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| :06F11A00010170FF010F6E |
| :00000001FF |
| /branches/metro/v0.82a metro_Akku+/Flight-Ctrl_MEGA644_V0_82a_SVN_akku001.map |
|---|
| 0,0 → 1,2111 |
| Archive member included because of file (symbol) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| fc.o (__addsf3) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) (__addsf3x) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| fc.o (__fixunssfsi) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| fc.o (__floatsisf) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_merge) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) (__fp_split3) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) (__fp_zero) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) (__fp_nan) |
| libfc644.a(libfc.o) jetimenu.o (LIBFC_JetiBox_Putchar) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_mulsi3.o) |
| uart.o (__mulsi3) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodqi4.o) |
| main.o (__udivmodqi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodhi4.o) |
| timer0.o (__udivmodhi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| uart.o (__divmodhi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodsi4.o) |
| libfc644.a(libfc.o) (__udivmodsi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
| uart.o (__divmodsi4) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_prologue.o) |
| uart.o (__prologue_saves__) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_epilogue.o) |
| uart.o (__epilogue_restores__) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
| analog.o (__tablejump2__) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| main.o (__do_copy_data) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| main.o (__do_clear_bss) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
| uart.o (memcpy_P) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
| libfc644.a(libfc.o) (memchr) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| eeprom.o (__eeprom_read_byte_1F2021) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
| eeprom.o (__eeprom_read_block_1F2021) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
| eeprom.o (__eeprom_read_word_1F2021) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| eeprom.o (__eeprom_write_byte_1F2021) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
| eeprom.o (__eeprom_write_word_1F2021) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
| eeprom.o (__eeprom_write_block_1F2021) |
| Allocating common symbols |
| Common symbol size file |
| Motors5max 0x1 fc.o |
| KopplungsteilNickRoll |
| 0x2 fc.o |
| MesswertGierBias 0x2 fc.o |
| SPITransferCompleted |
| 0x1 spi.o |
| KopplungsteilRollNick |
| 0x2 fc.o |
| RequiredMotors 0x1 eeprom.o |
| MotorsTmax 0x2 fc.o |
| Parameter_Servo4 0x1 fc.o |
| GPSInfo 0x8 spi.o |
| EE_Parameter 0x74 eeprom.o |
| DiffRoll 0x2 fc.o |
| MesswertRoll 0x2 fc.o |
| pos2 0x1 fc.o |
| TrimNick 0x2 fc.o |
| Parameter_NaviGpsP 0x1 fc.o |
| loop2 0x1 fc.o |
| ErsatzKompassInGrad |
| 0x2 fc.o |
| GyroFaktorGier 0x1 fc.o |
| MittelIntegralRoll2 |
| 0x4 fc.o |
| Parameter_NaviGpsModeControl |
| 0x1 fc.o |
| TrimRoll 0x2 fc.o |
| SPI_TX_Buffer 0x2 spi.o |
| Motors2max 0x1 fc.o |
| MesswertNick 0x2 fc.o |
| NC_Version 0x5 spi.o |
| SPI_BufferIndex 0x1 spi.o |
| Aktuell_ay 0x2 analog.o |
| Motors5 0x1 fc.o |
| ToNaviCtrl 0x20 spi.o |
| Data3D 0xe uart.o |
| Parameter_NaviGpsI 0x1 fc.o |
| Capacity 0x9 capacity.o |
| Timer3D 0x2 uart.o |
| SPI_ChkSum 0x1 spi.o |
| RohMesswertRoll 0x2 fc.o |
| MIN_GAS 0x1 fc.o |
| Parameter_NaviGpsACC |
| 0x1 fc.o |
| MittelIntegralNick2 |
| 0x4 fc.o |
| Channels 0x1 rc.o |
| Debug_Timer 0x2 uart.o |
| RohMesswertNick 0x2 fc.o |
| IntegralFaktorGier 0x1 fc.o |
| fdknerTjg5i83th589v44 |
| 0x6 libfc644.a(libfc.o) |
| DiffNick 0x2 fc.o |
| MittelIntegralNick 0x4 fc.o |
| Parameter_Servo3 0x1 fc.o |
| VersionInfo 0xa uart.o |
| Motors2 0x1 fc.o |
| Motors0 0x1 fc.o |
| MotorTest 0x10 uart.o |
| SPI_RxBufferIndex 0x1 spi.o |
| NaviAccNick 0x2 fc.o |
| Parameter_J16Timing |
| 0x1 fc.o |
| MittelIntegralRoll 0x4 fc.o |
| NeutralAccZ_float 0x4 analog.o |
| Motors6 0x1 fc.o |
| Parameter_Servo5 0x1 fc.o |
| SPI_RxDataValid 0x1 spi.o |
| Motors3max 0x1 fc.o |
| PPM_in 0x34 rc.o |
| pos1 0x1 fc.o |
| WinkelOut 0x8 uart.o |
| ExternControl 0xb uart.o |
| IntegralFaktor 0x1 fc.o |
| Motors7 0x1 fc.o |
| Motors0max 0x1 fc.o |
| Aktuell_az 0x2 analog.o |
| Motors4max 0x1 fc.o |
| Motors3 0x1 fc.o |
| FromNaviCtrl 0x1a spi.o |
| StartLuftdruck 0x2 analog.o |
| _printf_P 0x2 main.o |
| tmp_motorwert 0x18 fc.o |
| Kompass_Timer 0x2 uart.o |
| RxdBuffer 0xaa uart.o |
| Mixer 0x4e eeprom.o |
| Motors1max 0x1 fc.o |
| Display_Timer 0x2 uart.o |
| Parameter_NaviOperatingRadius |
| 0x1 fc.o |
| TxdBuffer 0xaa uart.o |
| SPI_Buffer 0x1a spi.o |
| Aktuell_Nick 0x2 analog.o |
| Aktuell_Roll 0x2 analog.o |
| IlIlIlIIIIIIIlIllllll |
| 0x23 libfc644.a(libfc.o) |
| pos3 0x1 fc.o |
| Aktuell_ax 0x2 analog.o |
| Parameter_NaviWindCorrection |
| 0x1 fc.o |
| s 0x1 fc.o |
| h 0x1 fc.o |
| Motors4 0x1 fc.o |
| Mittelwert_AccNick 0x2 fc.o |
| Parameter_NaviSpeedCompensation |
| 0x1 fc.o |
| DebugOut 0x42 uart.o |
| DruckOffsetSetting 0x1 analog.o |
| FromNaviCtrl_Value 0x5 spi.o |
| BLConfig 0x8 twimaster.o |
| Motor 0x60 twimaster.o |
| Aktuell_Gier 0x2 analog.o |
| Parameter_J17Timing |
| 0x1 fc.o |
| MAX_GAS 0x1 fc.o |
| Motors1 0x1 fc.o |
| loop1 0x1 fc.o |
| Motors6max 0x1 fc.o |
| MesswertGier 0x2 fc.o |
| Parameter_J16Bitmask |
| 0x1 fc.o |
| ConfirmFrame 0x1 uart.o |
| NaviAccRoll 0x2 fc.o |
| GyroFaktor 0x1 fc.o |
| m 0x1 fc.o |
| ErsatzKompass 0x4 fc.o |
| Mittelwert_AccRoll 0x2 fc.o |
| Parameter_NaviGpsGain |
| 0x1 fc.o |
| fgfdogjWEti45e9tjh394 |
| 0x4 libfc644.a(libfc.o) |
| PPM_diff 0x34 rc.o |
| Parameter_ExternalControl |
| 0x1 fc.o |
| Motors7max 0x1 fc.o |
| loop3 0x1 fc.o |
| Parameter_J17Bitmask |
| 0x1 fc.o |
| Parameter_NaviGpsD 0x1 fc.o |
| Memory Configuration |
| Name Origin Length Attributes |
| text 0x00000000 0x00020000 xr |
| data 0x00800060 0x0000ffa0 rw !x |
| eeprom 0x00810000 0x00010000 rw !x |
| *default* 0x00000000 0xffffffff |
| Linker script and memory map |
| Address of section .data set to 0x800100 |
| LOAD C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| LOAD main.o |
| LOAD uart.o |
| LOAD timer0.o |
| LOAD analog.o |
| LOAD menu.o |
| LOAD eeprom.o |
| LOAD twimaster.o |
| LOAD rc.o |
| LOAD fc.o |
| LOAD GPS.o |
| LOAD spi.o |
| LOAD led.o |
| LOAD Spektrum.o |
| LOAD mymath.o |
| LOAD jetimenu.o |
| LOAD capacity.o |
| LOAD debug.o |
| LOAD isqrt.o |
| LOAD C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a |
| LOAD libfc644.a |
| LOAD C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a |
| LOAD C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a |
| LOAD C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a |
| .hash |
| *(.hash) |
| .dynsym |
| *(.dynsym) |
| .dynstr |
| *(.dynstr) |
| .gnu.version |
| *(.gnu.version) |
| .gnu.version_d |
| *(.gnu.version_d) |
| .gnu.version_r |
| *(.gnu.version_r) |
| .rel.init |
| *(.rel.init) |
| .rela.init |
| *(.rela.init) |
| .rel.text |
| *(.rel.text) |
| *(.rel.text.*) |
| *(.rel.gnu.linkonce.t*) |
| .rela.text |
| *(.rela.text) |
| *(.rela.text.*) |
| *(.rela.gnu.linkonce.t*) |
| .rel.fini |
| *(.rel.fini) |
| .rela.fini |
| *(.rela.fini) |
| .rel.rodata |
| *(.rel.rodata) |
| *(.rel.rodata.*) |
| *(.rel.gnu.linkonce.r*) |
| .rela.rodata |
| *(.rela.rodata) |
| *(.rela.rodata.*) |
| *(.rela.gnu.linkonce.r*) |
| .rel.data |
| *(.rel.data) |
| *(.rel.data.*) |
| *(.rel.gnu.linkonce.d*) |
| .rela.data |
| *(.rela.data) |
| *(.rela.data.*) |
| *(.rela.gnu.linkonce.d*) |
| .rel.ctors |
| *(.rel.ctors) |
| .rela.ctors |
| *(.rela.ctors) |
| .rel.dtors |
| *(.rel.dtors) |
| .rela.dtors |
| *(.rela.dtors) |
| .rel.got |
| *(.rel.got) |
| .rela.got |
| *(.rela.got) |
| .rel.bss |
| *(.rel.bss) |
| .rela.bss |
| *(.rela.bss) |
| .rel.plt |
| *(.rel.plt) |
| .rela.plt |
| *(.rela.plt) |
| .text 0x00000000 0xf02a |
| *(.vectors) |
| .vectors 0x00000000 0x7c C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| 0x00000000 __vectors |
| 0x00000000 __vector_default |
| 0x0000007c __ctors_start = . |
| *(.ctors) |
| 0x0000007c __ctors_end = . |
| 0x0000007c __dtors_start = . |
| *(.dtors) |
| 0x0000007c __dtors_end = . |
| *(.progmem.gcc*) |
| .progmem.gcc_sw_table |
| 0x0000007c 0x24 analog.o |
| .progmem.gcc_sw_table |
| 0x000000a0 0x24 menu.o |
| .progmem.gcc_sw_table |
| 0x000000c4 0x2e twimaster.o |
| *(.progmem*) |
| .progmem.data 0x000000f2 0x120 main.o |
| .progmem.data 0x00000212 0x215 uart.o |
| 0x00000212 ANALOG_TEXT |
| .progmem.data 0x00000427 0x39 analog.o |
| .progmem.data 0x00000460 0x515 menu.o |
| .progmem.data 0x00000975 0xa2 eeprom.o |
| .progmem.data 0x00000a17 0x18 fc.o |
| .progmem.data 0x00000a2f 0xb6 mymath.o |
| 0x00000a2f pgm_sinlookup |
| .progmem.data 0x00000ae5 0xe7 jetimenu.o |
| 0x00000ae5 JetiBox_Menu |
| .progmem.data 0x00000bcc 0x1aa libfc644.a(libfc.o) |
| 0x00000bf4 Msg1 |
| 0x00000c5a Rec_Spektrum_LOW_RES |
| 0x00000bcc Msg2 |
| 0x00000c4c Rec_Jeti |
| 0x00000ca8 Rec_PPM |
| 0x00000c44 Rec_ACT_DSL |
| 0x00000c96 Rec_Spektrum |
| 0x00000c7d Rec_Spektrum_HI_RES |
| 0x00000d76 . = ALIGN (0x2) |
| *(.init0) |
| *(.init1) |
| *(.init2) |
| .init2 0x00000d76 0xc C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| *(.init3) |
| *(.init4) |
| .init4 0x00000d82 0x16 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| 0x00000d82 __do_copy_data |
| .init4 0x00000d98 0x10 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| 0x00000d98 __do_clear_bss |
| *(.init5) |
| .init5 0x00000da8 0x52 libfc644.a(libfc.o) |
| 0x00000da8 ndfcvbghs |
| *(.init6) |
| *(.init7) |
| *(.init8) |
| *(.init9) |
| .init9 0x00000dfa 0x4 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| *(.text) |
| .text 0x00000dfe 0x4 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| 0x00000dfe __vector_1 |
| 0x00000dfe __bad_interrupt |
| 0x00000dfe __vector_6 |
| 0x00000dfe __vector_3 |
| 0x00000dfe __vector_23 |
| 0x00000dfe __vector_25 |
| 0x00000dfe __vector_11 |
| 0x00000dfe __vector_13 |
| 0x00000dfe __vector_17 |
| 0x00000dfe __vector_19 |
| 0x00000dfe __vector_7 |
| 0x00000dfe __vector_27 |
| 0x00000dfe __vector_5 |
| 0x00000dfe __vector_4 |
| 0x00000dfe __vector_2 |
| 0x00000dfe __vector_21 |
| 0x00000dfe __vector_15 |
| 0x00000dfe __vector_29 |
| 0x00000dfe __vector_8 |
| 0x00000dfe __vector_14 |
| 0x00000dfe __vector_10 |
| 0x00000dfe __vector_16 |
| .text 0x00000e02 0x9fc main.o |
| 0x00000e6c LipoDetection |
| 0x00000e02 CalMk3Mag |
| 0x00000f80 main |
| .text 0x000017fe 0x1436 uart.o |
| 0x000017fe __vector_22 |
| 0x0000260e UART_Init |
| 0x00001d0a BearbeiteRxDaten |
| 0x00001a5e AddCRC |
| 0x00002694 DatenUebertragung |
| 0x00001c36 Decode64 |
| 0x00001abe SendOutData |
| 0x0000186a __vector_20 |
| 0x000025fe uart_putchar |
