823 tst r24 |
| 977 082c 01F0 breq .L136 |
| 978 082e 8091 0000 lds r24,UebertragungAbgeschlossen |
| 979 0832 8823 tst r24 |
| 980 0834 01F0 breq .L136 |
| 981 0836 2AE0 ldi r18,lo8(10) |
| 982 0838 40E0 ldi r20,lo8(VersionInfo) |
| 983 083a 50E0 ldi r21,hi8(VersionInfo) |
| 984 083c 6091 0000 lds r22,MeineSlaveAdresse |
| 985 0840 86E5 ldi r24,lo8(86) |
| 986 0842 0E94 0000 call SendOutData |
| 987 0846 1092 0000 sts GetVersionAnforderung,__zero_reg__ |
| 988 .L136: |
| 989 084a 0895 ret |
| 990 /* epilogue: frame size=0 */ |
| 991 /* epilogue: noreturn */ |
| 992 /* epilogue end (size=0) */ |
| 993 /* function DatenUebertragung size 110 (110) */ |
| 995 .global BearbeiteRxDaten |
| 997 BearbeiteRxDaten: |
| 998 /* prologue: frame size=2 */ |
| 999 084c 1F93 push r17 |
| 1000 084e CF93 push r28 |
| 1001 0850 DF93 push r29 |
| 1002 0852 CDB7 in r28,__SP_L__ |
| 1003 0854 DEB7 in r29,__SP_H__ |
| 1004 0856 2297 sbiw r28,2 |
| 1005 0858 0FB6 in __tmp_reg__,__SREG__ |
| 1006 085a F894 cli |
| 1007 085c DEBF out __SP_H__,r29 |
| 1008 085e 0FBE out __SREG__,__tmp_reg__ |
| 1009 0860 CDBF out __SP_L__,r28 |
| 1010 /* prologue end (size=11) */ |
| 1011 0862 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 1012 0866 8823 tst r24 |
| 1013 0868 01F4 brne .+2 |
| 1014 086a 00C0 rjmp .L153 |
| 1015 086c 8FEF ldi r24,lo8(-1) |
| 1016 086e 8093 0000 sts PcZugriff,r24 |
| 1017 0872 8091 0000 lds r24,RxdBuffer+2 |
| 1018 0876 8137 cpi r24,lo8(113) |
| 1019 0878 00F4 brsh .L148 |
| 1020 087a 8C36 cpi r24,lo8(108) |
| 1021 087c 00F0 brlo .+2 |
| 1022 087e 00C0 rjmp .L144 |
| 1023 0880 8736 cpi r24,lo8(103) |
| 1024 0882 01F4 brne .+2 |
| 1025 0884 00C0 rjmp .L142 |
| 1026 0886 8836 cpi r24,lo8(104) |
| 1027 0888 01F0 breq .L143 |
| 1028 088a 8336 cpi r24,lo8(99) |
| 1029 088c 01F0 breq .+2 |
| 1030 088e 00C0 rjmp .L140 |
| 1031 0890 00C0 rjmp .L141 |
| 1032 .L148: |
| 1033 0892 8437 cpi r24,lo8(116) |
| 1034 0894 01F0 breq .L146 |
| 1035 0896 8637 cpi r24,lo8(118) |
| 1036 0898 01F0 breq .L147 |
| 1037 089a 8137 cpi r24,lo8(113) |
| 1038 089c 01F0 breq .+2 |
| 1039 089e 00C0 rjmp .L140 |
| 1040 08a0 00C0 rjmp .L145 |
| 1041 .L141: |
| 1042 08a2 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1043 08a6 43E0 ldi r20,lo8(3) |
| 1044 08a8 6BE0 ldi r22,lo8(11) |
| 1045 08aa 80E0 ldi r24,lo8(DebugIn) |
| 1046 08ac 90E0 ldi r25,hi8(DebugIn) |
| 1047 08ae 0E94 0000 call Decode64 |
| 1048 08b2 8091 0000 lds r24,RemoteTasten |
| 1049 08b6 9091 0000 lds r25,DebugIn+2 |
| 1050 08ba 892B or r24,r25 |
| 1051 08bc 8093 0000 sts RemoteTasten,r24 |
| 1052 08c0 81E0 ldi r24,lo8(1) |
| 1053 08c2 8093 0000 sts DebugDataAnforderung,r24 |
| 1054 08c6 00C0 rjmp .L140 |
| 1055 .L143: |
| 1056 08c8 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1057 08cc 43E0 ldi r20,lo8(3) |
| 1058 08ce 62E0 ldi r22,lo8(2) |
| 1059 08d0 CE01 movw r24,r28 |
| 1060 08d2 0196 adiw r24,1 |
| 1061 08d4 0E94 0000 call Decode64 |
| 1062 08d8 8091 0000 lds r24,RemoteTasten |
| 1063 08dc 9981 ldd r25,Y+1 |
| 1064 08de 892B or r24,r25 |
| 1065 08e0 8093 0000 sts RemoteTasten,r24 |
| 1066 08e4 81E0 ldi r24,lo8(1) |
| 1067 08e6 8093 0000 sts DebugDisplayAnforderung,r24 |
| 1068 08ea 00C0 rjmp .L140 |
| 1069 .L146: |
| 1070 08ec 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1071 08f0 43E0 ldi r20,lo8(3) |
| 1072 08f2 64E0 ldi r22,lo8(4) |
| 1073 08f4 80E0 ldi r24,lo8(MotorTest) |
| 1074 08f6 90E0 ldi r25,hi8(MotorTest) |
| 1075 08f8 0E94 0000 call Decode64 |
| 1076 08fc 00C0 rjmp .L140 |
| 1077 .L147: |
| 1078 08fe 81E0 ldi r24,lo8(1) |
| 1079 0900 8093 0000 sts GetVersionAnforderung,r24 |
| 1080 0904 00C0 rjmp .L140 |
| 1081 .L142: |
| 1082 0906 81E0 ldi r24,lo8(1) |
| 1083 0908 8093 0000 sts DebugGetAnforderung,r24 |
| 1084 090c 00C0 rjmp .L140 |
| 1085 .L145: |
| 1086 090e 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1087 0912 43E0 ldi r20,lo8(3) |
| 1088 0914 62E0 ldi r22,lo8(2) |
| 1089 0916 CE01 movw r24,r28 |
| 1090 0918 0196 adiw r24,1 |
| 1091 091a 0E94 0000 call Decode64 |
| 1092 091e 8981 ldd r24,Y+1 |
| 1093 0920 8F3F cpi r24,lo8(-1) |
| 1094 0922 01F0 breq .L149 |
| 1095 0924 8630 cpi r24,lo8(6) |
| 1096 0926 00F0 brlo .L151 |
| 1097 0928 85E0 ldi r24,lo8(5) |
| 1098 092a 8983 std Y+1,r24 |
| 1099 .L151: |
| 1100 092c 4AE3 ldi r20,lo8(58) |
| 1101 092e 60E0 ldi r22,lo8(EE_Parameter) |
| 1102 0930 70E0 ldi r23,hi8(EE_Parameter) |
| 1103 0932 8981 ldd r24,Y+1 |
| 1104 0934 0E94 0000 call ReadParameterSet |
| 1105 0938 8981 ldd r24,Y+1 |
| 1106 093a 2AE3 ldi r18,lo8(58) |
| 1107 093c 40E0 ldi r20,lo8(EE_Parameter) |
| 1108 093e 50E0 ldi r21,hi8(EE_Parameter) |
| 1109 0940 6091 0000 lds r22,MeineSlaveAdresse |
| 1110 0944 00C0 rjmp .L154 |
| 1111 .L149: |
| 1112 0946 1091 0000 lds r17,MeineSlaveAdresse |
| 1113 094a 0E94 0000 call GetActiveParamSetNumber |
| 1114 094e 2AE3 ldi r18,lo8(58) |
| 1115 0950 40E0 ldi r20,lo8(EE_Parameter) |
| 1116 0952 50E0 ldi r21,hi8(EE_Parameter) |
| 1117 0954 612F mov r22,r17 |
| 1118 .L154: |
| 1119 0956 855B subi r24,lo8(-(75)) |
| 1120 0958 0E94 0000 call SendOutData |
| 1121 095c 00C0 rjmp .L140 |
| 1122 .L144: |
| 1123 095e 2091 0000 lds r18,AnzahlEmpfangsBytes |
| 1124 0962 43E0 ldi r20,lo8(3) |
| 1125 0964 6AE3 ldi r22,lo8(58) |
| 1126 0966 80E0 ldi r24,lo8(EE_Parameter) |
| 1127 0968 90E0 ldi r25,hi8(EE_Parameter) |
| 1128 096a 0E94 0000 call Decode64 |
| 1129 096e 8091 0000 lds r24,RxdBuffer+2 |
| 1130 0972 4AE3 ldi r20,lo8(58) |
| 1131 0974 60E0 ldi r22,lo8(EE_Parameter) |
| 1132 0976 70E0 ldi r23,hi8(EE_Parameter) |
| 1133 0978 8B56 subi r24,lo8(-(-107)) |
| 1134 097a 0E94 0000 call WriteParameterSet |
| 1135 097e 8091 0000 lds r24,RxdBuffer+2 |
| 1136 0982 8B56 subi r24,lo8(-(-107)) |
| 1137 0984 A0E0 ldi r26,lo8(EEPromArray+2) |
| 1138 0986 B0E0 ldi r27,hi8(EEPromArray+2) |
| 1139 /* #APP */ |
| 1140 0988 082E mov __tmp_reg__,r24 |
| 1141 098a 0E94 0000 call __eeprom_write_byte_1F2021 |
| 1142 /* #NOAPP */ |
| 1143 098e 0E94 0000 call GetActiveParamSetNumber |
| 1144 0992 9927 clr r25 |
| 1145 0994 0E94 0000 call Piep |
| 1146 .L140: |
| 1147 0998 1092 0000 sts NeuerDatensatzEmpfangen,__zero_reg__ |
| 1148 .L153: |
| 1149 /* epilogue: frame size=2 */ |
| 1150 099c 2296 adiw r28,2 |
| 1151 099e 0FB6 in __tmp_reg__,__SREG__ |
| 1152 09a0 F894 cli |
| 1153 09a2 DEBF out __SP_H__,r29 |
| 1154 09a4 0FBE out __SREG__,__tmp_reg__ |
| 1155 09a6 CDBF out __SP_L__,r28 |
| 1156 09a8 DF91 pop r29 |
| 1157 09aa CF91 pop r28 |
| 1158 09ac 1F91 pop r17 |
| 1159 09ae 0895 ret |
| 1160 /* epilogue end (size=10) */ |
| 1161 /* function BearbeiteRxDaten size 179 (158) */ |
| 1163 .global DebugGetAnforderung |
| 1164 .global DebugGetAnforderung |
| 1165 .section .bss |
| 1168 DebugGetAnforderung: |
| 1169 0000 00 .skip 1,0 |
| 1170 .global DebugDisplayAnforderung |
| 1171 .global DebugDisplayAnforderung |
| 1174 DebugDisplayAnforderung: |
| 1175 0001 00 .skip 1,0 |
| 1176 .global DebugDataAnforderung |
| 1177 .global DebugDataAnforderung |
| 1180 DebugDataAnforderung: |
| 1181 0002 00 .skip 1,0 |
| 1182 .global GetVersionAnforderung |
| 1183 .global GetVersionAnforderung |
| 1186 GetVersionAnforderung: |
| 1187 0003 00 .skip 1,0 |
| 1188 .global SioTmp |
| 1189 .global SioTmp |
| 1192 SioTmp: |
| 1193 0004 00 .skip 1,0 |
| 1194 .global NeuerDatensatzEmpfangen |
| 1195 .global NeuerDatensatzEmpfangen |
| 1198 NeuerDatensatzEmpfangen: |
| 1199 0005 00 .skip 1,0 |
| 1200 .global NeueKoordinateEmpfangen |
| 1201 .global NeueKoordinateEmpfangen |
| 1204 NeueKoordinateEmpfangen: |
| 1205 0006 00 .skip 1,0 |
| 1206 .global UebertragungAbgeschlossen |
| 1207 .data |
| 1210 UebertragungAbgeschlossen: |
| 1211 0000 01 .byte 1 |
| 1212 .global CntCrcError |
| 1213 .global CntCrcError |
| 1214 .section .bss |
| 1217 CntCrcError: |
| 1218 0007 00 .skip 1,0 |
| 1219 .global AnzahlEmpfangsBytes |
| 1220 .global AnzahlEmpfangsBytes |
| 1223 AnzahlEmpfangsBytes: |
| 1224 0008 00 .skip 1,0 |
| 1225 .global PC_DebugTimeout |
| 1226 .global PC_DebugTimeout |
| 1229 PC_DebugTimeout: |
| 1230 0009 00 .skip 1,0 |
| 1231 .global PcZugriff |
| 1232 .data |
| 1235 PcZugriff: |
| 1236 0001 64 .byte 100 |
| 1237 .global MotorTest |
| 1238 .global MotorTest |
| 1239 .section .bss |
| 1242 MotorTest: |
| 1243 000a 0000 0000 .skip 4,0 |
| 1244 .lcomm dis_zeile.2372,1 |
| 1245 .lcomm UartState.2055,1 |
| 1246 .lcomm buf_ptr.2054,1 |
| 1247 .lcomm crc2.2053,1 |
| 1248 .lcomm crc1.2052,1 |
| 1249 .lcomm crc.2051,2 |
| 1250 .lcomm ptr.2021,2 |
| 1251 .lcomm gpsState,1 |
| 1252 .comm DiffNick,2,1 |
| 1253 .comm DiffRoll,2,1 |
| 1254 .comm SenderOkay,1,1 |
| 1255 .comm CosinusNickWinkel,1,1 |
| 1256 .comm CosinusRollWinkel,1,1 |
| 1257 .comm durchschnitt_northing,4,1 |
| 1258 .comm durchschnitt_easting,4,1 |
| 1259 .comm gps_p,2,1 |
| 1260 .comm gps_d,2,1 |
| 1261 .comm skal,2,1 |
| 1262 .comm gps_gethome,2,1 |
| 1263 .comm SendeBuffer,150,1 |
| 1264 .comm RxdBuffer,150,1 |
| 1265 .comm MeineSlaveAdresse,1,1 |
| 1266 .comm Debug_Timer,2,1 |
| 1267 .comm DebugOut,50,1 |
| 1268 .comm actualPos,26,1 |
| 1269 .comm DebugIn,11,1 |
| 1270 .comm VersionInfo,10,1 |
| 1271 .comm RemoteTasten,1,1 |
| 1272 .comm Timeout,1,1 |
| 1273 .comm IntegralNick,4,1 |
| 1274 .comm IntegralNick2,4,1 |
| 1275 .comm IntegralRoll,4,1 |
| 1276 .comm IntegralRoll2,4,1 |
| 1277 .comm Mess_IntegralNick,4,1 |
| 1278 .comm Mess_IntegralNick2,4,1 |
| 1279 .comm Mess_IntegralRoll,4,1 |
| 1280 .comm Mess_IntegralRoll2,4,1 |
| 1281 .comm Integral_Gier,4,1 |
| 1282 .comm Mess_Integral_Gier,4,1 |
| 1283 .comm h,1,1 |
| 1284 .comm m,1,1 |
| 1285 .comm s,1,1 |
| 1286 .comm Motor_Vorne,1,1 |
| 1287 .comm Motor_Hinten,1,1 |
| 1288 .comm Motor_Rechts,1,1 |
| 1289 .comm Motor_Links,1,1 |
| 1290 .comm Count,1,1 |
| 1291 .comm MotorWert,5,1 |
| 1292 .comm StickNick,2,1 |
| 1293 .comm StickRoll,2,1 |
| 1294 .comm StickGier,2,1 |
| 1295 .comm MotorenEin,1,1 |
| 1296 .comm NMEABuffer,150,1 |
| 1297 .comm navStatus,17,1 |
| 1298 .comm navPosECEF,21,1 |
| 1299 .comm navVelECEF,21,1 |
| 1300 .comm ubxP,2,1 |
| 1301 .comm ubxEp,2,1 |
| 1302 .comm ubxSp,2,1 |
| 1303 .comm CK_A,1,1 |
| 1304 .comm CK_B,1,1 |
| 1305 .comm msgLen,2,1 |
| 1306 .comm msgID,1,1 |
| 1307 .comm ignorePacket,1,1 |
| 1308 .comm rollOffset,4,1 |
| 1309 .comm nickOffset,4,1 |
| 1310 /* File "uart.c": code 1250 = 0x04e2 (1147), prologues 49, epilogues 54 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 uart.c |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:3 *ABS*:0000003f __SREG__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:4 *ABS*:0000003e __SP_H__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:5 *ABS*:0000003d __SP_L__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:7 *ABS*:00000001 __zero_reg__ |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:13 .text:00000000 __vector_22 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1210 .data:00000000 UebertragungAbgeschlossen |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1249 .bss:00000015 ptr.2021 |
| *COM*:00000096 SendeBuffer |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:69 .text:0000006c GPSscanData |
| *COM*:00000015 navPosECEF |
| *COM*:0000001a actualPos |
| *COM*:00000011 navStatus |
| *COM*:00000015 navVelECEF |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:149 .text:00000162 __vector_20 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1192 .bss:00000004 SioTmp |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1250 .bss:00000017 gpsState |
| *COM*:00000001 msgID |
| *COM*:00000001 CK_A |
| *COM*:00000001 CK_B |
| *COM*:00000002 ubxP |
| *COM*:00000002 ubxEp |
| *COM*:00000002 ubxSp |
| *COM*:00000001 ignorePacket |
| *COM*:00000002 msgLen |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1245 .bss:00000010 buf_ptr.2054 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1244 .bss:0000000f UartState.2055 |
| *COM*:00000096 RxdBuffer |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1248 .bss:00000013 crc.2051 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1247 .bss:00000012 crc1.2052 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1246 .bss:00000011 crc2.2053 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1217 .bss:00000007 CntCrcError |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1198 .bss:00000005 NeuerDatensatzEmpfangen |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1223 .bss:00000008 AnzahlEmpfangsBytes |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:567 .text:00000536 AddCRC |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:621 .text:00000592 SendOutData |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:735 .text:00000662 Decode64 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:835 .text:00000712 uart_putchar |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:859 .text:00000734 WriteProgramData |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:869 .text:00000736 UART_Init |
| *COM*:00000002 Debug_Timer |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:902 .text:00000770 DatenUebertragung |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1168 .bss:00000000 DebugGetAnforderung |
| *COM*:0000000b DebugIn |
| *COM*:00000001 MeineSlaveAdresse |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1180 .bss:00000002 DebugDataAnforderung |
| *COM*:00000032 DebugOut |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1174 .bss:00000001 DebugDisplayAnforderung |
| .bss:0000000e dis_zeile.2372 |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1186 .bss:00000003 GetVersionAnforderung |
| *COM*:0000000a VersionInfo |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:997 .text:0000084c BearbeiteRxDaten |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1235 .data:00000001 PcZugriff |
| *COM*:00000001 RemoteTasten |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1242 .bss:0000000a MotorTest |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1204 .bss:00000006 NeueKoordinateEmpfangen |
| C:\DOKUME~1\CHRIST~1\LOKALE~1\Temp/ccRsoX2g.s:1229 .bss:00000009 PC_DebugTimeout |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000001 SenderOkay |
| *COM*:00000001 CosinusNickWinkel |
| *COM*:00000001 CosinusRollWinkel |
| *COM*:00000004 durchschnitt_northing |
| *COM*:00000004 durchschnitt_easting |
| *COM*:00000002 gps_p |
| *COM*:00000002 gps_d |
| *COM*:00000002 skal |
| *COM*:00000002 gps_gethome |
| *COM*:00000001 Timeout |
| *COM*:00000004 IntegralNick |
| *COM*:00000004 IntegralNick2 |
| *COM*:00000004 IntegralRoll |
| *COM*:00000004 IntegralRoll2 |
| *COM*:00000004 Mess_IntegralNick |
| *COM*:00000004 Mess_IntegralNick2 |
| *COM*:00000004 Mess_IntegralRoll |
| *COM*:00000004 Mess_IntegralRoll2 |
| *COM*:00000004 Integral_Gier |
| *COM*:00000004 Mess_Integral_Gier |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Motor_Vorne |
| *COM*:00000001 Motor_Hinten |
| *COM*:00000001 Motor_Rechts |
| *COM*:00000001 Motor_Links |
| *COM*:00000001 Count |
| *COM*:00000005 MotorWert |
| *COM*:00000002 StickNick |
| *COM*:00000002 StickRoll |
| *COM*:00000002 StickGier |
| *COM*:00000001 MotorenEin |
| *COM*:00000096 NMEABuffer |
| *COM*:00000004 rollOffset |
| *COM*:00000004 nickOffset |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SetDelay |
| CheckDelay |
| Menu |
| DisplayBuff |
| EE_Parameter |
| ReadParameterSet |
| GetActiveParamSetNumber |
| WriteParameterSet |
| EEPromArray |
| __eeprom_write_byte_1F2021 |
| Piep |
| /branches/martosi/Flight-Ctrl_MEGA644_V0_60.aps |
|---|
| 0,0 → 1,0 |
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| /branches/martosi/Flight-Ctrl_MEGA644_V0_60.hex |
|---|
| 0,0 → 1,1601 |
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| /branches/martosi/GPS.c |
|---|
| 0,0 → 1,290 |
| //------------------------------------------------------------------------------ |
| // _ _ |
| // | | | | |
| // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
| // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
| // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
| // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
| // __/ | |
| // |___/ Engineering |
| // |
| // Filename: GPS.c |
| // Description: |
| // |
| // Author: Martin Steppuhn |
| // History: 15.06.2007 Initial version |
| // |
| //------------------------------------------------------------------------------ |
| /**** Includes ****************************************************************/ |
| #include "std_c.h" |
| #include "main.h" |
| #include "fc.h" |
| #include "gps_ubx.h" |
| /**** Preprocessing directives (#define) **************************************/ |
| /**** Type definitions (typedef) **********************************************/ |
| /**** Global constants ********************************************************/ |
| /**** Global variables ********************************************************/ |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| /**** Local constants ********************************************************/ |
| /**** Local variables *********************************************************/ |
| signed int test_nick = 0; |
| signed int test_roll = 0; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsAktuell_Z = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| long gps_dx; |
| long gps_dy; |
| long gps_dz; |
| long gps_vx; |
| long gps_vy; |
| long gps_vz; |
| bool gps_hold; |
| uint8 print_pos; |
| /**** Local function prototypes ***********************************************/ |
| void print_uint16(uint16 value,uint8 width); |
| void print_int16(int16 value,uint8 width); |
| void print_string(char *s); |
| //------------------------------------------------------------------------------ |
| // Name: GPS_Neutral |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| // LED_GPS_DATA_OFF; |
| //LED_GPS_FIX_OFF; |
| //LED_GPS_DATA_ON; |
| } |
| //------------------------------------------------------------------------------ |
| // Name: gps_trace |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void gps_trace(void) |
| { |
| print_pos = 0; |
| print_uint16(nav_sol.gpsfix,1); |
| print_string(" "); |
| print_int16(gps_dy,7); |
| print_int16(gps_dx,7); |
| print_string(" | "); |
| print_int16(gps_vy,7); |
| print_int16(gps_vx,7); |
| print_string(" | "); |
| print_int16(GPS_Roll,7); |
| print_int16(GPS_Nick,7); |
| print_string(" # "); |
| print_int16(StickRoll,7); |
| print_int16(StickNick,7); |
| print_string("\r\n"); |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; // Start |
| } |
| //------------------------------------------------------------------------------ |
| // Name: gps_main |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void GPS_Main(void) |