| .text 0x00002c34 0x948 timer0.o |
| 0x00002e4a SetDelay |
| 0x00002ebe TIMER2_Init |
| 0x00002f1c Timer_Init |
| 0x00002f4a CalculateServo |
| 0x00002e5c CheckDelay |
| 0x00002e74 Delay_ms |
| 0x00002e8e Delay_ms_Mess |
| 0x00003294 __vector_9 |
| 0x00002c34 __vector_18 |
| .text 0x0000357c 0xa48 analog.o |
| 0x0000380c __vector_24 |
| 0x0000363e SucheGyroOffset |
| 0x0000357c ADC_Init |
| 0x00003588 SucheLuftruckOffset |
| .text 0x00003fc4 0x15aa menu.o |
| 0x00003fc4 LcdClear |
| 0x00003fd6 Menu_Putchar |
| 0x00003fec Menu |
| .text 0x0000556e 0x846 eeprom.o |
| 0x000059ae SetActiveParamSet |
| 0x00005590 EEProm_Checksum |
| 0x00005916 GetParamByte |
| 0x00005898 ParamSet_DefaultSet3 |
| 0x00005a4c MixerTable_ReadFromEEProm |
| 0x0000556e RAM_Checksum |
| 0x00005602 CommonDefaults |
| 0x00005922 SetParamByte |
| 0x0000592c GetParamWord |
| 0x00005936 SetParamWord |
| 0x00005acc MixerTable_Default |
| 0x00005940 ParamSet_ReadFromEEProm |
| 0x00005a90 MixerTable_WriteToEEProm |
| 0x000059c8 ParamSet_WriteToEEProm |
| 0x00005b78 SetDefaultParameter |
| 0x00005bf2 ParamSet_Init |
| 0x00005b5a GetActiveParamSet |
| 0x0000581a ParamSet_DefaultSet2 |
| 0x0000579c ParamSet_DefaultSet1 |
| 0x000055b8 ParamSet_DefaultStickMapping |
| .text 0x00005db4 0x93a twimaster.o |
| 0x00005e08 I2C_Reset |
| 0x00005db4 I2C_Init |
| 0x0000644c I2C_WriteBLConfig |
| 0x000065a0 I2C_ReadBLConfig |
| 0x00005e4c __vector_26 |
| .text 0x000066ee 0x4f8 rc.o |
| 0x00006726 __vector_12 |
| 0x000066ee rc_sum_init |
| .text 0x00006be6 0x5960 fc.o |
| 0x00006be6 CopyDebugValues |
| 0x0000843e SendMotorData |
| 0x000074da Mittelwert |
| 0x00006dfa Piep |
| 0x00006e3c CalibrierMittelwert |
| 0x00006f7e SetNeutral |
| 0x000084b8 ParameterZuordnung |
| 0x000089f2 MotorRegler |
| .text 0x0000c546 0x54 GPS.o |
| 0x0000c546 GPS_Neutral |
| 0x0000c588 GPS_BerechneZielrichtung |
| .text 0x0000c59a 0x89a spi.o |
| 0x0000c6f2 UpdateSPI_Buffer |
| 0x0000cdb2 SPI_StartTransmitPacket |
| 0x0000c5dc SPI_TransmitByte |
| 0x0000c59a SPI_MasterInit |
| .text 0x0000ce34 0x226 led.o |
| 0x0000ce34 LED_Init |
| 0x0000ce52 LED_Update |
| .text 0x0000d05a 0x348 Spektrum.o |
| 0x0000d05a SpektrumUartInit |
| 0x0000d110 SpektrumParser |
| .text 0x0000d3a2 0xa8 mymath.o |
| 0x0000d43a c_cos_8192 |
| 0x0000d3a2 c_sin_8192 |
| .text 0x0000d44a 0x5a6 jetimenu.o |
| 0x0000d758 Menu_Battery |
| 0x0000d44a Menu_Status |
| 0x0000d812 Menu_PosInfo |
| 0x0000d630 Menu_Temperature |
| 0x0000d946 JetiBox_Update |
| .text 0x0000d9f0 0x1fa capacity.o |
| 0x0000da32 Capacity_Update |
| 0x0000d9f0 Capacity_Init |
| .text 0x0000dbea 0x100 isqrt.o |
| 0x0000dbea isqrt32 |
| 0x0000dc96 ihypot |
| 0x0000dc54 isqrt16 |
| .text 0x0000dcea 0xfb4 libfc644.a(libfc.o) |
| 0x0000ebf8 __vector_28 |
| 0x0000e92a LIBFC_ReceiverInit |
| 0x0000dda0 FGRT0589rge90gj459gg4 |
| 0x0000ea5e LIBFC_Init |
| 0x0000e06e LIBFC_JetiBox_Clear |
| 0x0000dfc6 FGtj76uzh56z3grEg5t45 |
| 0x0000e1f0 __vector_30 |
| 0x0000e080 INiuzBtergGIBuB76T0G5 |
| 0x0000e048 LIBFC_JetiBox_Putchar |
| 0x0000e34e IIllllIllIlllIIlllII |
| 0x0000ebd6 LIBFC_Polling |
| 0x0000e162 a48784362857632195659 |
| 0x0000e30a fgmjgnrtuth587th9rTrw |
| 0x0000e890 LIBFC_GetCPUType |
| 0x0000dcea fomklkdtn89SFGrsgt9rf |
| 0x0000e2ac njkvnfuhgbuzrgezgf483 |
| 0x0000e148 KLNMIOHMUHG76GFGr43r3 |
| 0x0000ded2 DFGeefWEF43tgt5uGreg5 |
| 0x0000e32c wqqeRT45jth8g758735h4 |
| 0x0000e8e8 awokdjwqdjcjuhcuweih |
| 0x0000e062 LIBFC_JetiBox_SetPos |
| 0x0000e2da lkvgnfdgun57th38rgh84 |
| .text 0x0000ec9e 0x1a C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
| 0x0000ec9e memcpy_P |
| .text 0x0000ecb8 0x1a C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
| 0x0000ecb8 memchr |
| 0x0000ecd2 . = ALIGN (0x2) |
| *(.text.*) |
| .text.fplib 0x0000ecd2 0xa C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| 0x0000ecd2 __subsf3 |
| 0x0000ecd4 __addsf3 |
| .text.fplib 0x0000ecdc 0x7c C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| 0x0000ecdc __addsf3x |
| .text.fplib 0x0000ed58 0x36 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| 0x0000ed58 __fixsfsi |
| 0x0000ed7e __fp_lneg |
| 0x0000ed58 __fixunssfsi |
| .text.fplib 0x0000ed8e 0x18 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| 0x0000ed92 __floatsisf |
| 0x0000ed8e __floatunssisf |
| .text.fplib 0x0000eda6 0x3a C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| 0x0000edb0 __fp_merge |
| .text.fplib 0x0000ede0 0x52 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| 0x0000ede0 __fp_split3 |
| 0x0000ede6 __fp_split2 |
| 0x0000edf8 __fp_split1 |
| 0x0000ee14 __fp_split_a |
| .text.fplib 0x0000ee32 0xa C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| 0x0000ee32 __fp_zero |
| 0x0000ee38 __fp_zerox |
| .text.fplib 0x0000ee3c 0x6 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| 0x0000ee3c __fp_nanERANGE |
| 0x0000ee3c __fp_nan |
| 0x0000ee3c __fp_nanEDOM |
| 0x0000ee3c __fp_nanx |
| .text.libgcc 0x0000ee42 0x3e C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_mulsi3.o) |
| 0x0000ee42 __mulsi3 |
| .text.libgcc 0x0000ee80 0x18 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodqi4.o) |
| 0x0000ee80 __udivmodqi4 |
| .text.libgcc 0x0000ee98 0x28 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodhi4.o) |
| 0x0000ee98 __udivmodhi4 |
| .text.libgcc 0x0000eec0 0x26 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| 0x0000eec0 __divmodhi4 |
| 0x0000eec0 _div |
| .text.libgcc 0x0000eee6 0x44 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodsi4.o) |
| 0x0000eee6 __udivmodsi4 |
| .text.libgcc 0x0000ef2a 0x36 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
| 0x0000ef2a __divmodsi4 |
| .text.libgcc 0x0000ef60 0x38 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_prologue.o) |
| 0x0000ef60 __prologue_saves__ |
| .text.libgcc 0x0000ef98 0x36 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_epilogue.o) |
| 0x0000ef98 __epilogue_restores__ |
| .text.libgcc 0x0000efce 0xc C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
| 0x0000efd2 __tablejump__ |
| 0x0000efce __tablejump2__ |
| .text.eeprom 0x0000efda 0x10 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| 0x0000efda __eeprom_read_byte_1F2021 |
| .text.eeprom 0x0000efea 0xa C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
| 0x0000efea __eeprom_read_block_1F2021 |
| .text.eeprom 0x0000eff4 0xa C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
| 0x0000eff4 __eeprom_read_word_1F2021 |
| .text.eeprom 0x0000effe 0x18 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| 0x0000effe __eeprom_write_byte_1F2021 |
| .text.eeprom 0x0000f016 0xa C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
| 0x0000f016 __eeprom_write_word_1F2021 |
| .text.eeprom 0x0000f020 0xa C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
| 0x0000f020 __eeprom_write_block_1F2021 |
| 0x0000f02a . = ALIGN (0x2) |
| *(.fini9) |
| *(.fini8) |
| *(.fini7) |
| *(.fini6) |
| *(.fini5) |
| *(.fini4) |
| *(.fini3) |
| *(.fini2) |
| *(.fini1) |
| *(.fini0) |
| 0x0000f02a _etext = . |
| .data 0x00800100 0xf6 load address 0x0000f02a |
| 0x00800100 PROVIDE (__data_start, .) |
| *(.data) |
| .data 0x00800100 0x4 main.o |
| 0x00800102 PlatinenVersion |
| 0x00800100 BattLowVoltageWarning |
| 0x00800101 SendVersionToNavi |
| .data 0x00800104 0x4 uart.o |
| 0x00800104 MeineSlaveAdresse |
| 0x00800105 PcZugriff |
| 0x00800107 UebertragungAbgeschlossen |
| 0x00800106 DebugTextAnforderung |
| .data 0x00800108 0x8 timer0.o |
| 0x0080010a ServoRollOffset |
| 0x0080010e CalculateServoSignals |
| 0x00800108 BeepMuster |
| 0x0080010c ServoNickOffset |
| .data 0x00800110 0x10 analog.o |
| 0x0080011e UBat |
| 0x00800113 AnalogOffsetNick |
| 0x00800111 AnalogOffsetGier |
| 0x0080011a HiResRoll |
| 0x00800110 AdReady |
| 0x00800112 AnalogOffsetRoll |
| 0x00800114 MessLuftdruck |
| 0x00800116 Luftdruck |
| 0x0080011c HiResNick |
| .data 0x00800120 0x51 menu.o |
| 0x00800120 MaxMenue |
| 0x00800121 DisplayBuff |
| .data 0x00800171 0x21 eeprom.o |
| .data 0x00800192 0x2 twimaster.o |
| 0x00800192 I2CTimeout |
| .data 0x00800194 0x1 rc.o |
| 0x00800194 NewPpmData |
| .data 0x00800195 0x4f fc.o |
| 0x008001de settingdest |
| 0x008001dc keynumber |
| 0x008001bc Parameter_CouplingYawCorrection |
| 0x008001d5 Umschlag180Nick |
| 0x008001cf Ki |
| 0x008001ce Parameter_Luftdruck_D |
| 0x008001bb Parameter_DynamicStability |
| 0x008001c5 Parameter_Gyro_Gier_P |
| 0x008001ca Parameter_KompassWirkung |
| 0x008001c1 Parameter_ServoNickControl |
| 0x008001c7 Parameter_Gyro_P |
| 0x008001c8 Parameter_Gyro_D |
| 0x008001cc Parameter_Hoehe_P |
| 0x008001bd Parameter_AchsKopplung2 |
| 0x0080019a ExternHoehenValue |
| 0x008001cb Parameter_Hoehe_ACC_Wirkung |
| 0x00800196 GIER_GRAD_FAKTOR |
| 0x008001bf Parameter_LoopGasLimit |
| 0x008001be Parameter_AchsKopplung1 |
| 0x0080019c sintab |
| 0x008001db updatemotors |
| 0x008001c6 Parameter_Gyro_I |
| 0x008001c4 Parameter_Gyro_Gier_I |
| 0x008001d1 Umschlag180Roll |
| 0x008001cd Parameter_MaxHoehe |
| 0x008001c2 Parameter_I_Faktor |
| 0x008001c9 Parameter_Hoehe_GPS_Z |
| 0x00800195 VarioCharacter |
| 0x008001c0 Parameter_ServoRollControl |
| 0x008001d9 KompassSignalSchlecht |
| 0x008001c3 Parameter_Gier_P |
| .data 0x008001e4 0xb spi.o |
| 0x008001e4 SPI_CommandSequence |
| 0x008001ee FromNC_Rotate_C |
| 0x008001ed NaviDataOkay |
| .data 0x008001ef 0x2 led.o |
| 0x008001f0 J16Mask |
| 0x008001ef J17Mask |
| .data 0x008001f1 0x1 Spektrum.o |
| .data 0x008001f2 0x4 libfc644.a(libfc.o) |
| 0x008001f3 kf089uwjef89234hffhh |
| 0x008001f2 md5 |
| 0x008001f4 f8jhreghreGerg45gE542 |
| *(.gnu.linkonce.d*) |
| 0x008001f6 . = ALIGN (0x2) |
| 0x008001f6 _edata = . |
| 0x008001f6 PROVIDE (__data_end, .) |
| .bss 0x008001f6 0x6df |
| 0x008001f6 PROVIDE (__bss_start, .) |
| *(.bss) |
| .bss 0x008001f6 0x8 main.o |
| 0x008001f7 FlugSekunden |
| 0x008001fb FlugMinuten |
| 0x008001f9 FlugMinutenGesamt |
| 0x008001f6 FoundMotors |
| .bss 0x008001fe 0x22 uart.o |
| 0x00800210 SioTmp |
| 0x00800201 Display_Interval |
| 0x00800208 PC_DebugTimeout |
| 0x00800213 GetVersionAnforderung |
| 0x0080020e NeueKoordinateEmpfangen |
| 0x00800203 Intervall3D |
| 0x00800214 DebugDataAnforderung |
| 0x00800207 PC_MotortestActive |
| 0x0080020f NeuerDatensatzEmpfangen |
| 0x00800215 DebugDisplayAnforderung |
| 0x00800205 DebugDataIntervall |
| 0x0080020d CntCrcError |
| 0x008001ff AboTimeOut |
| 0x00800212 GetPPMChannelAnforderung |
| 0x00800216 DebugDisplayAnforderung1 |
| 0x00800211 DisplayLine |
| 0x00800217 GetExternalControl |
| 0x0080020a pRxData |
| 0x00800209 RxDataLen |
| 0x0080020c AnzahlEmpfangsBytes |
| 0x008001fe JetiUpdateModeActive |
| .bss 0x00800220 0x17 timer0.o |
| 0x00800227 SendSPI |
| 0x00800224 RemainingPulse |
| 0x00800228 beeptime |
| 0x00800222 ServoNickValue |
| 0x0080022d CountMilliseconds |
| 0x00800226 ServoActive |
| 0x0080022a cntKompass |
| 0x0080022c UpdateMotor |
| 0x00800220 ServoRollValue |