| { |
| if((Poti3 > 125) && (nav_sol.gpsfix) && (gps_hold == false)) // Enable Hold |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| gps_hold = true; |
| } |
| if(Poti3 < 125) // Disable Hold |
| { |
| GpsZiel_X = 0; |
| GpsZiel_Y = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| gps_hold = false; |
| } |
| if(ubx.update) |
| { |
| ubx.update = false; |
| ubx_decode(&ubx); |
| if(nav_sol.update) |
| { |
| //trace_nav_sol(); |
| nav_sol.update = false; |
| if(nav_sol.gpsfix) |
| { |
| LED_GPS_FIX_TOGGLE; |
| LED_GPS_DATA_OFF; |
| } |
| else |
| { |
| LED_GPS_DATA_TOGGLE; |
| LED_GPS_FIX_OFF; |
| } |
| //=== new Position ==================== |
| GpsAktuell_X = nav_sol.ecef_x; |
| GpsAktuell_Y = nav_sol.ecef_y; |
| gps_dx = GpsZiel_X - GpsAktuell_X; // Süden + |
| gps_dy = GpsZiel_Y - GpsAktuell_Y; // Osten + |
| gps_vx = -nav_sol.ecefvx; // cm/s ECEF X velocity |
| gps_vy = -nav_sol.ecefvy; // cm/s ECEF Y velocity |
| if(gps_hold) |
| { |
| GPS_Nick = ((gps_dx * Poti1) / 512) + ((gps_vx * Poti2) / 128); |
| GPS_Roll = ((gps_dy * Poti1) / 512) + ((gps_vy * Poti2) / 128); |
| } |
| else |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| //===================================== |
| } |
| gps_trace(); |
| } |
| } |
| //============================================================================== |
| //============================================================================== |
| //============================================================================== |
| // |
| //============================================================================== |
| //============================================================================== |
| //============================================================================== |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void print_uint16(uint16 value,uint8 width) |
| { |
| uint8 i,s[10]; |
| for (i = 0; i < width; i++) |
| { |
| s[width - i - 1] = '0' + (value % 10); |
| value /= 10; |
| } |
| for (i=0; i<(width - 1); i++) // Overwrite trailing Zeros |
| { |
| if (s[i] == '0') s[i] = ' '; |
| else break; |
| } |
| for (i=0; i<width; i++) SendeBuffer[print_pos++] = s[i]; // Output String |
| // for (i=0; i<width; i++) putchar(s[i]); // Output String |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void print_int16(int16 value,uint8 width) |
| { |
| uint8 i,s[10]; |
| bool neg; |
| neg = false; |
| if(value < 0) { value = -value; neg = true; } |
| for (i = 0; i < width; i++) |
| { |
| s[width - i - 1] = '0' + (value % 10); |
| value /= 10; |
| } |
| for (i=0; i<(width - 1); i++) // Overwrite trailing Zeros |
| { |
| if (s[i] == '0') s[i] = ' '; |
| else |
| { |
| if(neg) s[i-1] = '-'; |
| break; |
| } |
| } |
| for (i=0; i<width; i++) SendeBuffer[print_pos++] = s[i]; // Output String |
| // for (i=0; i<width; i++) putchar(s[i]); // Output String |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void print_string(char *s) |
| { |
| while(*s) |
| { |
| SendeBuffer[print_pos++] = *s; |
| s++; |
| } |
| } |
| /branches/martosi/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/martosi/Settings.h |
|---|
| --- martosi/_Settings.h (nonexistent) |
| +++ martosi/_Settings.h (revision 171) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/martosi/analog.c |
|---|
| 0,0 → 1,155 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ay = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ay; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/martosi/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/martosi/eeprom.c |
|---|
| --- martosi/fc.c (nonexistent) |
| +++ martosi/fc.c (revision 171) |
| @@ -0,0 +1,812 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + GPS_Neutral(); |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + DebugOut.Analog[12] = Motor_Vorne; |
| + DebugOut.Analog[13] = Motor_Hinten; |
| + DebugOut.Analog[14] = Motor_Links; |
| + DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| + unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| + unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| + |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 35) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + //KompassValue = 12; |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + int w,v; |
| + static int SignalSchlecht = 0; |
| + w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| + v = abs(IntegralRoll /512); |
| + if(v > w) w = v; // grösste Neigung ermitteln |
| + if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| + w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| + if(w > 0) |
| + { |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + if(SignalSchlecht) SignalSchlecht--; |
| + } |
| + else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| +// DebugOut.Analog[0] = MesswertNick; |
| +// DebugOut.Analog[1] = MesswertRoll; |
| +// DebugOut.Analog[2] = MesswertGier; |
| + DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[2] = Mittelwert_AccNick; |
| + DebugOut.Analog[3] = Mittelwert_AccRoll; |
| + DebugOut.Analog[4] = MesswertGier; |
| + DebugOut.Analog[5] = HoehenWert; |
| + DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| + DebugOut.Analog[7] = GasMischanteil; |
| + DebugOut.Analog[8] = KompassValue; |
| +// DebugOut.Analog[9] = SollHoehe; |
| +// DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| +// DebugOut.Analog[11] = KompassStartwert; |
| +// DebugOut.Analog[10] = Parameter_Gyro_I; |
| +// DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| +// DebugOut.Analog[9] = KompassRichtung; |
| +// DebugOut.Analog[10] = GasMischanteil; |
| +// DebugOut.Analog[3] = HoeheD * 32; |
| +// DebugOut.Analog[4] = hoehenregler; |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| + SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/martosi/fc.h |
|---|
| 0,0 → 1,106 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/martosi/flight-ctrl_mega644_v0_60.aws |
|---|
| 0,0 → 1,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="C:\hubi\ufo\mickrokopter\gps codes\V0.60_GPS_BETA_martosi\main.c" Position="336 71 1048 624" LineCol="198 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/martosi/gps.h |
|---|
| 0,0 → 1,73 |
| //------------------------------------------------------------------------------ |
| // _ _ |
| // | | | | |
| // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
| // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
| // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
| // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
| // __/ | |
| // |___/ Engineering |
| // |
| // Filename: gps.h |
| // Description: |
| // |
| // Author: Martin Steppuhn |
| // History: 15.06.2007 Initial version |
| // |
| //------------------------------------------------------------------------------ |
| #ifndef GPS_H |
| #define GPS_H |
| /**** Includes ****************************************************************/ |
| /**** Preprocessing directives (#define) **************************************/ |
| #define LED_GPS_FIX_TOGGLE PORTC ^= (1<<2) |
| #define LED_GPS_FIX_ON PORTC |= (1<<2) |
| #define LED_GPS_FIX_OFF PORTC &= ~(1<<2) |
| #define LED_GPS_DATA_TOGGLE PORTC ^= (1<<3) |
| #define LED_GPS_DATA_ON PORTC |= (1<<3) |
| #define LED_GPS_DATA_OFF PORTC &= ~(1<<3) |
| /**** Type definitions (typedef) **********************************************/ |
| /**** Global constants (extern) ***********************************************/ |
| /**** Global variables (extern) ***********************************************/ |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_Main(void); |
| /**** Global function prototypes **********************************************/ |
| #endif |
| /branches/martosi/gps_ubx.c |
|---|
| 0,0 → 1,137 |
| //------------------------------------------------------------------------------ |
| // _ _ |
| // | | | | |
| // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
| // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
| // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
| // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
| // __/ | |
| // |___/ Engineering |
| // |
| // Filename: gps_ubx.c |
| // Description: |
| // |
| // Author: Martin Steppuhn |
| // History: 08.06.2007 Initial version |
| // |
| //------------------------------------------------------------------------------ |
| /**** Includes ****************************************************************/ |
| #include "std_c.h" |
| #include "gps_ubx.h" |
| /**** Preprocessing directives (#define) **************************************/ |
| /**** Type definitions (typedef) **********************************************/ |
| /**** Global constants ********************************************************/ |
| /**** Global variables ********************************************************/ |
| struct ubx_struct ubx; |
| struct nav_sol_struct nav_sol; |
| /**** Local constants ********************************************************/ |
| /**** Local variables *********************************************************/ |
| uint8 ubx_buf[256]; |
| uint8 ubx_buf_len; |
| /**** Local function prototypes ***********************************************/ |
| //------------------------------------------------------------------------------ |