| .bss 0x00800237 0x32 analog.o |
| 0x00800240 messanzahl_AccHoch |
| 0x00800237 ZaehlMessungen |
| 0x00800239 VarioMeter |
| 0x0080023b ExpandBaro |
| 0x00800249 AdWertRoll |
| 0x00800243 AdWertAccNick |
| 0x0080024b AdWertNick |
| 0x0080024d AdWertGierFilter |
| 0x00800247 AdWertGier |
| 0x00800251 AdWertNickFilter |
| 0x00800245 AdWertAccRoll |
| 0x0080023c SummenHoehe |
| 0x0080024f AdWertRollFilter |
| 0x00800241 AdWertAccHoch |
| .bss 0x00800269 0x3 menu.o |
| 0x0080026b DispPtr |
| 0x0080026a MenuePunkt |
| 0x00800269 RemoteKeys |
| .bss 0x0080026c 0x10 twimaster.o |
| 0x00800274 motor_write |
| 0x00800270 BLFlags |
| 0x00800276 twi_state |
| 0x00800271 MissingMotor |
| 0x00800273 motor_read |
| 0x00800275 dac_channel |
| 0x00800272 I2C_TransferActive |
| 0x0080026e BLConfig_WriteMask |
| 0x0080026c BLConfig_ReadMask |
| .bss 0x0080027c 0x71 rc.o |
| 0x0080027c tmpChannels |
| .bss 0x008002ed 0xfd fc.o |
| 0x00800341 Mess_Integral_Gier2 |
| 0x0080030d LageKorrekturRoll |
| 0x0080031b StickGier |
| 0x00800303 Looping_Oben |
| 0x00800351 Mess_IntegralNick2 |
| 0x00800371 IntegralNick2 |
| 0x00800321 SenderOkay |
| 0x008002fe Parameter_UserParam5 |
| 0x0080035d IntegralAccZ |
| 0x00800359 Integral_Gier |
| 0x0080031f StickNick |
| 0x00800318 MotorenEin |
| 0x00800379 ControlHeading |
| 0x00800308 Looping_Nick |
| 0x00800365 IntegralAccNick |
| 0x00800313 HoehenWert |
| 0x00800349 Mess_IntegralRoll2 |
| 0x008002f4 ExternStickGier |
| 0x00800304 Looping_Unten |
| 0x008002f0 MaxStickRoll |
| 0x008002ee modell_fliegt |
| 0x00800302 Parameter_UserParam1 |
| 0x00800388 AdNeutralRoll |
| 0x00800309 HoverGas |
| 0x00800306 Looping_Links |
| 0x00800375 IntegralNick |
| 0x00800335 Mess_Integral_Hoch |
| 0x008002fc Parameter_UserParam7 |
| 0x0080038c BaroExpandActive |
| 0x0080037c NaviCntAcc |
| 0x0080032d TrichterFlug |
| 0x00800380 NeutralAccX |
| 0x00800339 SummeRoll |
| 0x0080038f CurrentOffset |
| 0x00800345 Mess_Integral_Gier |
| 0x00800317 StartTrigger |
| 0x0080030b LageKorrekturNick |
| 0x008002ff Parameter_UserParam4 |
| 0x00800331 KompassStartwert |
| 0x00800319 StickGas |
| 0x00800307 Looping_Roll |
| 0x008002fa CareFree |
| 0x008002f8 ExternStickNick |
| 0x00800301 Parameter_UserParam2 |
| 0x00800382 StartNeutralNick |
| 0x00800333 KompassValue |
| 0x00800361 IntegralAccRoll |
| 0x0080032f KompassRichtung |
| 0x0080034d Mess_IntegralRoll |
| 0x0080038e pos4 |
| 0x0080031d StickRoll |
| 0x0080038a AdNeutralNick |
| 0x0080037e NeutralAccY |
| 0x00800322 Poti |
| 0x0080037a NeutralAccZ |
| 0x008002fd Parameter_UserParam6 |
| 0x00800369 IntegralRoll2 |
| 0x008002f2 MaxStickNick |
| 0x008002ed FC_StatusFlags |
| 0x00800300 Parameter_UserParam3 |
| 0x00800386 AdNeutralGier |
| 0x00800384 StartNeutralRoll |
| 0x00800305 Looping_Rechts |
| 0x008002f6 ExternStickRoll |
| 0x0080032e HoehenReglerAktiv |
| 0x0080030f SollHoehe |
| 0x008002fb Parameter_UserParam8 |
| 0x0080032b GierGyroFehler |
| 0x00800355 Mess_IntegralNick |
| 0x0080033d SummeNick |
| 0x0080036d IntegralRoll |
| .bss 0x008003ea 0x18 GPS.o |
| 0x008003ee GpsZiel_X |
| 0x008003fa GPS_Roll2 |
| 0x008003f2 GpsAktuell_Y |
| 0x00800400 GPS_Nick |
| 0x008003fc GPS_Nick2 |
| 0x008003f6 GpsAktuell_X |
| 0x008003ea GpsZiel_Y |
| 0x008003fe GPS_Roll |
| .bss 0x00800402 0x5 spi.o |
| 0x00800404 FromNC_Rotate_S |
| 0x00800402 NC_ErrorCode |
| 0x00800403 SPI_CommandCounter |
| .bss 0x00800407 0xb led.o |
| 0x00800409 LED2_Timing |
| 0x0080040b LED1_Timing |
| 0x00800407 J17Blinkcount |
| 0x00800408 J16Blinkcount |
| .bss 0x00800412 0x5 Spektrum.o |
| 0x00800412 SpektrumTimer |
| .bss 0x00800417 0x2 jetimenu.o |
| .bss 0x00800419 0xa capacity.o |
| 0x00800419 update_timer |
| .bss 0x00800423 0xc libfc644.a(libfc.o) |
| 0x00800424 IllIIllIlIlIlIllllII |
| 0x00800427 DJFIORJHcvjr894hjhffj |
| 0x00800426 IIIIIlIllllllIIllIIll |
| 0x00800423 weiuncefcnsavsgvghjc |
| 0x00800428 fij48zrhoih3498fhfo90 |
| 0x00800429 fojk48fj478fhw7fhw39 |
| 0x00800425 XSasC2389ufwejiCjuz32 |
| *(COMMON) |
| COMMON 0x0080042f 0x2 main.o |
| 0x0080042f _printf_P |
| COMMON 0x00800431 0x1da uart.o |
| 0x00800431 Data3D |
| 0x0080043f Timer3D |
| 0x00800441 Debug_Timer |
| 0x00800443 VersionInfo |
| 0x0080044d MotorTest |
| 0x0080045d WinkelOut |
| 0x00800465 ExternControl |
| 0x00800470 Kompass_Timer |
| 0x00800472 RxdBuffer |
| 0x0080051c Display_Timer |
| 0x0080051e TxdBuffer |
| 0x008005c8 DebugOut |
| 0x0080060a ConfirmFrame |
| COMMON 0x0080060b 0x13 analog.o |
| 0x0080060b Aktuell_ay |
| 0x0080060d NeutralAccZ_float |
| 0x00800611 Aktuell_az |
| 0x00800613 StartLuftdruck |
| 0x00800615 Aktuell_Nick |
| 0x00800617 Aktuell_Roll |
| 0x00800619 Aktuell_ax |
| 0x0080061b DruckOffsetSetting |
| 0x0080061c Aktuell_Gier |
| COMMON 0x0080061e 0xc3 eeprom.o |
| 0x0080061e RequiredMotors |
| 0x0080061f EE_Parameter |
| 0x00800693 Mixer |
| COMMON 0x008006e1 0x68 twimaster.o |
| 0x008006e1 BLConfig |
| 0x008006e9 Motor |
| COMMON 0x00800749 0x69 rc.o |
| 0x00800749 Channels |
| 0x0080074a PPM_in |
| 0x0080077e PPM_diff |
| COMMON 0x008007b2 0x80 fc.o |
| 0x008007b2 Motors5max |
| 0x008007b3 KopplungsteilNickRoll |
| 0x008007b5 MesswertGierBias |
| 0x008007b7 KopplungsteilRollNick |
| 0x008007b9 MotorsTmax |
| 0x008007bb Parameter_Servo4 |
| 0x008007bc DiffRoll |
| 0x008007be MesswertRoll |
| 0x008007c0 pos2 |
| 0x008007c1 TrimNick |
| 0x008007c3 Parameter_NaviGpsP |
| 0x008007c4 loop2 |
| 0x008007c5 ErsatzKompassInGrad |
| 0x008007c7 GyroFaktorGier |
| 0x008007c8 MittelIntegralRoll2 |
| 0x008007cc Parameter_NaviGpsModeControl |
| 0x008007cd TrimRoll |
| 0x008007cf Motors2max |
| 0x008007d0 MesswertNick |
| 0x008007d2 Motors5 |
| 0x008007d3 Parameter_NaviGpsI |
| 0x008007d4 RohMesswertRoll |
| 0x008007d6 MIN_GAS |
| 0x008007d7 Parameter_NaviGpsACC |
| 0x008007d8 MittelIntegralNick2 |
| 0x008007dc RohMesswertNick |
| 0x008007de IntegralFaktorGier |
| 0x008007df DiffNick |
| 0x008007e1 MittelIntegralNick |
| 0x008007e5 Parameter_Servo3 |
| 0x008007e6 Motors2 |
| 0x008007e7 Motors0 |
| 0x008007e8 NaviAccNick |
| 0x008007ea Parameter_J16Timing |
| 0x008007eb MittelIntegralRoll |
| 0x008007ef Motors6 |
| 0x008007f0 Parameter_Servo5 |
| 0x008007f1 Motors3max |
| 0x008007f2 pos1 |
| 0x008007f3 IntegralFaktor |
| 0x008007f4 Motors7 |
| 0x008007f5 Motors0max |
| 0x008007f6 Motors4max |
| 0x008007f7 Motors3 |
| 0x008007f8 tmp_motorwert |
| 0x00800810 Motors1max |
| 0x00800811 Parameter_NaviOperatingRadius |
| 0x00800812 pos3 |
| 0x00800813 Parameter_NaviWindCorrection |
| 0x00800814 s |
| 0x00800815 h |
| 0x00800816 Motors4 |
| 0x00800817 Mittelwert_AccNick |
| 0x00800819 Parameter_NaviSpeedCompensation |
| 0x0080081a Parameter_J17Timing |
| 0x0080081b MAX_GAS |
| 0x0080081c Motors1 |
| 0x0080081d loop1 |
| 0x0080081e Motors6max |
| 0x0080081f MesswertGier |
| 0x00800821 Parameter_J16Bitmask |
| 0x00800822 NaviAccRoll |
| 0x00800824 GyroFaktor |
| 0x00800825 m |
| 0x00800826 ErsatzKompass |
| 0x0080082a Mittelwert_AccRoll |
| 0x0080082c Parameter_NaviGpsGain |
| 0x0080082d Parameter_ExternalControl |
| 0x0080082e Motors7max |
| 0x0080082f loop3 |
| 0x00800830 Parameter_J17Bitmask |
| 0x00800831 Parameter_NaviGpsD |
| COMMON 0x00800832 0x6d spi.o |
| 0x00800832 SPITransferCompleted |
| 0x00800833 GPSInfo |
| 0x0080083b SPI_TX_Buffer |
| 0x0080083d NC_Version |
| 0x00800842 SPI_BufferIndex |
| 0x00800843 ToNaviCtrl |
| 0x00800863 SPI_ChkSum |
| 0x00800864 SPI_RxBufferIndex |
| 0x00800865 SPI_RxDataValid |
| 0x00800866 FromNaviCtrl |
| 0x00800880 SPI_Buffer |
| 0x0080089a FromNaviCtrl_Value |
| COMMON 0x0080089f 0x9 capacity.o |
| 0x0080089f Capacity |
| COMMON 0x008008a8 0x2d libfc644.a(libfc.o) |
| 0x008008a8 fdknerTjg5i83th589v44 |
| 0x008008ae IlIlIlIIIIIIIlIllllll |
| 0x008008d1 fgfdogjWEti45e9tjh394 |
| 0x008008d5 PROVIDE (__bss_end, .) |
| 0x0000f02a __data_load_start = LOADADDR (.data) |
| 0x0000f120 __data_load_end = (__data_load_start + SIZEOF (.data)) |
| .noinit 0x008008d5 0x0 |
| 0x008008d5 PROVIDE (__noinit_start, .) |
| *(.noinit*) |
| 0x008008d5 PROVIDE (__noinit_end, .) |
| 0x008008d5 _end = . |
| 0x008008d5 PROVIDE (__heap_start, .) |
| .eeprom 0x00810000 0x0 |
| *(.eeprom*) |
| 0x00810000 __eeprom_end = . |
| .stab 0x00000000 0x9d8 |
| *(.stab) |
| .stab 0x00000000 0x36c C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| .stab 0x0000036c 0x66c isqrt.o |
| 0x678 (size before relaxing) |
| .stabstr 0x00000000 0xda |
| *(.stabstr) |
| .stabstr 0x00000000 0xda C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.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_82a_SVN_akku001.elf elf32-avr) |
| Cross Reference Table |
| Symbol File |
| ADC_Init analog.o |
| main.o |
| ANALOG_TEXT uart.o |
| AboTimeOut uart.o |
| AdNeutralGier fc.o |
| spi.o |
| rc.o |
| menu.o |
| AdNeutralNick fc.o |
| rc.o |
| menu.o |
| analog.o |
| AdNeutralRoll fc.o |
| rc.o |
| menu.o |
| analog.o |
| AdReady analog.o |
| fc.o |
| timer0.o |
| main.o |
| AdWertAccHoch analog.o |
| fc.o |
| menu.o |
| AdWertAccNick analog.o |
| fc.o |
| menu.o |
| AdWertAccRoll analog.o |
| fc.o |
| menu.o |
| AdWertGier analog.o |
| spi.o |
| fc.o |
| menu.o |
| AdWertGierFilter analog.o |
| AdWertNick analog.o |
| fc.o |
| menu.o |
| AdWertNickFilter analog.o |
| fc.o |
| AdWertRoll analog.o |
| fc.o |
| menu.o |
| AdWertRollFilter analog.o |
| fc.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 |
| analog.o |
| AnalogOffsetGier analog.o |
| twimaster.o |
| menu.o |
| AnalogOffsetNick analog.o |
| twimaster.o |
| menu.o |
| AnalogOffsetRoll analog.o |
| twimaster.o |
| menu.o |
| AnzahlEmpfangsBytes uart.o |
| BLConfig twimaster.o |
| uart.o |
| BLConfig_ReadMask twimaster.o |
| BLConfig_WriteMask twimaster.o |
| BLFlags twimaster.o |
| fc.o |
| analog.o |
| main.o |
| BaroExpandActive fc.o |
| BattLowVoltageWarning main.o |
| spi.o |
| fc.o |
| BearbeiteRxDaten uart.o |
| main.o |
| BeepMuster timer0.o |
| fc.o |
| main.o |
| CalMk3Mag main.o |
| CalculateServo timer0.o |
| main.o |
| CalculateServoSignals timer0.o |
| main.o |
| CalibrierMittelwert fc.o |
| Capacity capacity.o |
| jetimenu.o |
| spi.o |
| fc.o |
| menu.o |
| main.o |
| Capacity_Init capacity.o |
| main.o |
| Capacity_Update capacity.o |
| main.o |
| CareFree fc.o |
| Channels libfc644.a(libfc.o) |
| rc.o |
| menu.o |
| CheckDelay timer0.o |
| capacity.o |
| twimaster.o |
| analog.o |
| uart.o |
| main.o |
| CntCrcError uart.o |
| CommonDefaults eeprom.o |
| ConfirmFrame uart.o |
| ControlHeading fc.o |
| spi.o |
| CopyDebugValues fc.o |
| uart.o |
| CountMilliseconds timer0.o |
| CurrentOffset fc.o |
| DFGeefWEF43tgt5uGreg5 libfc644.a(libfc.o) |
| DJFIORJHcvjr894hjhffj libfc644.a(libfc.o) |
| Data3D uart.o |
| DatenUebertragung uart.o |
| main.o |
| DebugDataAnforderung uart.o |
| DebugDataIntervall uart.o |
| DebugDisplayAnforderung uart.o |
| DebugDisplayAnforderung1 uart.o |
| DebugOut spi.o |
| fc.o |
| uart.o |
| main.o |
| DebugTextAnforderung uart.o |
| Debug_Timer uart.o |
| Decode64 uart.o |
| Delay_ms timer0.o |
| fc.o |
| Delay_ms_Mess timer0.o |
| fc.o |
| analog.o |
| DiffNick fc.o |
| DiffRoll fc.o |
| DispPtr menu.o |
| uart.o |
| DisplayBuff menu.o |
| uart.o |
| DisplayLine uart.o |
| Display_Interval uart.o |
| Display_Timer uart.o |
| DruckOffsetSetting fc.o |
| analog.o |
| EEProm_Checksum eeprom.o |
| EE_Parameter libfc644.a(libfc.o) |
| capacity.o |
| jetimenu.o |
| Spektrum.o |
| led.o |
| spi.o |
| fc.o |
| rc.o |
| eeprom.o |
| menu.o |
| analog.o |
| timer0.o |
| uart.o |
| main.o |
| ErsatzKompass jetimenu.o |
| spi.o |
| fc.o |
| uart.o |
| ErsatzKompassInGrad fc.o |
| ExpandBaro analog.o |
| fc.o |
| ExternControl fc.o |
| menu.o |
| uart.o |
| main.o |
| ExternHoehenValue fc.o |
| ExternStickGier fc.o |
| main.o |
| ExternStickNick fc.o |
| main.o |
| ExternStickRoll fc.o |
| main.o |
| FC_StatusFlags fc.o |
| libfc644.a(libfc.o) |
| led.o |
| spi.o |
| twimaster.o |
| main.o |
| FGRT0589rge90gj459gg4 libfc644.a(libfc.o) |
| FGtj76uzh56z3grEg5t45 libfc644.a(libfc.o) |
| FlugMinuten main.o |
| menu.o |
| FlugMinutenGesamt main.o |
| menu.o |
| FlugSekunden main.o |
| jetimenu.o |
| FoundMotors main.o |
| FromNC_Rotate_C spi.o |
| fc.o |
| FromNC_Rotate_S spi.o |
| fc.o |
| FromNaviCtrl spi.o |
| fc.o |
| main.o |
| FromNaviCtrl_Value spi.o |
| fc.o |
| GIER_GRAD_FAKTOR fc.o |
| jetimenu.o |
| spi.o |
| uart.o |
| main.o |
| GPSInfo jetimenu.o |
| spi.o |
| GPS_BerechneZielrichtung GPS.o |
| GPS_Neutral GPS.o |
| fc.o |
| GPS_Nick GPS.o |
| spi.o |
| fc.o |
| main.o |
| GPS_Nick2 GPS.o |
| fc.o |
| GPS_Roll GPS.o |
| spi.o |
| fc.o |
| main.o |
| GPS_Roll2 GPS.o |
| fc.o |
| GetActiveParamSet eeprom.o |
| spi.o |
| fc.o |
| menu.o |
| uart.o |
| GetExternalControl uart.o |
| GetPPMChannelAnforderung uart.o |
| GetParamByte eeprom.o |
| analog.o |
| main.o |
| GetParamWord eeprom.o |
| fc.o |
| GetVersionAnforderung uart.o |
| GierGyroFehler fc.o |
| GpsAktuell_X GPS.o |
| GpsAktuell_Y GPS.o |
| GpsZiel_X GPS.o |
| GpsZiel_Y GPS.o |
| GyroFaktor fc.o |
| GyroFaktorGier fc.o |
| HiResNick analog.o |
| fc.o |
| HiResRoll analog.o |
| fc.o |
| HoehenReglerAktiv fc.o |
| HoehenWert fc.o |
| jetimenu.o |
| spi.o |
| menu.o |
| analog.o |
| HoverGas fc.o |
| I2CTimeout twimaster.o |
| menu.o |
| main.o |
| I2C_Init twimaster.o |
| main.o |
| I2C_ReadBLConfig twimaster.o |
| uart.o |
| I2C_Reset twimaster.o |
| main.o |
| I2C_TransferActive twimaster.o |
| fc.o |
| I2C_WriteBLConfig twimaster.o |
| uart.o |
| IIIIIlIllllllIIllIIll libfc644.a(libfc.o) |
| IIllllIllIlllIIlllII libfc644.a(libfc.o) |
| INiuzBtergGIBuB76T0G5 libfc644.a(libfc.o) |
| IlIlIlIIIIIIIlIllllll libfc644.a(libfc.o) |
| IllIIllIlIlIlIllllII libfc644.a(libfc.o) |
| IntegralAccNick fc.o |
| IntegralAccRoll fc.o |
| IntegralAccZ fc.o |
| IntegralFaktor fc.o |
| IntegralFaktorGier fc.o |
| IntegralNick fc.o |
| spi.o |
| menu.o |
| timer0.o |
| uart.o |
| IntegralNick2 fc.o |
| IntegralRoll fc.o |
| spi.o |
| menu.o |
| timer0.o |
| uart.o |
| IntegralRoll2 fc.o |
| Integral_Gier fc.o |
| Intervall3D uart.o |
| J16Blinkcount led.o |
| J16Mask led.o |
| J17Blinkcount led.o |
| J17Mask led.o |
| JetiBox_Menu jetimenu.o |
| JetiBox_Update jetimenu.o |
| libfc644.a(libfc.o) |
| JetiUpdateModeActive uart.o |
| libfc644.a(libfc.o) |
| main.o |
| KLNMIOHMUHG76GFGr43r3 libfc644.a(libfc.o) |
| Ki fc.o |
| KompassRichtung fc.o |
| spi.o |
| menu.o |
| timer0.o |
| uart.o |
| KompassSignalSchlecht fc.o |
| KompassStartwert fc.o |
| spi.o |
| menu.o |
| timer0.o |
| uart.o |
| KompassValue fc.o |
| spi.o |
| menu.o |
| timer0.o |
| uart.o |
| Kompass_Timer uart.o |
| KopplungsteilNickRoll fc.o |
| KopplungsteilRollNick fc.o |
| LED1_Timing led.o |
| LED2_Timing led.o |
| LED_Init led.o |
| fc.o |
| eeprom.o |
| LED_Update led.o |
| main.o |
| LIBFC_GetCPUType libfc644.a(libfc.o) |
| uart.o |
| LIBFC_Init libfc644.a(libfc.o) |
| main.o |
| LIBFC_JetiBox_Clear libfc644.a(libfc.o) |
| jetimenu.o |
| LIBFC_JetiBox_Putchar libfc644.a(libfc.o) |
| jetimenu.o |
| LIBFC_JetiBox_SetPos libfc644.a(libfc.o) |
| jetimenu.o |
| LIBFC_Polling libfc644.a(libfc.o) |
| main.o |
| LIBFC_ReceiverInit libfc644.a(libfc.o) |
| fc.o |
| uart.o |
| main.o |
| LageKorrekturNick fc.o |
| LageKorrekturRoll fc.o |
| LcdClear menu.o |
| uart.o |
| main.o |
| LipoDetection main.o |
| fc.o |
| uart.o |
| Looping_Links fc.o |
| Looping_Nick fc.o |
| Looping_Oben fc.o |
| Looping_Rechts fc.o |
| Looping_Roll fc.o |
| Looping_Unten fc.o |
| Luftdruck analog.o |
| fc.o |
| MAX_GAS fc.o |
| MIN_GAS fc.o |
| MaxMenue menu.o |
| uart.o |
| MaxStickNick fc.o |
| MaxStickRoll fc.o |
| MeineSlaveAdresse uart.o |
| Menu menu.o |
| uart.o |
| Menu_Battery jetimenu.o |
| Menu_PosInfo jetimenu.o |
| Menu_Putchar menu.o |
| uart.o |
| Menu_Status jetimenu.o |
| Menu_Temperature jetimenu.o |
| MenuePunkt menu.o |
| uart.o |
| MessLuftdruck analog.o |
| fc.o |
| menu.o |
| Mess_IntegralNick fc.o |
| Mess_IntegralNick2 fc.o |
| Mess_IntegralRoll fc.o |
| Mess_IntegralRoll2 fc.o |
| Mess_Integral_Gier fc.o |
| uart.o |
| Mess_Integral_Gier2 fc.o |
| Mess_Integral_Hoch fc.o |
| analog.o |
| MesswertGier fc.o |
| MesswertGierBias fc.o |
| MesswertNick fc.o |
| MesswertRoll fc.o |
| MissingMotor twimaster.o |
| fc.o |
| menu.o |
| main.o |
| MittelIntegralNick fc.o |
| MittelIntegralNick2 fc.o |
| MittelIntegralRoll fc.o |
| MittelIntegralRoll2 fc.o |
| Mittelwert fc.o |
| Mittelwert_AccNick fc.o |
| Mittelwert_AccRoll fc.o |
| Mixer fc.o |
| twimaster.o |
| eeprom.o |
| menu.o |
| uart.o |
| main.o |
| MixerTable_Default eeprom.o |
| MixerTable_ReadFromEEProm eeprom.o |
| MixerTable_WriteToEEProm eeprom.o |
| uart.o |
| Motor capacity.o |
| jetimenu.o |
| fc.o |
| twimaster.o |
| menu.o |
| main.o |
| MotorRegler fc.o |
| main.o |
| MotorTest fc.o |
| uart.o |
| MotorenEin fc.o |
| led.o |
| rc.o |
| twimaster.o |
| uart.o |
| main.o |
| Motors0 fc.o |
| Motors0max fc.o |
| Motors1 fc.o |
| Motors1max fc.o |
| Motors2 fc.o |
| Motors2max fc.o |
| Motors3 fc.o |
| Motors3max fc.o |
| Motors4 fc.o |
| Motors4max fc.o |
| Motors5 fc.o |
| Motors5max fc.o |
| Motors6 fc.o |
| Motors6max fc.o |
| Motors7 fc.o |
| Motors7max fc.o |
| MotorsTmax fc.o |
| Msg1 libfc644.a(libfc.o) |
| Msg2 libfc644.a(libfc.o) |
| NC_ErrorCode spi.o |
| jetimenu.o |
| NC_Version spi.o |
| main.o |
| NaviAccNick spi.o |
| fc.o |
| NaviAccRoll spi.o |
| fc.o |
| NaviCntAcc fc.o |
| spi.o |
| NaviDataOkay spi.o |
| jetimenu.o |
| timer0.o |
| main.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 |
| NeutralAccZ_float analog.o |
| NewPpmData rc.o |
| libfc644.a(libfc.o) |
| Spektrum.o |
| fc.o |
| PC_DebugTimeout uart.o |
| PC_MotortestActive uart.o |
| fc.o |
| twimaster.o |
| PPM_diff libfc644.a(libfc.o) |
| Spektrum.o |
| fc.o |
| rc.o |
| PPM_in libfc644.a(libfc.o) |
| Spektrum.o |
| spi.o |
| fc.o |
| rc.o |
| menu.o |
| timer0.o |
| uart.o |
| main.o |
| ParamSet_DefaultSet1 eeprom.o |
| ParamSet_DefaultSet2 eeprom.o |
| ParamSet_DefaultSet3 eeprom.o |
| ParamSet_DefaultStickMapping eeprom.o |
| ParamSet_Init eeprom.o |
| main.o |
| ParamSet_ReadFromEEProm eeprom.o |
| fc.o |
| uart.o |
| ParamSet_WriteToEEProm eeprom.o |
| uart.o |
| ParameterZuordnung fc.o |
| Parameter_AchsKopplung1 fc.o |
| Parameter_AchsKopplung2 fc.o |
| Parameter_CouplingYawCorrection fc.o |
| Parameter_DynamicStability fc.o |
| Parameter_ExternalControl fc.o |
| Parameter_Gier_P fc.o |
| Parameter_Gyro_D fc.o |
| Parameter_Gyro_Gier_I fc.o |
| Parameter_Gyro_Gier_P fc.o |
| Parameter_Gyro_I fc.o |
| Parameter_Gyro_P fc.o |
| Parameter_Hoehe_ACC_Wirkung fc.o |
| Parameter_Hoehe_GPS_Z fc.o |
| Parameter_Hoehe_P fc.o |
| Parameter_I_Faktor fc.o |
| Parameter_J16Bitmask fc.o |
| Parameter_J16Timing led.o |
| fc.o |
| Parameter_J17Bitmask fc.o |
| Parameter_J17Timing led.o |
| fc.o |
| Parameter_KompassWirkung fc.o |
| Parameter_LoopGasLimit fc.o |
| Parameter_Luftdruck_D fc.o |
| Parameter_MaxHoehe fc.o |
| Parameter_NaviGpsACC fc.o |
| Parameter_NaviGpsD fc.o |
| Parameter_NaviGpsGain fc.o |
| Parameter_NaviGpsI fc.o |
| Parameter_NaviGpsModeControl fc.o |
| Parameter_NaviGpsP fc.o |
| Parameter_NaviOperatingRadius fc.o |
| Parameter_NaviSpeedCompensation fc.o |
| Parameter_NaviWindCorrection fc.o |
| Parameter_Servo3 fc.o |
| timer0.o |
| Parameter_Servo4 fc.o |
| timer0.o |
| Parameter_Servo5 fc.o |
| timer0.o |
| Parameter_ServoNickControl fc.o |
| spi.o |
| menu.o |
| timer0.o |
| Parameter_ServoRollControl fc.o |
| spi.o |
| timer0.o |
| Parameter_UserParam1 fc.o |
| spi.o |
| uart.o |
| Parameter_UserParam2 fc.o |
| spi.o |
| uart.o |
| Parameter_UserParam3 fc.o |
| spi.o |
| Parameter_UserParam4 fc.o |
| spi.o |
| Parameter_UserParam5 fc.o |
| spi.o |
| Parameter_UserParam6 fc.o |
| spi.o |
| Parameter_UserParam7 fc.o |
| spi.o |
| Parameter_UserParam8 fc.o |
| spi.o |
| PcZugriff uart.o |
| main.o |
| Piep fc.o |
| uart.o |
| main.o |
| PlatinenVersion main.o |
| libfc644.a(libfc.o) |
| spi.o |
| fc.o |
| rc.o |
| eeprom.o |
| menu.o |
| analog.o |
| timer0.o |
| Poti fc.o |
| spi.o |
| menu.o |
| RAM_Checksum eeprom.o |
| twimaster.o |
| Rec_ACT_DSL libfc644.a(libfc.o) |
| Rec_Jeti libfc644.a(libfc.o) |
| Rec_PPM libfc644.a(libfc.o) |
| Rec_Spektrum libfc644.a(libfc.o) |
| Rec_Spektrum_HI_RES libfc644.a(libfc.o) |
| Rec_Spektrum_LOW_RES libfc644.a(libfc.o) |
| RemainingPulse timer0.o |
| RemoteKeys menu.o |
| uart.o |
| RequiredMotors jetimenu.o |
| twimaster.o |
| eeprom.o |
| main.o |
| RohMesswertNick fc.o |
| RohMesswertRoll fc.o |
| RxDataLen uart.o |
| RxdBuffer libfc644.a(libfc.o) |
| uart.o |
| SPITransferCompleted spi.o |
| SPI_Buffer spi.o |
| SPI_BufferIndex spi.o |
| SPI_ChkSum spi.o |
| SPI_CommandCounter spi.o |
| SPI_CommandSequence spi.o |
| SPI_MasterInit spi.o |
| main.o |
| SPI_RxBufferIndex spi.o |
| SPI_RxDataValid spi.o |
| SPI_StartTransmitPacket spi.o |
| main.o |
| SPI_TX_Buffer spi.o |
| SPI_TransmitByte spi.o |
| main.o |
| SendMotorData fc.o |
| main.o |
| SendOutData uart.o |
| SendSPI timer0.o |
| spi.o |
| main.o |
| SendVersionToNavi main.o |
| fc.o |
| SenderOkay fc.o |
| libfc644.a(libfc.o) |
| Spektrum.o |
| spi.o |
| rc.o |
| menu.o |
| timer0.o |
| main.o |
| ServoActive timer0.o |
| fc.o |
| uart.o |
| main.o |
| ServoNickOffset timer0.o |
| ServoNickValue timer0.o |
| fc.o |
| menu.o |
| ServoRollOffset timer0.o |
| ServoRollValue timer0.o |
| SetActiveParamSet eeprom.o |
| fc.o |
| SetDefaultParameter eeprom.o |
| uart.o |
| SetDelay timer0.o |
| capacity.o |
| twimaster.o |
| analog.o |
| uart.o |
| main.o |
| SetNeutral fc.o |
| main.o |
| SetParamByte eeprom.o |
| analog.o |
| main.o |
| SetParamWord eeprom.o |
| fc.o |
| menu.o |
| SioTmp uart.o |
| SollHoehe fc.o |
| spi.o |
| menu.o |
| SpektrumParser Spektrum.o |
| libfc644.a(libfc.o) |
| SpektrumTimer Spektrum.o |
| timer0.o |
| SpektrumUartInit Spektrum.o |
| libfc644.a(libfc.o) |
| StartLuftdruck fc.o |
| analog.o |