| // Name: ubx_push |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void ubx_push(uint8 c) |
| { |
| uint8 length; |
| uint8 check_a,check_b; |
| uint16 i; |
| ubx_buf[ubx_buf_len] = c; |
| ubx_buf_len++; |
| if(ubx_buf_len == 1) { if(ubx_buf[0] != 0xB5) ubx_buf_len = 0; } // Sync |
| else if(ubx_buf_len == 2) { if(ubx_buf[1] != 0x62) ubx_buf_len = 0; } // Sync |
| else if(ubx_buf_len >= 6) |
| { |
| length = (((uint16)ubx_buf[5]) << 8)+ ubx_buf[4]; // length |
| if(ubx_buf_len >= (length+8)) // frame complete |
| { |
| //=== Calculate checksum === |
| check_a = 0; |
| check_b = 0; |
| for(i=2;i<(ubx_buf_len-2);i++) |
| { |
| check_a = check_a + ubx_buf[i]; |
| check_b = check_b + check_a; |
| } |
| //=== Test checksum === |
| if((check_a == ubx_buf[ubx_buf_len-2]) && (check_b == ubx_buf[ubx_buf_len-1])) |
| { |
| ubx.msg_class = ubx_buf[2]; |
| ubx.msg_id = ubx_buf[3]; |
| ubx.length = length; |
| for(i=0;i<ubx.length;i++) ubx.data[i] = ubx_buf[i+6]; // copy data |
| ubx.update = true; |
| } |
| ubx_buf_len = 0; |
| } |
| } |
| } |
| //------------------------------------------------------------------------------ |
| // Name: ubx_decode |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void ubx_decode(struct ubx_struct *ubx) |
| { |
| if((ubx->msg_class == 0x01) && (ubx->msg_id == 0x06)) // NAV-SOL |
| { |
| nav_sol.itow = *(uint32*)(&ubx->data[0]); // ms |
| nav_sol.gpsfix = ubx->data[10]; |
| nav_sol.ecef_x = *(int32*)(&ubx->data[12]); // cm |
| nav_sol.ecef_y = *(int32*)(&ubx->data[16]); // cm |
| nav_sol.ecef_z = *(int32*)(&ubx->data[20]); // cm |
| nav_sol.pacc = *(int32*)(&ubx->data[24]); // cm |
| nav_sol.ecefvx = *(uint32*)(&ubx->data[28]); // cm/s |
| nav_sol.ecefvy = *(uint32*)(&ubx->data[32]); // cm/s |
| nav_sol.ecefvz = *(uint32*)(&ubx->data[36]); // cm/s |
| nav_sol.sacc = *(uint32*)(&ubx->data[40]); // cm/s |
| nav_sol.pdop = (uint16)ubx->data[44]; |
| nav_sol.numsv = ubx->data[47]; |
| nav_sol.update = true; |
| } |
| } |
| //------------------------------------------------------------------------------ |
| // Name: show_ubx |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void show_ubx(struct ubx_struct *ubx) |
| { |
| uint8 i; |
| printf("MsgClass=%u ",ubx->msg_class); |
| printf("MsgId=%u ",ubx->msg_id); |
| printf("Length=%u ",ubx->length); |
| printf("Data= "); |
| for(i=0;i<ubx->length;i++) printf("%02X ",ubx->data[i]); |
| printf("\r\n"); |
| } |
| /branches/martosi/gps_ubx.h |
|---|
| 0,0 → 1,71 |
| //------------------------------------------------------------------------------ |
| // _ _ |
| // | | | | |
| // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
| // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
| // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
| // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
| // __/ | |
| // |___/ Engineering |
| // |
| // Filename: gps_ubx.h |
| // Description: |
| // |
| // Author: Martin Steppuhn |
| // History: 08.06.2007 Initial version |
| // |
| //------------------------------------------------------------------------------ |
| #ifndef GPS_UBX_H |
| #define GPS_UBX_H |
| /**** Includes ****************************************************************/ |
| #include "std_c.h" |
| /**** Preprocessing directives (#define) **************************************/ |
| /**** Type definitions (typedef) **********************************************/ |
| typedef struct ubx_struct |
| { |
| bool update; |
| uint8 msg_class; |
| uint8 msg_id; |
| uint8 length; |
| uint8 data[256]; |
| }; |
| typedef struct nav_sol_struct |
| { |
| uint8 update; |
| uint32 itow; // Time |
| uint8 gpsfix; // GPSfix |
| int32 ecef_x; // cm ECEF X coordinate |
| int32 ecef_y; // cm ECEF Y coordinate |
| int32 ecef_z; // cm ECEF Z coordinate |
| uint32 pacc; // cm 3D Position Accuracy Estimate |
| int32 ecefvx; // cm/s ECEF X velocity |
| int32 ecefvy; // cm/s ECEF Y velocity |
| int32 ecefvz; // cm/s ECEF Z velocity |
| uint32 sacc; // cm/s Speed Accuracy Estimate |
| uint16 pdop; // Position DOP |
| uint8 numsv; // Number of SVs used in Nav Solution |
| }; |
| /**** Global constants (extern) ***********************************************/ |
| /**** Global variables (extern) ***********************************************/ |
| struct ubx_struct ubx; |
| struct nav_sol_struct nav_sol; |
| /**** Global function prototypes **********************************************/ |
| extern void ubx_push(uint8 c); |
| extern void ubx_decode(struct ubx_struct *ubx); |
| #endif |
| /branches/martosi/main.c |
|---|
| 0,0 → 1,221 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| { |
| GPS_Main(); |
| } |
| else |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/martosi/main.h |
|---|
| 0,0 → 1,93 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "gps_ubx.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/martosi/makefile |
|---|
| 0,0 → 1,391 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c gps_ubx.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/martosi/menu.c |
|---|
| 0,0 → 1,125 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 11,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i Kanäle ",PPM_in[7]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| case 11: |
| LCD_printfxy(0,0,"GPS " ); |
| LCD_printfxy(0,1,"GPS_Nick %3i",GPS_Nick); |
| LCD_printfxy(0,2,"GPS_Roll: %3i",GPS_Roll); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/martosi/menu.h |
|---|
| 0,0 → 1,5 |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/martosi/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/martosi/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/martosi/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/martosi/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
| } |
| } |
| } |
| /branches/martosi/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/martosi/std_c.h |
|---|
| 0,0 → 1,49 |
| //*---------------------------------------------------------------------------- |
| //* ATMEL Microcontroller Software Support - ROUSSET - |
| //*---------------------------------------------------------------------------- |
| //* The software is delivered "AS IS" without warranty or condition of any |
| //* kind, either express, implied or statutory. This includes without |
| //* limitation any warranty or condition with respect to merchantability or |
| //* fitness for any particular purpose, or against the infringements of |
| //* intellectual property rights of others. |
| //*---------------------------------------------------------------------------- |
| //* File Name : std_c.h |
| //* Object : Standard C Header File |
| //* |
| //* 1.0 01/04/00 JCZ : Creation |
| //*---------------------------------------------------------------------------- |
| #ifndef std_c_h |
| #define std_c_h |
| /*----------------*/ |
| /* Standard types */ |
| /*----------------*/ |
| typedef unsigned char uint8; |
| typedef unsigned short uint16; |
| typedef unsigned long uint32; |
| typedef unsigned char bool; |
| typedef signed char int8; |
| typedef signed short int16; |
| typedef signed long int32; |
| /* 16-bit Flash Data type */ |
| typedef volatile unsigned short flash_word ; |
| /* AT91 Register type */ |
| typedef volatile unsigned int at91_reg ; |
| /*----------------*/ |
| /* Boolean values */ |
| /*----------------*/ |
| #define true 1 |
| #define false 0 |
| #endif /* std_c_h */ |
| /branches/martosi/timer0.c |
|---|
| 0,0 → 1,139 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<2); |
| } |
| else |
| PORTD &= ~(1<<2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/martosi/timer0.h |
|---|
| 0,0 → 1,14 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/martosi/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/martosi/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/martosi/uart.c |
|---|
| 0,0 → 1,331 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| ubx_push(SioTmp); // push die GPS daten in die GPS routine |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned int tmp_int_arr1[1]; |
| unsigned int tmp_int_arr2[2]; |
| unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| unsigned char tmp_char_arr3[3]; |
| unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/martosi/uart.h |
|---|
| 0,0 → 1,93 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/martosi/version.txt |
|---|
| 0,0 → 1,57 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| ++ martosi |
| Ich habe den von mart veröffentlichen code 1 zu 1 verbaut und noch das fehlende |
| und später erklärte std_c.h hinzugefügt. Das ganze ist ein avrstudio4 Projekt. |
| Viel Spass damit und schaut nach Updates. |
| Die Lizenz lautet alles geht nix muss ausser bestehende lizenzen beachten!! |
| Das ganze ist Beerware also wer möchte darf mart und/oder mir ein Bier spendieren. |
| Osiair |
| /branches/matosi/Flight-Ctrl_MEGA644_V0_60.aps |
|---|
| 0,0 → 1,0 |
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| /branches/matosi/GPS.c |
|---|
| 0,0 → 1,290 |
| //------------------------------------------------------------------------------ |
| // _ _ |
| // | | | | |
| // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
| // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
| // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
| // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
| // __/ | |
| // |___/ Engineering |
| // |
| // Filename: GPS.c |
| // Description: |
| // |
| // Author: Martin Steppuhn |
| // History: 15.06.2007 Initial version |
| // |
| //------------------------------------------------------------------------------ |
| /**** Includes ****************************************************************/ |
| #include "std_c.h" |
| #include "main.h" |
| #include "fc.h" |
| #include "gps_ubx.h" |
| /**** Preprocessing directives (#define) **************************************/ |
| /**** Type definitions (typedef) **********************************************/ |
| /**** Global constants ********************************************************/ |
| /**** Global variables ********************************************************/ |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| /**** Local constants ********************************************************/ |
| /**** Local variables *********************************************************/ |
| signed int test_nick = 0; |
| signed int test_roll = 0; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsAktuell_Z = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| long gps_dx; |
| long gps_dy; |
| long gps_dz; |
| long gps_vx; |
| long gps_vy; |
| long gps_vz; |
| bool gps_hold; |
| uint8 print_pos; |
| /**** Local function prototypes ***********************************************/ |
| void print_uint16(uint16 value,uint8 width); |
| void print_int16(int16 value,uint8 width); |
| void print_string(char *s); |
| //------------------------------------------------------------------------------ |
| // Name: GPS_Neutral |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| // LED_GPS_DATA_OFF; |
| //LED_GPS_FIX_OFF; |
| //LED_GPS_DATA_ON; |
| } |
| //------------------------------------------------------------------------------ |
| // Name: gps_trace |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void gps_trace(void) |
| { |
| print_pos = 0; |
| print_uint16(nav_sol.gpsfix,1); |
| print_string(" "); |
| print_int16(gps_dy,7); |
| print_int16(gps_dx,7); |
| print_string(" | "); |
| print_int16(gps_vy,7); |
| print_int16(gps_vx,7); |
| print_string(" | "); |
| print_int16(GPS_Roll,7); |
| print_int16(GPS_Nick,7); |
| print_string(" # "); |
| print_int16(StickRoll,7); |
| print_int16(StickNick,7); |
| print_string("\r\n"); |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; // Start |
| } |
| //------------------------------------------------------------------------------ |
| // Name: gps_main |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void GPS_Main(void) |
| { |
| if((Poti3 > 125) && (nav_sol.gpsfix) && (gps_hold == false)) // Enable Hold |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| gps_hold = true; |
| } |
| if(Poti3 < 125) // Disable Hold |
| { |
| GpsZiel_X = 0; |
| GpsZiel_Y = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| gps_hold = false; |
| } |
| if(ubx.update) |
| { |
| ubx.update = false; |
| ubx_decode(&ubx); |
| if(nav_sol.update) |
| { |
| //trace_nav_sol(); |
| nav_sol.update = false; |
| if(nav_sol.gpsfix) |
| { |
| LED_GPS_FIX_TOGGLE; |
| LED_GPS_DATA_OFF; |
| } |
| else |
| { |
| LED_GPS_DATA_TOGGLE; |
| LED_GPS_FIX_OFF; |
| } |
| //=== new Position ==================== |
| GpsAktuell_X = nav_sol.ecef_x; |
| GpsAktuell_Y = nav_sol.ecef_y; |
| gps_dx = GpsZiel_X - GpsAktuell_X; // Süden + |
| gps_dy = GpsZiel_Y - GpsAktuell_Y; // Osten + |
| gps_vx = -nav_sol.ecefvx; // cm/s ECEF X velocity |
| gps_vy = -nav_sol.ecefvy; // cm/s ECEF Y velocity |
| if(gps_hold) |
| { |
| GPS_Nick = ((gps_dx * Poti1) / 512) + ((gps_vx * Poti2) / 128); |
| GPS_Roll = ((gps_dy * Poti1) / 512) + ((gps_vy * Poti2) / 128); |
| } |
| else |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| //===================================== |
| } |
| gps_trace(); |
| } |
| } |
| //============================================================================== |
| //============================================================================== |
| //============================================================================== |
| // |
| //============================================================================== |
| //============================================================================== |
| //============================================================================== |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void print_uint16(uint16 value,uint8 width) |
| { |
| uint8 i,s[10]; |
| for (i = 0; i < width; i++) |
| { |
| s[width - i - 1] = '0' + (value % 10); |
| value /= 10; |
| } |
| for (i=0; i<(width - 1); i++) // Overwrite trailing Zeros |
| { |
| if (s[i] == '0') s[i] = ' '; |
| else break; |
| } |
| for (i=0; i<width; i++) SendeBuffer[print_pos++] = s[i]; // Output String |
| // for (i=0; i<width; i++) putchar(s[i]); // Output String |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void print_int16(int16 value,uint8 width) |
| { |
| uint8 i,s[10]; |
| bool neg; |
| neg = false; |
| if(value < 0) { value = -value; neg = true; } |
| for (i = 0; i < width; i++) |
| { |
| s[width - i - 1] = '0' + (value % 10); |
| value /= 10; |
| } |
| for (i=0; i<(width - 1); i++) // Overwrite trailing Zeros |
| { |
| if (s[i] == '0') s[i] = ' '; |
| else |
| { |
| if(neg) s[i-1] = '-'; |
| break; |
| } |
| } |
| for (i=0; i<width; i++) SendeBuffer[print_pos++] = s[i]; // Output String |
| // for (i=0; i<width; i++) putchar(s[i]); // Output String |
| } |
| //------------------------------------------------------------------------------ |
| // Name: |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void print_string(char *s) |
| { |
| while(*s) |
| { |
| SendeBuffer[print_pos++] = *s; |
| s++; |
| } |
| } |
| /branches/matosi/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/matosi/Settings.h |
|---|
| --- matosi/_Settings.h (nonexistent) |
| +++ matosi/_Settings.h (revision 171) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/matosi/analog.c |
|---|
| 0,0 → 1,155 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| Delay_ms(200); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ay = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ay; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| ANALOG_ON; |
| } |
| /branches/matosi/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/matosi/eeprom.c |
|---|
| --- matosi/fc.c (nonexistent) |
| +++ matosi/fc.c (revision 171) |
| @@ -0,0 +1,812 @@ |
| +/*####################################################################################### |
| +Flight Control |
| +#######################################################################################*/ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) 04.2007 Holger Buss |
| +// + Nur für den privaten Gebrauch |
| +// + www.MikroKopter.com |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| +// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| +// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| +// + bzgl. der Nutzungsbedingungen aufzunehmen. |
| +// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| +// + Verkauf von Luftbildaufnahmen, usw. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| +// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| +// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| +// + eindeutig als Ursprung verlinkt werden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| +// + Benutzung auf eigene Gefahr |
| +// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| +// + mit unserer Zustimmung zulässig |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| +// + this list of conditions and the following disclaimer. |
| +// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| +// + from this software without specific prior written permission. |
| +// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| +// + for non-commercial use (directly or indirectly) |
| +// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| +// + with our written permission |
| +// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| +// + clearly linked as origin |
| +// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| +// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| +// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| +// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| +// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| +// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| +// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| +// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| +// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| +// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| +// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| +// + POSSIBILITY OF SUCH DAMAGE. |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#include "main.h" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned char Timeout = 0; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| +volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| +unsigned char MotorWert[5]; |
| +volatile unsigned char SenderOkay = 0; |
| +int StickNick = 0,StickRoll = 0,StickGier = 0; |
| +char MotorenEin = 0; |
| +int HoehenWert = 0; |