| StartNeutralNick fc.o |
| StartNeutralRoll fc.o |
| StartTrigger fc.o |
| StickGas fc.o |
| StickGier fc.o |
| main.o |
| StickNick fc.o |
| main.o |
| StickRoll fc.o |
| main.o |
| SucheGyroOffset analog.o |
| fc.o |
| SucheLuftruckOffset analog.o |
| fc.o |
| main.o |
| SummeNick fc.o |
| uart.o |
| SummeRoll fc.o |
| uart.o |
| SummenHoehe analog.o |
| fc.o |
| TIMER2_Init timer0.o |
| main.o |
| Timer3D uart.o |
| Timer_Init timer0.o |
| main.o |
| ToNaviCtrl spi.o |
| TrichterFlug fc.o |
| TrimNick fc.o |
| TrimRoll fc.o |
| TxdBuffer uart.o |
| UART_Init uart.o |
| main.o |
| UBat analog.o |
| capacity.o |
| jetimenu.o |
| spi.o |
| fc.o |
| menu.o |
| main.o |
| UebertragungAbgeschlossen uart.o |
| Umschlag180Nick fc.o |
| uart.o |
| Umschlag180Roll fc.o |
| uart.o |
| UpdateMotor timer0.o |
| main.o |
| UpdateSPI_Buffer spi.o |
| VarioCharacter fc.o |
| jetimenu.o |
| VarioMeter analog.o |
| fc.o |
| VersionInfo led.o |
| spi.o |
| fc.o |
| menu.o |
| analog.o |
| uart.o |
| main.o |
| WinkelOut spi.o |
| fc.o |
| uart.o |
| main.o |
| XSasC2389ufwejiCjuz32 libfc644.a(libfc.o) |
| ZaehlMessungen analog.o |
| fc.o |
| __addsf3 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| fc.o |
| __addsf3x C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __bad_interrupt C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __bss_end C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| __bss_start C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| __data_end C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| __data_load_start C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| __data_start C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| __divmodhi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| libfc644.a(libfc.o) |
| capacity.o |
| jetimenu.o |
| mymath.o |
| Spektrum.o |
| spi.o |
| fc.o |
| rc.o |
| menu.o |
| timer0.o |
| uart.o |
| __divmodsi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
| jetimenu.o |
| spi.o |
| fc.o |
| menu.o |
| uart.o |
| __do_clear_bss C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_clear_bss.o) |
| libfc644.a(libfc.o) |
| debug.o |
| capacity.o |
| jetimenu.o |
| mymath.o |
| Spektrum.o |
| led.o |
| spi.o |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| eeprom.o |
| menu.o |
| analog.o |
| timer0.o |
| uart.o |
| main.o |
| __do_copy_data C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_copy_data.o) |
| libfc644.a(libfc.o) |
| debug.o |
| capacity.o |
| jetimenu.o |
| mymath.o |
| Spektrum.o |
| led.o |
| spi.o |
| GPS.o |
| fc.o |
| rc.o |
| twimaster.o |
| eeprom.o |
| menu.o |
| analog.o |
| timer0.o |
| uart.o |
| main.o |
| __eeprom_read_block_1F2021 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
| eeprom.o |
| __eeprom_read_byte_1F2021 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rb.1F2021.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rblk.1F2021.o) |
| eeprom.o |
| __eeprom_read_word_1F2021 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_rw.1F2021.o) |
| eeprom.o |
| __eeprom_write_block_1F2021 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
| eeprom.o |
| __eeprom_write_byte_1F2021 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wb.1F2021.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_wblk.1F2021.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
| eeprom.o |
| __eeprom_write_word_1F2021 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(ee_ww.1F2021.o) |
| eeprom.o |
| __epilogue_restores__ C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_epilogue.o) |
| libfc644.a(libfc.o) |
| Spektrum.o |
| fc.o |
| eeprom.o |
| menu.o |
| timer0.o |
| uart.o |
| __fixsfsi C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __fixunssfsi C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| fc.o |
| __floatsisf C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| fc.o |
| __floatunssisf C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| __fp_lneg C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| __fp_merge C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(floatsisf.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __fp_nan C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| __fp_nanEDOM C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| __fp_nanERANGE C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| __fp_nanx C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_nan.o) |
| __fp_split1 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __fp_split2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| __fp_split3 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __fp_split_a C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_split.o) |
| __fp_zero C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_merge.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fixsfsi.o) |
| __fp_zerox C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(fp_zero.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3x.o) |
| __heap_end C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __init C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __mulsi3 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_mulsi3.o) |
| fc.o |
| analog.o |
| timer0.o |
| uart.o |
| __prologue_saves__ C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_prologue.o) |
| libfc644.a(libfc.o) |
| fc.o |
| timer0.o |
| uart.o |
| __stack C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| main.o |
| __subsf3 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libm.a(addsf3.o) |
| __tablejump2__ C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
| twimaster.o |
| menu.o |
| analog.o |
| __tablejump__ C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_tablejump.o) |
| __udivmodhi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodhi4.o) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| libfc644.a(libfc.o) |
| capacity.o |
| jetimenu.o |
| fc.o |
| menu.o |
| analog.o |
| timer0.o |
| __udivmodqi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodqi4.o) |
| libfc644.a(libfc.o) |
| menu.o |
| main.o |
| __udivmodsi4 C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_udivmodsi4.o) |
| C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodsi4.o) |
| libfc644.a(libfc.o) |
| __vector_1 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_10 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_11 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_12 rc.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_13 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_14 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_15 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_16 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_17 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_18 timer0.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_19 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_2 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_20 uart.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_21 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_22 uart.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_23 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_24 analog.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_25 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_26 twimaster.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_27 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_28 libfc644.a(libfc.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_29 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_3 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_30 libfc644.a(libfc.o) |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_4 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_5 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_6 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_7 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_8 C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_9 timer0.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vector_default C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| __vectors C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| _div C:/WinAVR/lib/gcc/avr/3.4.6/avr5\libgcc.a(_divmodhi4.o) |
| _printf_P libfc644.a(libfc.o) |
| jetimenu.o |
| fc.o |
| eeprom.o |
| menu.o |
| analog.o |
| uart.o |
| main.o |
| a48784362857632195659 libfc644.a(libfc.o) |
| awokdjwqdjcjuhcuweih libfc644.a(libfc.o) |
| beeptime timer0.o |
| capacity.o |
| spi.o |
| fc.o |
| main.o |
| c_cos_8192 mymath.o |
| fc.o |
| c_sin_8192 mymath.o |
| cntKompass timer0.o |
| dac_channel twimaster.o |
| f8jhreghreGerg45gE542 libfc644.a(libfc.o) |
| fdknerTjg5i83th589v44 libfc644.a(libfc.o) |
| fgfdogjWEti45e9tjh394 libfc644.a(libfc.o) |
| fgmjgnrtuth587th9rTrw libfc644.a(libfc.o) |
| fij48zrhoih3498fhfo90 libfc644.a(libfc.o) |
| fojk48fj478fhw7fhw39 libfc644.a(libfc.o) |
| fomklkdtn89SFGrsgt9rf libfc644.a(libfc.o) |
| h fc.o |
| ihypot isqrt.o |
| fc.o |
| isqrt16 isqrt.o |
| isqrt32 isqrt.o |
| keynumber fc.o |
| kf089uwjef89234hffhh libfc644.a(libfc.o) |
| lkvgnfdgun57th38rgh84 libfc644.a(libfc.o) |
| loop1 fc.o |
| loop2 fc.o |
| loop3 fc.o |
| m fc.o |
| main main.o |
| C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5/crtm644p.o |
| md5 libfc644.a(libfc.o) |
| memchr C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memchr.o) |
| libfc644.a(libfc.o) |
| memcpy_P C:/WinAVR/bin/../lib/gcc/avr/3.4.6/../../../../avr/lib/avr5\libc.a(memcpy_P.o) |
| uart.o |
| messanzahl_AccHoch analog.o |
| modell_fliegt fc.o |
| analog.o |
| motor_read twimaster.o |
| main.o |
| motor_write twimaster.o |
| fc.o |
| ndfcvbghs libfc644.a(libfc.o) |
| njkvnfuhgbuzrgezgf483 libfc644.a(libfc.o) |
| pRxData uart.o |
| pgm_sinlookup mymath.o |
| pos1 fc.o |
| pos2 fc.o |
| pos3 fc.o |
| pos4 fc.o |
| rc_sum_init rc.o |
| main.o |
| s fc.o |
| settingdest fc.o |
| sintab fc.o |
| timer0.o |
| tmpChannels rc.o |
| tmp_motorwert fc.o |
| twi_state twimaster.o |
| fc.o |
| analog.o |
| uart_putchar uart.o |
| libfc644.a(libfc.o) |
| fc.o |
| eeprom.o |
| analog.o |
| main.o |
| update_timer capacity.o |
| updatemotors fc.o |
| weiuncefcnsavsgvghjc libfc644.a(libfc.o) |
| wqqeRT45jth8g758735h4 libfc644.a(libfc.o) |
| /branches/metro/v0.82a metro_Akku+/FlightCtrl.aps |
|---|
| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>11-Oct-2007 22:58:54</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>F:\SVN\MikroKopter\FlightCtrl\branches\V0.64_ZeroWarnings\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR 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| /branches/metro/v0.82a metro_Akku+/GPS.c |
|---|
| 0,0 → 1,32 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + 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; |
| signed int GPS_Nick2 = 0; |
| signed int GPS_Roll2 = 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/metro/v0.82a metro_Akku+/GPS.d |
|---|
| 0,0 → 1,3 |
| GPS.o GPS.d : GPS.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
| twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
| eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/GPS.lst |
|---|
| 0,0 → 1,101 |
| 1 .file "GPS.c" |
| 2 .arch atmega644p |
| 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 .global GpsZiel_Y |
| 11 .global GpsZiel_Y |
| 12 .section .bss |
| 15 GpsZiel_Y: |
| 16 0000 0000 0000 .skip 4,0 |
| 17 .global GpsZiel_X |
| 18 .global GpsZiel_X |
| 21 GpsZiel_X: |
| 22 0004 0000 0000 .skip 4,0 |
| 23 .global GpsAktuell_Y |
| 24 .global GpsAktuell_Y |
| 27 GpsAktuell_Y: |
| 28 0008 0000 0000 .skip 4,0 |
| 29 .global GpsAktuell_X |
| 30 .global GpsAktuell_X |
| 33 GpsAktuell_X: |
| 34 000c 0000 0000 .skip 4,0 |
| 35 .global GPS_Roll2 |
| 36 .global GPS_Roll2 |
| 39 GPS_Roll2: |
| 40 0010 0000 .skip 2,0 |
| 41 .global GPS_Nick2 |
| 42 .global GPS_Nick2 |
| 45 GPS_Nick2: |
| 46 0012 0000 .skip 2,0 |
| 47 .global GPS_Roll |
| 48 .global GPS_Roll |
| 51 GPS_Roll: |
| 52 0014 0000 .skip 2,0 |
| 53 .global GPS_Nick |
| 54 .global GPS_Nick |
| 57 GPS_Nick: |
| 58 0016 0000 .skip 2,0 |
| 59 .text |
| 60 .global GPS_Neutral |
| 62 GPS_Neutral: |
| 63 /* prologue: frame size=0 */ |
| 64 /* prologue end (size=0) */ |
| 65 0000 8091 0000 lds r24,GpsAktuell_X |
| 66 0004 9091 0000 lds r25,(GpsAktuell_X)+1 |
| 67 0008 A091 0000 lds r26,(GpsAktuell_X)+2 |
| 68 000c B091 0000 lds r27,(GpsAktuell_X)+3 |
| 69 0010 8093 0000 sts GpsZiel_X,r24 |
| 70 0014 9093 0000 sts (GpsZiel_X)+1,r25 |
| 71 0018 A093 0000 sts (GpsZiel_X)+2,r26 |
| 72 001c B093 0000 sts (GpsZiel_X)+3,r27 |
| 73 0020 8091 0000 lds r24,GpsAktuell_Y |
| 74 0024 9091 0000 lds r25,(GpsAktuell_Y)+1 |
| 75 0028 A091 0000 lds r26,(GpsAktuell_Y)+2 |
| 76 002c B091 0000 lds r27,(GpsAktuell_Y)+3 |
| 77 0030 8093 0000 sts GpsZiel_Y,r24 |
| 78 0034 9093 0000 sts (GpsZiel_Y)+1,r25 |
| 79 0038 A093 0000 sts (GpsZiel_Y)+2,r26 |
| 80 003c B093 0000 sts (GpsZiel_Y)+3,r27 |
| 81 /* epilogue: frame size=0 */ |
| 82 0040 0895 ret |
| 83 /* epilogue end (size=1) */ |
| 84 /* function GPS_Neutral size 33 (32) */ |
| 86 .global GPS_BerechneZielrichtung |
| 88 GPS_BerechneZielrichtung: |
| 89 /* prologue: frame size=0 */ |
| 90 /* prologue end (size=0) */ |
| 91 0042 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 92 0046 1092 0000 sts GPS_Nick,__zero_reg__ |
| 93 004a 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 94 004e 1092 0000 sts GPS_Roll,__zero_reg__ |
| 95 /* epilogue: frame size=0 */ |
| 96 0052 0895 ret |
| 97 /* epilogue end (size=1) */ |
| 98 /* function GPS_BerechneZielrichtung size 9 (8) */ |
| 100 /* File "GPS.c": code 42 = 0x002a ( 40), prologues 0, epilogues 2 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 GPS.c |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:15 .bss:00000000 GpsZiel_Y |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:21 .bss:00000004 GpsZiel_X |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:27 .bss:00000008 GpsAktuell_Y |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:33 .bss:0000000c GpsAktuell_X |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:39 .bss:00000010 GPS_Roll2 |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:45 .bss:00000012 GPS_Nick2 |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:51 .bss:00000014 GPS_Roll |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:57 .bss:00000016 GPS_Nick |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:62 .text:00000000 GPS_Neutral |
| C:\Users\Thomas\AppData\Local\Temp/ccy4aaaa.s:88 .text:00000042 GPS_BerechneZielrichtung |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| /branches/metro/v0.82a metro_Akku+/Hex-Files/BootLoader_MEGA644P_20MHZ_V0_1.hex |
|---|
| 0,0 → 1,64 |
| :10F8000011241FBECFEFD0E1DEBFCDBF11E0A0E0DD |
| :10F81000B1E0E0EEFBEF02C005900D92A030B10721 |
| :10F82000D9F712E0A0E0B1E001C01D92A230B1070B |
| :10F83000E1F70C943B7C0C941D7C0895982F8091EB |
| :10F84000C00085FFFCCF9093C60008958091C00052 |
| :10F850008823E4F78091C600992708958DE40E94DB |
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| :10FBD00004C08B3109F4B4CE8FE30E941E7CB0CEFA |
| :040000030000F80001 |
| :00000001FF |
| /branches/metro/v0.82a metro_Akku+/Hex-Files/BootLoader_MEGA644_20MHZ_V0_1.hex |
|---|
| 0,0 → 1,64 |
| :10F8000011241FBECFEFD0E1DEBFCDBF11E0A0E0DD |
| :10F81000B1E0E0EEFBEF02C005900D92A030B10721 |
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| :10FA0000D1E001E08991992729913327322F2227CC |
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| :10FBD00004C08B3109F4B4CE8FE30E941E7CB0CEFA |
| :040000030000F80001 |
| :00000001FF |
| /branches/metro/v0.82a metro_Akku+/Hex-Files/Flight-Ctrl_MEGA1284p_V0_82a.hex |
|---|
| 0,0 → 1,3896 |
| :100000000C94C4060C9413070C9413070C94130758 |
| :100010000C9413070C9413070C9413070C941307F8 |
| :100020000C9413070C943B190C9413070C941307AE |
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| /branches/metro/v0.82a metro_Akku+/Hex-Files/WasIstWas.txt |
|---|
| 0,0 → 1,17 |
| +++++++++++++++++++++++++ |
| + 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 |
| Achtung: Die Programme für den ATMEGA1284 dürfen ausschliesslich per Bootloader, also seriell eingespielt werden und NICHT per ISP |
| Warning: do not program the ATMEGA1284 (FC2.1) via SPI. Only use the MKUSB and the Koptertool for update! |
| /branches/metro/v0.82a metro_Akku+/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + 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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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/metro/v0.82a metro_Akku+/Settings.h |
|---|
| --- metro/v0.82a metro_Akku+/Spektrum.c (nonexistent) |
| +++ metro/v0.82a metro_Akku+/Spektrum.c (revision 1825) |
| @@ -0,0 +1,407 @@ |
| +/*####################################################################################### |
| +Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| +#######################################################################################*/ |
| + |
| +#include "Spektrum.h" |
| +#include "main.h" |
| +// Achtung: RECEIVER_SPEKTRUM_EXP wird in der Main.h gesetzt |
| + |
| +unsigned char SpektrumTimer = 0; |
| + |
| +#ifdef RECEIVER_SPEKTRUM_EXP |
| +unsigned char s_excnt = 0; // Counter for Spektrum-Expander |
| +unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
| +signed char s_exdata[11]; // Data for Spektrum-Expander |
| +#endif |
| +//--------------------------------------------------------------// |
| +//--------------------------------------------------------------// |
| +/* |
| +void SpektrumBinding(void) |
| +{ |
| + unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
| + unsigned char connected = 0; |
| + unsigned int delaycounter; |
| + |
| + UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
| + UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
| + PORTD &= ~(1 << PORTD2); // disable pull-up |
| + |
| + printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
| + |
| + while(!CheckDelay(timerTimeout)) |
| + { |
| + if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
| + } |
| + |
| + if (connected) |
| + { |
| + |
| + printf("ok.\n\r"); |
| + DDRD |= (1 << DDD2); // Rx as output |
| + |
| + while(!CheckDelay(timerTimeout)); // delay after startup of RX |
| + for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| + |
| + } |
| + else |
| + { printf("Timeout.\n\r"); |
| + |
| + |
| + } |
| + |
| + DDRD &= ~(1 << DDD2); // RX as input |
| + PORTD &= ~(1 << PORTD2); |
| + |
| + SpektrumUartInit(); // init Uart again |
| +} |
| +*/ |
| +//############################################################################ |
| +// USART1 initialisation from killagreg |
| +void SpektrumUartInit(void) |
| +//############################################################################ |
| + { |
| + // -- Start of USART1 initialisation for Spekturm seriell-mode |
| + // USART1 Control and Status Register A, B, C and baud rate register |
| + uint8_t sreg = SREG; |
| + |
| + uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
| + |
| + // disable all interrupts before reconfiguration |
| + cli(); |
| + // disable RX-Interrupt |
| + UCSR1B &= ~(1 << RXCIE1); |
| + // disable TX-Interrupt |
| + UCSR1B &= ~(1 << TXCIE1); |
| + // disable DRE-Interrupt |
| + UCSR1B &= ~(1 << UDRIE1); |
| + // set direction of RXD1 and TXD1 pins |
| + // set RXD1 (PD2) as an input pin |
| + PORTD |= (1 << PORTD2); |
| + DDRD &= ~(1 << DDD2); |
| + |
| + // set TXD1 (PD3) as an output pin |
| + PORTD |= (1 << PORTD3); |
| + DDRD |= (1 << DDD3); |
| + |
| + // USART0 Baud Rate Register |
| + // set clock divider |
| + UBRR1H = (uint8_t)(ubrr>>8); |
| + UBRR1L = (uint8_t)ubrr; |
| + // enable double speed operation |
| + UCSR1A |= (1 << U2X1); |
| + // enable receiver and transmitter |
| + //UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
| + |
| + UCSR1B = (1<<RXEN1); |
| + // set asynchronous mode |
| + UCSR1C &= ~(1 << UMSEL11); |
| + UCSR1C &= ~(1 << UMSEL10); |
| + // no parity |
| + UCSR1C &= ~(1 << UPM11); |
| + UCSR1C &= ~(1 << UPM10); |
| + // 1 stop bit |
| + UCSR1C &= ~(1 << USBS1); |
| + // 8-bit |
| + UCSR1B &= ~(1 << UCSZ12); |
| + UCSR1C |= (1 << UCSZ11); |
| + UCSR1C |= (1 << UCSZ10); |
| + // flush receive buffer explicit |
| + while(UCSR1A & (1<<RXC1)) UDR1; |
| + // enable RX-interrupts at the end |
| + UCSR1B |= (1 << RXCIE1); |
| + // -- End of USART1 initialisation |
| + // restore global interrupt flags |
| + |
| + SREG = sreg; |
| + return; |
| + } |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) Rainer Walther |
| +// + RC-routines from original MK rc.c (c) H&I |
| +// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
| +// + only for non-profit use |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// |
| +// 20080808 rw Modified for Spektrum AR6100 (PPM) |
| +// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
| +// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
| +// Replace AR6100-coding with original composit-signal routines |
| +// |
| +// --- |
| +// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
| +// Binding is not implemented. Bind with external Receiver. |
| +// Servo output J3, J4, J5 not serviced |
| +// |
| +// Anschuß Spektrum Receiver |
| +// Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
| +// Schwarz: GND |
| +// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
| +// |
| +// --- |
| +// Satellite-Reciever connected on USART1: |
| +// |
| +// DX7/DX6i: One data-frame at 115200 baud every 22ms. |
| +// DX7se: One data-frame at 115200 baud every 11ms. |
| +// byte1: unknown |
| +// byte2: unknown |
| +// byte3: and byte4: channel data (FLT-Mode) |
| +// byte5: and byte6: channel data (Roll) |
| +// byte7: and byte8: channel data (Nick) |
| +// byte9: and byte10: channel data (Gier) |
| +// byte11: and byte12: channel data (Gear Switch) |