| +int SollHoehe = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| +unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| +unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| +unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| +unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| +unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| +unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| +unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| +unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| +unsigned char Parameter_UserParam1 = 0; |
| +unsigned char Parameter_UserParam2 = 0; |
| +unsigned char Parameter_UserParam3 = 0; |
| +unsigned char Parameter_UserParam4 = 0; |
| +unsigned char Parameter_ServoNickControl = 100; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralNick2 = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralRoll2 = 0; |
| + Mess_Integral_Gier = 0; |
| + MesswertNick = 0; |
| + MesswertRoll = 0; |
| + MesswertGier = 0; |
| + StartLuftdruck = Luftdruck; |
| + HoeheD = 0; |
| + Mess_Integral_Hoch = 0; |
| + KompassStartwert = KompassValue; |
| + GPS_Neutral(); |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +//------------------------------------------------------------------------------ |
| + if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| + else |
| + if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| + |
| + if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| + else |
| + if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| +//------------------------------------------------------------------------------ |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| + if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| + if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| + if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| + if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| + if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| + if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| + if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| +} |
| + |
| +//############################################################################ |
| +// Senden der Motorwerte per I2C-Bus |
| +void SendMotorData(void) |
| +//############################################################################ |
| +{ |
| + if(MOTOR_OFF || !MotorenEin) |
| + { |
| + Motor_Hinten = 0; |
| + Motor_Vorne = 0; |
| + Motor_Rechts = 0; |
| + Motor_Links = 0; |
| + if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| + if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| + if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| + if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| + } |
| + |
| + DebugOut.Analog[12] = Motor_Vorne; |
| + DebugOut.Analog[13] = Motor_Hinten; |
| + DebugOut.Analog[14] = Motor_Links; |
| + DebugOut.Analog[15] = Motor_Rechts; |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Konstanten |
| +// + 0-250 -> normale Werte |
| +// + 251 -> Poti1 |
| +// + 252 -> Poti2 |
| +// + 253 -> Poti3 |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +void DefaultKonstanten1(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Normal\0", 12); |
| +} |
| + |
| +void DefaultKonstanten2(void) |
| +{ |
| + EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| + EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| + EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| + EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| + EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| + EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| + EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| + EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| + EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| + EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| + EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| + EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| + EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| + EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| + EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| + EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| + EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| + EE_Parameter.I_Faktor = 5; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| + EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| + EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| + EE_Parameter.ServoNickRefresh = 5; |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// Trägt ggf. das Poti als Parameter ein |
| +void ParameterZuordnung(void) |
| +//############################################################################ |
| +{ |
| + |
| + #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| + CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| + CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| + CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| + CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| + CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| + CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| + CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| + CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| + CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| + CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| + CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| + CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| + |
| + unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| + unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| + unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| + unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| + |
| + |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + |
| + Ki = (float) Parameter_I_Faktor * 0.0001; |
| + MAX_GAS = EE_Parameter.Gas_Max; |
| + MIN_GAS = EE_Parameter.Gas_Min; |
| +} |
| + |
| + |
| +//############################################################################ |
| +// |
| +void MotorRegler(void) |
| +//############################################################################ |
| +{ |
| + int motorwert,pd_ergebnis,h,tmp_int; |
| + int GierMischanteil,GasMischanteil; |
| + static long SummeNick=0,SummeRoll=0; |
| + static long sollGier = 0,tmp_long,tmp_long2; |
| + static int IntegralFehlerNick = 0; |
| + static int IntegralFehlerRoll = 0; |
| + static unsigned int RcLostTimer; |
| + static unsigned char delay_neutral = 0; |
| + static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| + static unsigned int modell_fliegt = 0; |
| + static int hoehenregler = 0; |
| + static char TimerWerteausgabe = 0; |
| + static char NeueKompassRichtungMerken = 0; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + if(GasMischanteil < 0) GasMischanteil = 0; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang schlecht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay < 100) |
| + { |
| + if(!PcZugriff) beeptime = 500; |
| + if(RcLostTimer) RcLostTimer--; |
| + else |
| + { |
| + MotorenEin = 0; |
| + Notlandung = 0; |
| + } |
| + ROT_ON; |
| + if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| + { |
| + GasMischanteil = EE_Parameter.NotGas; |
| + Notlandung = 1; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| + PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| +/* Poti1 = 65; |
| + Poti2 = 48; |
| + Poti3 = 0; |
| +*/ } |
| + else MotorenEin = 0; |
| + } |
| + else |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Emfang gut |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(SenderOkay > 140) |
| + { |
| + Notlandung = 0; |
| + RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| + if(GasMischanteil > 40) |
| + { |
| + if(modell_fliegt < 0xffff) modell_fliegt++; |
| + } |
| + if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| + { |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + } |
| + if((GasMischanteil > 200) && MotorenEin == 0) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// auf Nullwerte kalibrieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| + { |
| + unsigned char setting; |
| + if(++delay_neutral > 200) // nicht sofort |
| + { |
| + GRN_OFF; |
| + SetNeutral(); |
| + MotorenEin = 0; |
| + delay_neutral = 0; |
| + modell_fliegt = 0; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| + { |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| + eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| + } |
| + ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| + Piep(GetActiveParamSetNumber()); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + } |
| + } |
| + else delay_neutral = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gas ist unten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(GasMischanteil < 35) |
| + { |
| + // Starten |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| + { |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Einschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(++delay_einschalten > 200) |
| + { |
| + delay_einschalten = 200; |
| + modell_fliegt = 1; |
| + MotorenEin = 1; |
| + sollGier = 0; |
| + Mess_Integral_Gier = 0; |
| + Mess_Integral_Gier2 = 0; |
| + Mess_IntegralNick = 0; |
| + Mess_IntegralRoll = 0; |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + SummeNick = 0; |
| + SummeRoll = 0; |
| + } |
| + } |
| + else delay_einschalten = 0; |
| + //Auf Neutralwerte setzen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Auschalten |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| + { |
| + if(++delay_ausschalten > 200) // nicht sofort |
| + { |
| + MotorenEin = 0; |
| + delay_ausschalten = 200; |
| + modell_fliegt = 0; |
| + } |
| + } |
| + else delay_ausschalten = 0; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// neue Werte von der Funke |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!NewPpmData-- || Notlandung) |
| + { |
| + ParameterZuordnung(); |
| + StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| + StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| + StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| + StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| + StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| + |
| + GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| + IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| + if(GyroFaktor < 0) GyroFaktor = 0; |
| + if(IntegralFaktor < 0) IntegralFaktor = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| + if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| + if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| +#define AUSGLEICH 500 |
| + if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| + if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| + if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| + if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + sollGier = StickGier; |
| + if(abs(StickGier) > 35) |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| + if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + //KompassValue = 12; |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + int w,v; |
| + static int SignalSchlecht = 0; |
| + w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| + v = abs(IntegralRoll /512); |
| + if(v > w) w = v; // grösste Neigung ermitteln |
| + if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| + w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| + if(w > 0) |
| + { |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + if(SignalSchlecht) SignalSchlecht--; |
| + } |
| + else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +DebugOut.Sekunden++; |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| +// DebugOut.Analog[0] = MesswertNick; |
| +// DebugOut.Analog[1] = MesswertRoll; |
| +// DebugOut.Analog[2] = MesswertGier; |
| + DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[2] = Mittelwert_AccNick; |
| + DebugOut.Analog[3] = Mittelwert_AccRoll; |
| + DebugOut.Analog[4] = MesswertGier; |
| + DebugOut.Analog[5] = HoehenWert; |
| + DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| + DebugOut.Analog[7] = GasMischanteil; |
| + DebugOut.Analog[8] = KompassValue; |
| +// DebugOut.Analog[9] = SollHoehe; |
| +// DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| +// DebugOut.Analog[11] = KompassStartwert; |
| +// DebugOut.Analog[10] = Parameter_Gyro_I; |
| +// DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| +// DebugOut.Analog[9] = KompassRichtung; |
| +// DebugOut.Analog[10] = GasMischanteil; |
| +// DebugOut.Analog[3] = HoeheD * 32; |
| +// DebugOut.Analog[4] = hoehenregler; |
| + } |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| + MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| + MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| + |
| + // Maximalwerte abfangen |
| + #define MAX_SENSOR 2048 |
| + if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| + if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| + if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| + if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| + if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| + if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Höhenregelung |
| +// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +//OCR0B = 180 - (Poti1 + 120) / 4; |
| +//DruckOffsetSetting = OCR0B; |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| + { |
| + int tmp_int; |
| + if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| + { |
| + if(Parameter_MaxHoehe < 50) |
| + { |
| + SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| + HoehenReglerAktiv = 1; |
| + } |
| + |
| + if(Notlandung) SollHoehe = 0; |
| + h = HoehenWert; |
| + if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| + { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| + h = GasMischanteil - h; // vom Gas abziehen |
| + h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| + tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| + if(tmp_int > 50) tmp_int = 50; |
| + else if(tmp_int < -50) tmp_int = -50; |
| + h -= tmp_int; |
| + hoehenregler = (hoehenregler*15 + h) / 16; |
| + if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| + { |
| + if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| + if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| + } |
| + if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| + GasMischanteil = hoehenregler; |
| + } |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Mischer und PI-Regler |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gier-Anteil |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| + motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Vorne = motorwert; |
| + // Motor Heck |
| + motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Hinten = motorwert; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Roll-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| + // Motor Links |
| + motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Links = motorwert; |
| + // Motor Rechts |
| + motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| + if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| + else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| + if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| + Motor_Rechts = motorwert; |
| + // +++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +} |
| + |
| /branches/matosi/fc.h |
|---|
| 0,0 → 1,106 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| #endif //_FC_H |
| /branches/matosi/flight-ctrl_mega644_v0_60.aws |
|---|
| 0,0 → 1,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="C:\hubi\ufo\mickrokopter\gps codes\V0.60_GPS_BETA_martosi\main.c" Position="336 71 1048 624" LineCol="198 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/matosi/gps.h |
|---|
| 0,0 → 1,73 |
| //------------------------------------------------------------------------------ |
| // _ _ |
| // | | | | |
| // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
| // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
| // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
| // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
| // __/ | |
| // |___/ Engineering |
| // |
| // Filename: gps.h |
| // Description: |
| // |
| // Author: Martin Steppuhn |
| // History: 15.06.2007 Initial version |
| // |
| //------------------------------------------------------------------------------ |
| #ifndef GPS_H |
| #define GPS_H |
| /**** Includes ****************************************************************/ |
| /**** Preprocessing directives (#define) **************************************/ |
| #define LED_GPS_FIX_TOGGLE PORTC ^= (1<<2) |
| #define LED_GPS_FIX_ON PORTC |= (1<<2) |
| #define LED_GPS_FIX_OFF PORTC &= ~(1<<2) |
| #define LED_GPS_DATA_TOGGLE PORTC ^= (1<<3) |
| #define LED_GPS_DATA_ON PORTC |= (1<<3) |
| #define LED_GPS_DATA_OFF PORTC &= ~(1<<3) |
| /**** Type definitions (typedef) **********************************************/ |
| /**** Global constants (extern) ***********************************************/ |
| /**** Global variables (extern) ***********************************************/ |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_Main(void); |
| /**** Global function prototypes **********************************************/ |
| #endif |
| /branches/matosi/gps_ubx.c |
|---|
| 0,0 → 1,137 |
| //------------------------------------------------------------------------------ |
| // _ _ |
| // | | | | |
| // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
| // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
| // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
| // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
| // __/ | |
| // |___/ Engineering |
| // |
| // Filename: gps_ubx.c |
| // Description: |
| // |
| // Author: Martin Steppuhn |
| // History: 08.06.2007 Initial version |
| // |
| //------------------------------------------------------------------------------ |
| /**** Includes ****************************************************************/ |
| #include "std_c.h" |
| #include "gps_ubx.h" |
| /**** Preprocessing directives (#define) **************************************/ |
| /**** Type definitions (typedef) **********************************************/ |
| /**** Global constants ********************************************************/ |
| /**** Global variables ********************************************************/ |
| struct ubx_struct ubx; |
| struct nav_sol_struct nav_sol; |
| /**** Local constants ********************************************************/ |
| /**** Local variables *********************************************************/ |
| uint8 ubx_buf[256]; |
| uint8 ubx_buf_len; |