| +// byte13: and byte14: channel data (Gas) |
| +// byte15: and byte16: channel data (AUX2) |
| +// |
| +// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
| +// 1st Frame: |
| +// byte1: unknown |
| +// byte2: unknown |
| +// byte3: and byte4: channel data |
| +// byte5: and byte6: channel data |
| +// byte7: and byte8: channel data |
| +// byte9: and byte10: channel data |
| +// byte11: and byte12: channel data |
| +// byte13: and byte14: channel data |
| +// byte15: and byte16: channel data |
| +// 2nd Frame: |
| +// byte1: unknown |
| +// byte2: unknown |
| +// byte3: and byte4: channel data |
| +// byte5: and byte6: channel data |
| +// byte7: and byte8: 0xffff |
| +// byte9: and byte10: 0xffff |
| +// byte11: and byte12: 0xffff |
| +// byte13: and byte14: 0xffff |
| +// byte15: and byte16: 0xffff |
| +// |
| +// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
| +// |
| +// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
| +// |
| +// 0 means a '0' bit |
| +// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
| +// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
| +// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
| +// |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#define MIN_FRAMEGAP 68 // 7ms |
| +#define MAX_BYTEGAP 3 // 310us |
| + |
| + |
| +//############################################################################ |
| +// Wird im UART-Interrupt aufgerufen |
| +//############################################################################ |
| +void SpektrumParser(unsigned char c) |
| +{ |
| + static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
| + unsigned int Channel, index = 0; |
| + signed int signal = 0, tmp; |
| + int bCheckDelay; |
| +// c = UDR1; // get data byte |
| + if(ReSync == 1) |
| + { |
| + // wait for beginning of new frame |
| + ReSync = 0; |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + FrameCnt = 0; |
| + Sync = 0; |
| + ByteHigh = 0; |
| + } |
| + else |
| + { |
| + if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
| + if ( Sync == 0 ) |
| + { |
| + if(bCheckDelay) |
| + { |
| + // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
| + // Zeichen ignorieren, da Bedeutung unbekannt |
| + Sync = 1; |
| + FrameCnt ++; |
| + SpektrumTimer = MAX_BYTEGAP; |
| + } |
| + else |
| + { |
| + // Zeichen kam vor Ablauf der 7ms Sync-Pause |
| + // warten auf erstes Sync-Zeichen |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + FrameCnt = 0; |
| + Sync = 0; |
| + ByteHigh = 0; |
| + } |
| + } |
| + else if((Sync == 1) && !bCheckDelay) |
| + { |
| + // zweites Sync-Character ignorieren, Bedeutung unbekannt |
| + Sync = 2; |
| + FrameCnt ++; |
| + SpektrumTimer = MAX_BYTEGAP; |
| + } |
| + else if((Sync == 2) && !bCheckDelay) |
| + { |
| + SpektrumTimer = MAX_BYTEGAP; |
| + // Datenbyte high |
| + ByteHigh = c; |
| + if (FrameCnt == 2) |
| + { |
| + // is 1st Byte of Channel-data |
| + // Frame 1 with Channel 1-7 comming next |
| + Frame2 = 0; |
| + if(ByteHigh & 0x80) |
| + { |
| + // DS9: Frame 2 with Channel 8-9 comming next |
| + Frame2 = 1; |
| + } |
| + } |
| + Sync = 3; |
| + FrameCnt ++; |
| + } |
| + else if((Sync == 3) && !bCheckDelay) |
| + { |
| + // Datenbyte low |
| + // High-Byte for next channel comes next |
| + SpektrumTimer = MAX_BYTEGAP; |
| + Sync = 2; |
| + FrameCnt ++; |
| + Channel = ((unsigned int)ByteHigh << 8) | c; |
| + if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM) |
| + { |
| + signal = Channel & 0x3ff; |
| + signal -= 0x200; // Offset, range 0x000..0x3ff? |
| + signal = signal/3; // scaling to fit PPM resolution |
| + index = (ByteHigh >> 2) & 0x0f; |
| + } |
| + else |
| + if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES) |
| + { |
| + signal = Channel & 0x7ff; |
| + signal -= 0x400; // Offset, range 0x000..0x7ff? |
| + signal = signal/6; // scaling to fit PPM resolution |
| + index = (ByteHigh >> 3) & 0x0f; |
| + } |
| + else |
| + //if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES) |
| + { |
| + signal = Channel & 0x3ff; |
| + signal -= 360; // Offset, range 0x000..0x3ff? |
| + signal = signal/2; // scaling to fit PPM resolution |
| + index = (ByteHigh >> 2) & 0x0f; |
| + } |
| + |
| + index++; |
| + if(index < 13) |
| + { |
| + // Stabiles Signal |
| +#ifdef RECEIVER_SPEKTRUM_EXP |
| + if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
| + else if (index == 4) index = 2; |
| +#endif |
| + if(abs(signal - PPM_in[index]) < 6) |
| + { |
| + if(SenderOkay < 200) SenderOkay += 10; |
| + else |
| + { |
| + SenderOkay = 200; |
| + TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
| + } |
| + } |
| + tmp = (3 * (PPM_in[index]) + signal) / 4; |
| + if(tmp > signal+1) tmp--; else |
| + if(tmp < signal-1) tmp++; |
| + |
| +#ifdef RECEIVER_SPEKTRUM_EXP |
| + if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| + { |
| + if (signal > 100) // SYNC received |
| + { |
| + if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
| + if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) || (s_exparity == 0 && s_exdata[s_excnt] == 125))) || (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check |
| + { |
| + if (s_exdata[1] == 125 && s_exdata[2] == -125) PPM_in[5] = -125; // Reconstruct tripole Flight-Mode value (CH5) |
| + else if (s_exdata[1] == -125 && s_exdata[2] == -125) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
| + else if (s_exdata[1] == -125 && s_exdata[2] == 125) PPM_in[5] = 125; // Reconstruct tripole Flight-Mode value (CH5) |
| + PPM_in[6] = s_exdata[3]; // Elevator (CH6) |
| + PPM_in[11] = s_exdata[4]; // Aileron (CH11) |
| + PPM_in[12] = s_exdata[5]; // Rudder (CH12) |
| + |
| + if (s_excnt == 9) // New Mode (12 Channels) |
| + { |
| + if (s_exdata[7] == 125) PPM_in[8] += 5; // Hover Pitch UP (CH8) |
| + if (s_exdata[8] == 125) PPM_in[8] -= 5; // Hover Pitch DN (CH8) |
| + if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
| + else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
| + PPM_in[10] = s_exdata[6]; // AUX2 (CH10) |
| + } |
| + } |
| + |
| + s_excnt = 0; // Reset bitcounter |
| + s_exparity = 0; // Reset parity bit |
| + } |
| + |
| + if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
| + if (s_excnt == 10) s_excnt = 0; // Overflow protection |
| + if (signal < -100) |
| + { |
| + s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
| + s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
| + } |
| + |
| + } |
| +#endif |
| + if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| + else PPM_diff[index] = 0; |
| + |
| +#ifdef RECEIVER_SPEKTRUM_EXP |
| + if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
| + else if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
| + else if (index == 7) PPM_in[9] = signal; // Hover Throttle (CH9) |
| +#else |
| + PPM_in[index] = tmp; |
| +#endif |
| + } |
| + else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| + } |
| + else |
| + { |
| + // hier stimmt was nicht: neu synchronisieren |
| + ReSync = 1; |
| + FrameCnt = 0; |
| + Frame2 = 0; |
| + // new frame next, nach fruehestens 7ms erwartet |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + } |
| + |
| + // 16 Bytes eingetroffen -> Komplett |
| + if(FrameCnt >= 16) |
| + { |
| + // Frame complete |
| + if(Frame2 == 0) |
| + { |
| + // Null bedeutet: Neue Daten |
| + // nur beim ersten Frame (CH 0-7) setzen |
| + if(!ReSync) NewPpmData = 0; |
| + } |
| + FrameCnt = 0; |
| + Frame2 = 0; |
| + Sync = 0; |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + } |
| + } |
| +} |
| /branches/metro/v0.82a metro_Akku+/Spektrum.d |
|---|
| 0,0 → 1,3 |
| Spektrum.o Spektrum.d : Spektrum.c Spektrum.h main.h old_macros.h printf_P.h timer0.h \ |
| uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h \ |
| spektrum.h capacity.h eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/Spektrum.h |
|---|
| 0,0 → 1,12 |
| /*####################################################################################### |
| Dekodieren eines Spektrum Signals |
| #######################################################################################*/ |
| #ifndef _SPEKTRUM_H |
| #define _SPEKTRUM_H |
| void SpektrumUartInit(void); |
| void SpektrumBinding(void); |
| extern unsigned char SpektrumTimer; |
| extern void SpektrumParser(unsigned char c); |
| #endif //_RC_H |
| /branches/metro/v0.82a metro_Akku+/Spektrum.lst |
|---|
| 0,0 → 1,433 |
| 1 .file "Spektrum.c" |
| 2 .arch atmega644p |
| 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 .global SpektrumTimer |
| 11 .global SpektrumTimer |
| 12 .section .bss |
| 15 SpektrumTimer: |
| 16 0000 00 .skip 1,0 |
| 17 .text |
| 18 .global SpektrumUartInit |
| 20 SpektrumUartInit: |
| 21 /* prologue: frame size=0 */ |
| 22 /* prologue end (size=0) */ |
| 23 0000 4FB7 in r20,95-0x20 |
| 24 0002 24E1 ldi r18,lo8(20) |
| 25 0004 30E0 ldi r19,hi8(20) |
| 26 /* #APP */ |
| 27 0006 F894 cli |
| 28 /* #NOAPP */ |
| 29 0008 8091 C900 lds r24,201 |
| 30 000c 8F77 andi r24,lo8(127) |
| 31 000e 8093 C900 sts 201,r24 |
| 32 0012 8091 C900 lds r24,201 |
| 33 0016 8F7B andi r24,lo8(-65) |
| 34 0018 8093 C900 sts 201,r24 |
| 35 001c 8091 C900 lds r24,201 |
| 36 0020 8F7D andi r24,lo8(-33) |
| 37 0022 8093 C900 sts 201,r24 |
| 38 0026 5A9A sbi 43-0x20,2 |
| 39 0028 5298 cbi 42-0x20,2 |
| 40 002a 5B9A sbi 43-0x20,3 |
| 41 002c 539A sbi 42-0x20,3 |
| 42 002e 832F mov r24,r19 |
| 43 0030 9927 clr r25 |
| 44 0032 8093 CD00 sts 205,r24 |
| 45 0036 2093 CC00 sts 204,r18 |
| 46 003a 8091 C800 lds r24,200 |
| 47 003e 8260 ori r24,lo8(2) |
| 48 0040 8093 C800 sts 200,r24 |
| 49 0044 80E1 ldi r24,lo8(16) |
| 50 0046 8093 C900 sts 201,r24 |
| 51 004a 8091 CA00 lds r24,202 |
| 52 004e 8F77 andi r24,lo8(127) |
| 53 0050 8093 CA00 sts 202,r24 |
| 54 0054 8091 CA00 lds r24,202 |
| 55 0058 8F7B andi r24,lo8(-65) |
| 56 005a 8093 CA00 sts 202,r24 |
| 57 005e 8091 CA00 lds r24,202 |
| 58 0062 8F7D andi r24,lo8(-33) |
| 59 0064 8093 CA00 sts 202,r24 |
| 60 0068 8091 CA00 lds r24,202 |
| 61 006c 8F7E andi r24,lo8(-17) |
| 62 006e 8093 CA00 sts 202,r24 |
| 63 0072 8091 CA00 lds r24,202 |
| 64 0076 877F andi r24,lo8(-9) |
| 65 0078 8093 CA00 sts 202,r24 |
| 66 007c 8091 C900 lds r24,201 |
| 67 0080 8B7F andi r24,lo8(-5) |
| 68 0082 8093 C900 sts 201,r24 |
| 69 0086 8091 CA00 lds r24,202 |
| 70 008a 8460 ori r24,lo8(4) |
| 71 008c 8093 CA00 sts 202,r24 |
| 72 0090 8091 CA00 lds r24,202 |
| 73 0094 8260 ori r24,lo8(2) |
| 74 0096 8093 CA00 sts 202,r24 |
| 75 .L7: |
| 76 009a 8091 C800 lds r24,200 |
| 77 009e 87FF sbrs r24,7 |
| 78 00a0 03C0 rjmp .L6 |
| 79 00a2 8091 CE00 lds r24,206 |
| 80 00a6 F9CF rjmp .L7 |
| 81 .L6: |
| 82 00a8 8091 C900 lds r24,201 |
| 83 00ac 8068 ori r24,lo8(-128) |
| 84 00ae 8093 C900 sts 201,r24 |
| 85 00b2 4FBF out 95-0x20,r20 |
| 86 /* epilogue: frame size=0 */ |
| 87 00b4 0895 ret |
| 88 /* epilogue end (size=1) */ |
| 89 /* function SpektrumUartInit size 92 (91) */ |
| 91 .lcomm Sync.0,1 |
| 92 .lcomm FrameCnt.1,1 |