| /**** Local function prototypes ***********************************************/ |
| //------------------------------------------------------------------------------ |
| // Name: ubx_push |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void ubx_push(uint8 c) |
| { |
| uint8 length; |
| uint8 check_a,check_b; |
| uint16 i; |
| ubx_buf[ubx_buf_len] = c; |
| ubx_buf_len++; |
| if(ubx_buf_len == 1) { if(ubx_buf[0] != 0xB5) ubx_buf_len = 0; } // Sync |
| else if(ubx_buf_len == 2) { if(ubx_buf[1] != 0x62) ubx_buf_len = 0; } // Sync |
| else if(ubx_buf_len >= 6) |
| { |
| length = (((uint16)ubx_buf[5]) << 8)+ ubx_buf[4]; // length |
| if(ubx_buf_len >= (length+8)) // frame complete |
| { |
| //=== Calculate checksum === |
| check_a = 0; |
| check_b = 0; |
| for(i=2;i<(ubx_buf_len-2);i++) |
| { |
| check_a = check_a + ubx_buf[i]; |
| check_b = check_b + check_a; |
| } |
| //=== Test checksum === |
| if((check_a == ubx_buf[ubx_buf_len-2]) && (check_b == ubx_buf[ubx_buf_len-1])) |
| { |
| ubx.msg_class = ubx_buf[2]; |
| ubx.msg_id = ubx_buf[3]; |
| ubx.length = length; |
| for(i=0;i<ubx.length;i++) ubx.data[i] = ubx_buf[i+6]; // copy data |
| ubx.update = true; |
| } |
| ubx_buf_len = 0; |
| } |
| } |
| } |
| //------------------------------------------------------------------------------ |
| // Name: ubx_decode |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void ubx_decode(struct ubx_struct *ubx) |
| { |
| if((ubx->msg_class == 0x01) && (ubx->msg_id == 0x06)) // NAV-SOL |
| { |
| nav_sol.itow = *(uint32*)(&ubx->data[0]); // ms |
| nav_sol.gpsfix = ubx->data[10]; |
| nav_sol.ecef_x = *(int32*)(&ubx->data[12]); // cm |
| nav_sol.ecef_y = *(int32*)(&ubx->data[16]); // cm |
| nav_sol.ecef_z = *(int32*)(&ubx->data[20]); // cm |
| nav_sol.pacc = *(int32*)(&ubx->data[24]); // cm |
| nav_sol.ecefvx = *(uint32*)(&ubx->data[28]); // cm/s |
| nav_sol.ecefvy = *(uint32*)(&ubx->data[32]); // cm/s |
| nav_sol.ecefvz = *(uint32*)(&ubx->data[36]); // cm/s |
| nav_sol.sacc = *(uint32*)(&ubx->data[40]); // cm/s |
| nav_sol.pdop = (uint16)ubx->data[44]; |
| nav_sol.numsv = ubx->data[47]; |
| nav_sol.update = true; |
| } |
| } |
| //------------------------------------------------------------------------------ |
| // Name: show_ubx |
| // Function: |
| // |
| // Parameter: |
| // Return: |
| //------------------------------------------------------------------------------ |
| void show_ubx(struct ubx_struct *ubx) |
| { |
| uint8 i; |
| printf("MsgClass=%u ",ubx->msg_class); |
| printf("MsgId=%u ",ubx->msg_id); |
| printf("Length=%u ",ubx->length); |
| printf("Data= "); |
| for(i=0;i<ubx->length;i++) printf("%02X ",ubx->data[i]); |
| printf("\r\n"); |
| } |
| /branches/matosi/gps_ubx.h |
|---|
| 0,0 → 1,71 |
| //------------------------------------------------------------------------------ |
| // _ _ |
| // | | | | |
| // ___ _ __ ___ ___ _ _ ___| |_ ___ ___| |__ |
| // / _ \ '_ ` _ \/ __| | | / __| __/ _ \/ __| '_ \. |
| // | __/ | | | | \__ \ |_| \__ \ || __/ (__| | | | |
| // \___|_| |_| |_|___/\__, |___/\__\___|\___|_| |_| |
| // __/ | |
| // |___/ Engineering |
| // |
| // Filename: gps_ubx.h |
| // Description: |
| // |
| // Author: Martin Steppuhn |
| // History: 08.06.2007 Initial version |
| // |
| //------------------------------------------------------------------------------ |
| #ifndef GPS_UBX_H |
| #define GPS_UBX_H |
| /**** Includes ****************************************************************/ |
| #include "std_c.h" |
| /**** Preprocessing directives (#define) **************************************/ |
| /**** Type definitions (typedef) **********************************************/ |
| typedef struct ubx_struct |
| { |
| bool update; |
| uint8 msg_class; |
| uint8 msg_id; |
| uint8 length; |
| uint8 data[256]; |
| }; |
| typedef struct nav_sol_struct |
| { |
| uint8 update; |
| uint32 itow; // Time |
| uint8 gpsfix; // GPSfix |
| int32 ecef_x; // cm ECEF X coordinate |
| int32 ecef_y; // cm ECEF Y coordinate |
| int32 ecef_z; // cm ECEF Z coordinate |
| uint32 pacc; // cm 3D Position Accuracy Estimate |
| int32 ecefvx; // cm/s ECEF X velocity |
| int32 ecefvy; // cm/s ECEF Y velocity |
| int32 ecefvz; // cm/s ECEF Z velocity |
| uint32 sacc; // cm/s Speed Accuracy Estimate |
| uint16 pdop; // Position DOP |
| uint8 numsv; // Number of SVs used in Nav Solution |
| }; |
| /**** Global constants (extern) ***********************************************/ |
| /**** Global variables (extern) ***********************************************/ |
| struct ubx_struct ubx; |
| struct nav_sol_struct nav_sol; |
| /**** Global function prototypes **********************************************/ |
| extern void ubx_push(uint8 c); |
| extern void ubx_decode(struct ubx_struct *ubx); |
| #endif |
| /branches/matosi/main.c |
|---|
| 0,0 → 1,221 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| } |
| if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| { |
| GPS_Main(); |
| } |
| else |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| /branches/matosi/main.h |
|---|
| 0,0 → 1,93 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "gps_ubx.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/matosi/makefile |
|---|
| 0,0 → 1,391 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c gps_ubx.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/matosi/menu.c |
|---|
| 0,0 → 1,125 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 11,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i Kanäle ",PPM_in[7]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| case 11: |
| LCD_printfxy(0,0,"GPS " ); |
| LCD_printfxy(0,1,"GPS_Nick %3i",GPS_Nick); |
| LCD_printfxy(0,2,"GPS_Roll: %3i",GPS_Roll); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/matosi/menu.h |
|---|
| 0,0 → 1,5 |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/matosi/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/matosi/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/matosi/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/matosi/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| index++; |
| /* if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen */ |
| } |
| } |
| } |
| /branches/matosi/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/matosi/std_c.h |
|---|
| 0,0 → 1,49 |
| //*---------------------------------------------------------------------------- |
| //* ATMEL Microcontroller Software Support - ROUSSET - |
| //*---------------------------------------------------------------------------- |
| //* The software is delivered "AS IS" without warranty or condition of any |
| //* kind, either express, implied or statutory. This includes without |
| //* limitation any warranty or condition with respect to merchantability or |
| //* fitness for any particular purpose, or against the infringements of |
| //* intellectual property rights of others. |
| //*---------------------------------------------------------------------------- |
| //* File Name : std_c.h |
| //* Object : Standard C Header File |
| //* |
| //* 1.0 01/04/00 JCZ : Creation |
| //*---------------------------------------------------------------------------- |
| #ifndef std_c_h |
| #define std_c_h |
| /*----------------*/ |
| /* Standard types */ |
| /*----------------*/ |
| typedef unsigned char uint8; |
| typedef unsigned short uint16; |
| typedef unsigned long uint32; |
| typedef unsigned char bool; |
| typedef signed char int8; |
| typedef signed short int16; |
| typedef signed long int32; |
| /* 16-bit Flash Data type */ |
| typedef volatile unsigned short flash_word ; |
| /* AT91 Register type */ |
| typedef volatile unsigned int at91_reg ; |
| /*----------------*/ |
| /* Boolean values */ |
| /*----------------*/ |
| #define true 1 |
| #define false 0 |
| #endif /* std_c_h */ |
| /branches/matosi/timer0.c |
|---|
| 0,0 → 1,139 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<2); |
| } |
| else |
| PORTD &= ~(1<<2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = -TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/matosi/timer0.h |
|---|
| 0,0 → 1,14 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| /branches/matosi/twimaster.c |
|---|
| 0,0 → 1,131 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| } |
| /branches/matosi/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/matosi/uart.c |
|---|
| 0,0 → 1,331 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| ubx_push(SioTmp); // push die GPS daten in die GPS routine |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned int tmp_int_arr1[1]; |
| unsigned int tmp_int_arr2[2]; |
| unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| unsigned char tmp_char_arr3[3]; |
| unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/matosi/uart.h |
|---|
| 0,0 → 1,93 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/matosi/version.txt |
|---|
| 0,0 → 1,57 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| ++ martosi |
| Ich habe den von mart veröffentlichen code 1 zu 1 verbaut und noch das fehlende |
| und später erklärte std_c.h hinzugefügt. Das ganze ist ein avrstudio4 Projekt. |
| Viel Spass damit und schaut nach Updates. |
| Die Lizenz lautet alles geht nix muss ausser bestehende lizenzen beachten!! |
| Das ganze ist Beerware also wer möchte darf mart und/oder mir ein Bier spendieren. |
| Osiair |