| 93 .lcomm ByteHigh.2,1 |
| 94 .data |
| 97 ReSync.3: |
| 98 0000 01 .byte 1 |
| 99 .lcomm Frame2.4,1 |
| 100 .text |
| 101 .global SpektrumParser |
| 103 SpektrumParser: |
| 104 /* prologue: frame size=0 */ |
| 105 00b6 EF92 push r14 |
| 106 00b8 FF92 push r15 |
| 107 00ba 0F93 push r16 |
| 108 00bc 1F93 push r17 |
| 109 00be CF93 push r28 |
| 110 00c0 DF93 push r29 |
| 111 /* prologue end (size=6) */ |
| 112 00c2 482F mov r20,r24 |
| 113 00c4 00E0 ldi r16,lo8(0) |
| 114 00c6 10E0 ldi r17,hi8(0) |
| 115 00c8 8091 0000 lds r24,ReSync.3 |
| 116 00cc 8130 cpi r24,lo8(1) |
| 117 00ce 61F4 brne .L9 |
| 118 00d0 1092 0000 sts ReSync.3,__zero_reg__ |
| 119 00d4 84E4 ldi r24,lo8(68) |
| 120 00d6 8093 0000 sts SpektrumTimer,r24 |
| 121 00da 1092 0000 sts FrameCnt.1,__zero_reg__ |
| 122 00de 1092 0000 sts Sync.0,__zero_reg__ |
| 123 00e2 1092 0000 sts ByteHigh.2,__zero_reg__ |
| 124 00e6 2BC1 rjmp .L8 |
| 125 .L9: |
| 126 00e8 8091 0000 lds r24,SpektrumTimer |
| 127 00ec 8823 tst r24 |
| 128 00ee 19F4 brne .L11 |
| 129 00f0 21E0 ldi r18,lo8(1) |
| 130 00f2 30E0 ldi r19,hi8(1) |
| 131 00f4 01C0 rjmp .L12 |
| 132 .L11: |
| 133 00f6 9801 movw r18,r16 |
| 134 .L12: |
| 135 00f8 9091 0000 lds r25,Sync.0 |
| 136 00fc 9923 tst r25 |
| 137 00fe 71F4 brne .L13 |
| 138 0100 232B or r18,r19 |
| 139 0102 11F0 breq .L14 |
| 140 0104 81E0 ldi r24,lo8(1) |
| 141 0106 10C0 rjmp .L49 |
| 142 .L14: |
| 143 0108 84E4 ldi r24,lo8(68) |
| 144 010a 8093 0000 sts SpektrumTimer,r24 |
| 145 010e 9093 0000 sts FrameCnt.1,r25 |
| 146 0112 9093 0000 sts Sync.0,r25 |
| 147 0116 9093 0000 sts ByteHigh.2,r25 |
| 148 011a FAC0 rjmp .L16 |
| 149 .L13: |
| 150 011c 9130 cpi r25,lo8(1) |
| 151 011e 69F4 brne .L17 |
| 152 0120 232B or r18,r19 |
| 153 0122 09F0 breq .+2 |
| 154 0124 EBC0 rjmp .L23 |
| 155 0126 82E0 ldi r24,lo8(2) |
| 156 .L49: |
| 157 0128 8093 0000 sts Sync.0,r24 |
| 158 012c 8091 0000 lds r24,FrameCnt.1 |
| 159 0130 8F5F subi r24,lo8(-(1)) |
| 160 0132 8093 0000 sts FrameCnt.1,r24 |
| 161 0136 83E0 ldi r24,lo8(3) |
| 162 0138 E9C0 rjmp .L47 |
| 163 .L17: |
| 164 013a 9230 cpi r25,lo8(2) |
| 165 013c D1F4 brne .L19 |
| 166 013e 232B or r18,r19 |
| 167 0140 09F0 breq .+2 |
| 168 0142 DCC0 rjmp .L23 |
| 169 0144 83E0 ldi r24,lo8(3) |
| 170 0146 8093 0000 sts SpektrumTimer,r24 |
| 171 014a 4093 0000 sts ByteHigh.2,r20 |
| 172 014e 9091 0000 lds r25,FrameCnt.1 |
| 173 0152 9230 cpi r25,lo8(2) |
| 174 0154 39F4 brne .L20 |
| 175 0156 1092 0000 sts Frame2.4,__zero_reg__ |
| 176 015a 47FF sbrs r20,7 |
| 177 015c 03C0 rjmp .L20 |
| 178 015e 81E0 ldi r24,lo8(1) |
| 179 0160 8093 0000 sts Frame2.4,r24 |
| 180 .L20: |
| 181 0164 83E0 ldi r24,lo8(3) |
| 182 0166 8093 0000 sts Sync.0,r24 |
| 183 016a 9F5F subi r25,lo8(-(1)) |
| 184 016c 9093 0000 sts FrameCnt.1,r25 |
| 185 0170 CFC0 rjmp .L16 |
| 186 .L19: |
| 187 0172 9330 cpi r25,lo8(3) |
| 188 0174 09F0 breq .+2 |
| 189 0176 C2C0 rjmp .L23 |
| 190 0178 232B or r18,r19 |
| 191 017a 09F0 breq .+2 |
| 192 017c BFC0 rjmp .L23 |
| 193 017e 9093 0000 sts SpektrumTimer,r25 |
| 194 0182 82E0 ldi r24,lo8(2) |
| 195 0184 8093 0000 sts Sync.0,r24 |
| 196 0188 8091 0000 lds r24,FrameCnt.1 |
| 197 018c 8F5F subi r24,lo8(-(1)) |
| 198 018e 8093 0000 sts FrameCnt.1,r24 |
| 199 0192 2091 0000 lds r18,ByteHigh.2 |
| 200 0196 822F mov r24,r18 |
| 201 0198 9927 clr r25 |
| 202 019a 782F mov r23,r24 |
| 203 019c 6627 clr r22 |
| 204 019e 842F mov r24,r20 |
| 205 01a0 9927 clr r25 |
| 206 01a2 682B or r22,r24 |
| 207 01a4 792B or r23,r25 |
| 208 01a6 8091 0000 lds r24,EE_Parameter+39 |
| 209 01aa 8130 cpi r24,lo8(1) |
| 210 01ac 49F4 brne .L24 |
| 211 01ae 7370 andi r23,hi8(1023) |
| 212 01b0 CB01 movw r24,r22 |
| 213 01b2 8050 subi r24,lo8(-(-512)) |
| 214 01b4 9240 sbci r25,hi8(-(-512)) |
| 215 01b6 63E0 ldi r22,lo8(3) |
| 216 01b8 70E0 ldi r23,hi8(3) |
| 217 01ba 0E94 0000 call __divmodhi4 |
| 218 01be 17C0 rjmp .L48 |
| 219 .L24: |
| 220 01c0 8230 cpi r24,lo8(2) |
| 221 01c2 61F4 brne .L26 |
| 222 01c4 7770 andi r23,hi8(2047) |
| 223 01c6 CB01 movw r24,r22 |
| 224 01c8 8050 subi r24,lo8(-(-1024)) |
| 225 01ca 9440 sbci r25,hi8(-(-1024)) |
| 226 01cc 66E0 ldi r22,lo8(6) |
| 227 01ce 70E0 ldi r23,hi8(6) |
| 228 01d0 0E94 0000 call __divmodhi4 |
| 229 01d4 2695 lsr r18 |
| 230 01d6 2695 lsr r18 |
| 231 01d8 2695 lsr r18 |
| 232 01da 0BC0 rjmp .L46 |
| 233 .L26: |
| 234 01dc 7370 andi r23,hi8(1023) |
| 235 01de 6856 subi r22,lo8(-(-360)) |
| 236 01e0 7140 sbci r23,hi8(-(-360)) |
| 237 01e2 CB01 movw r24,r22 |
| 238 01e4 77FD sbrc r23,7 |
| 239 01e6 0196 adiw r24,1 |
| 240 .L28: |
| 241 01e8 BC01 movw r22,r24 |
| 242 01ea 7595 asr r23 |
| 243 01ec 6795 ror r22 |
| 244 .L48: |
| 245 01ee 2695 lsr r18 |
| 246 01f0 2695 lsr r18 |
| 247 .L46: |
| 248 01f2 022F mov r16,r18 |
| 249 01f4 1127 clr r17 |
| 250 01f6 0F70 andi r16,lo8(15) |
| 251 01f8 1070 andi r17,hi8(15) |
| 252 01fa 0F5F subi r16,lo8(-(1)) |
| 253 01fc 1F4F sbci r17,hi8(-(1)) |
| 254 01fe 0D30 cpi r16,13 |
| 255 0200 1105 cpc r17,__zero_reg__ |
| 256 0202 08F0 brlo .+2 |
| 257 0204 74C0 rjmp .L29 |
| 258 0206 7801 movw r14,r16 |
| 259 0208 E00E add r14,r16 |
| 260 020a F11E adc r15,r17 |
| 261 020c F701 movw r30,r14 |
| 262 020e E050 subi r30,lo8(-(PPM_in)) |
| 263 0210 F040 sbci r31,hi8(-(PPM_in)) |
| 264 0212 8081 ld r24,Z |
| 265 0214 9181 ldd r25,Z+1 |
| 266 0216 9B01 movw r18,r22 |
| 267 0218 281B sub r18,r24 |
| 268 021a 390B sbc r19,r25 |
| 269 021c C901 movw r24,r18 |
| 270 021e 37FF sbrs r19,7 |
| 271 0220 03C0 rjmp .L31 |
| 272 0222 9095 com r25 |
| 273 0224 8195 neg r24 |
| 274 0226 9F4F sbci r25,lo8(-1) |
| 275 .L31: |
| 276 0228 0697 sbiw r24,6 |
| 277 022a 94F4 brge .L30 |
| 278 022c 8091 0000 lds r24,SenderOkay |
| 279 0230 883C cpi r24,lo8(-56) |
| 280 0232 30F4 brsh .L32 |
| 281 0234 8091 0000 lds r24,SenderOkay |
| 282 0238 865F subi r24,lo8(-(10)) |
| 283 023a 8093 0000 sts SenderOkay,r24 |
| 284 023e 08C0 rjmp .L30 |
| 285 .L32: |
| 286 0240 88EC ldi r24,lo8(-56) |
| 287 0242 8093 0000 sts SenderOkay,r24 |
| 288 0246 8091 6F00 lds r24,111 |
| 289 024a 8F7D andi r24,lo8(-33) |
| 290 024c 8093 6F00 sts 111,r24 |
| 291 .L30: |
| 292 0250 F701 movw r30,r14 |
| 293 0252 E050 subi r30,lo8(-(PPM_in)) |
| 294 0254 F040 sbci r31,hi8(-(PPM_in)) |
| 295 0256 8081 ld r24,Z |
| 296 0258 9181 ldd r25,Z+1 |
| 297 025a 9C01 movw r18,r24 |
| 298 025c 220F lsl r18 |
| 299 025e 331F rol r19 |
| 300 0260 280F add r18,r24 |
| 301 0262 391F adc r19,r25 |
| 302 0264 260F add r18,r22 |
| 303 0266 371F adc r19,r23 |
| 304 0268 37FF sbrs r19,7 |
| 305 026a 02C0 rjmp .L34 |
| 306 026c 2D5F subi r18,lo8(-(3)) |
| 307 026e 3F4F sbci r19,hi8(-(3)) |
| 308 .L34: |
| 309 0270 E901 movw r28,r18 |
| 310 0272 D595 asr r29 |
| 311 0274 C795 ror r28 |
| 312 0276 D595 asr r29 |
| 313 0278 C795 ror r28 |
| 314 027a CB01 movw r24,r22 |
| 315 027c 0196 adiw r24,1 |
| 316 027e 8C17 cp r24,r28 |
| 317 0280 9D07 cpc r25,r29 |
| 318 0282 14F4 brge .L35 |
| 319 0284 2197 sbiw r28,1 |
| 320 0286 06C0 rjmp .L36 |
| 321 .L35: |
| 322 0288 6150 subi r22,lo8(-(-1)) |
| 323 028a 7040 sbci r23,hi8(-(-1)) |
| 324 028c C617 cp r28,r22 |
| 325 028e D707 cpc r29,r23 |
| 326 0290 0CF4 brge .L36 |
| 327 0292 2196 adiw r28,1 |
| 328 .L36: |
| 329 0294 8091 0000 lds r24,SenderOkay |
| 330 0298 843B cpi r24,lo8(-76) |
| 331 029a D0F0 brlo .L38 |
| 332 029c F701 movw r30,r14 |
| 333 029e E050 subi r30,lo8(-(PPM_in)) |
| 334 02a0 F040 sbci r31,hi8(-(PPM_in)) |
| 335 02a2 8081 ld r24,Z |
| 336 02a4 9181 ldd r25,Z+1 |
| 337 02a6 FE01 movw r30,r28 |
| 338 02a8 E81B sub r30,r24 |
| 339 02aa F90B sbc r31,r25 |
| 340 02ac CF01 movw r24,r30 |
| 341 02ae 63E0 ldi r22,lo8(3) |
| 342 02b0 70E0 ldi r23,hi8(3) |
| 343 02b2 0E94 0000 call __divmodhi4 |
| 344 02b6 CB01 movw r24,r22 |
| 345 02b8 880F lsl r24 |
| 346 02ba 991F rol r25 |
| 347 02bc 860F add r24,r22 |
| 348 02be 971F adc r25,r23 |
| 349 02c0 20E0 ldi r18,lo8(PPM_diff) |
| 350 02c2 30E0 ldi r19,hi8(PPM_diff) |
| 351 02c4 E20E add r14,r18 |
| 352 02c6 F31E adc r15,r19 |
| 353 02c8 F701 movw r30,r14 |
| 354 02ca 9183 std Z+1,r25 |
| 355 02cc 8083 st Z,r24 |
| 356 02ce 07C0 rjmp .L39 |
| 357 .L38: |
| 358 02d0 20E0 ldi r18,lo8(PPM_diff) |
| 359 02d2 30E0 ldi r19,hi8(PPM_diff) |
| 360 02d4 E20E add r14,r18 |
| 361 02d6 F31E adc r15,r19 |
| 362 02d8 F701 movw r30,r14 |
| 363 02da 1182 std Z+1,__zero_reg__ |
| 364 02dc 1082 st Z,__zero_reg__ |
| 365 .L39: |
| 366 02de 000F add r16,r16 |
| 367 02e0 111F adc r17,r17 |
| 368 02e2 0050 subi r16,lo8(-(PPM_in)) |
| 369 02e4 1040 sbci r17,hi8(-(PPM_in)) |
| 370 02e6 F801 movw r30,r16 |
| 371 02e8 D183 std Z+1,r29 |
| 372 02ea C083 st Z,r28 |
| 373 02ec 11C0 rjmp .L16 |
| 374 .L29: |
| 375 02ee 0231 cpi r16,18 |
| 376 02f0 1105 cpc r17,__zero_reg__ |
| 377 02f2 70F0 brlo .L16 |
| 378 02f4 81E0 ldi r24,lo8(1) |
| 379 02f6 8093 0000 sts ReSync.3,r24 |
| 380 02fa 0AC0 rjmp .L16 |
| 381 .L23: |
| 382 02fc 81E0 ldi r24,lo8(1) |
| 383 02fe 8093 0000 sts ReSync.3,r24 |
| 384 0302 1092 0000 sts FrameCnt.1,__zero_reg__ |
| 385 0306 1092 0000 sts Frame2.4,__zero_reg__ |
| 386 030a 84E4 ldi r24,lo8(68) |
| 387 .L47: |
| 388 030c 8093 0000 sts SpektrumTimer,r24 |
| 389 .L16: |
| 390 0310 8091 0000 lds r24,FrameCnt.1 |
| 391 0314 8031 cpi r24,lo8(16) |
| 392 0316 98F0 brlo .L8 |
| 393 0318 8091 0000 lds r24,Frame2.4 |
| 394 031c 8823 tst r24 |
| 395 031e 31F4 brne .L44 |
| 396 0320 8091 0000 lds r24,ReSync.3 |
| 397 0324 8823 tst r24 |
| 398 0326 11F4 brne .L44 |
| 399 0328 8093 0000 sts NewPpmData,r24 |
| 400 .L44: |
| 401 032c 1092 0000 sts FrameCnt.1,__zero_reg__ |
| 402 0330 1092 0000 sts Frame2.4,__zero_reg__ |
| 403 0334 1092 0000 sts Sync.0,__zero_reg__ |
| 404 0338 84E4 ldi r24,lo8(68) |
| 405 033a 8093 0000 sts SpektrumTimer,r24 |
| 406 .L8: |
| 407 /* epilogue: frame size=0 */ |
| 408 033e E6E0 ldi r30,6 |
| 409 0340 CDB7 in r28,__SP_L__ |
| 410 0342 DEB7 in r29,__SP_H__ |
| 411 0344 0C94 0000 jmp __epilogue_restores__+24 |
| 412 /* epilogue end (size=5) */ |
| 413 /* function SpektrumParser size 334 (323) */ |
| 415 /* File "Spektrum.c": code 426 = 0x01aa ( 414), prologues 6, epilogues 6 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 Spektrum.c |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:15 .bss:00000000 SpektrumTimer |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:20 .text:00000000 SpektrumUartInit |
| .bss:00000001 Sync.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:91 .bss:00000002 FrameCnt.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:92 .bss:00000003 ByteHigh.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:97 .data:00000000 ReSync.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:93 .bss:00000004 Frame2.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccUXbaaa.s:103 .text:000000b6 SpektrumParser |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| __divmodhi4 |
| PPM_in |
| SenderOkay |
| PPM_diff |
| NewPpmData |
| __epilogue_restores__ |
| /branches/metro/v0.82a metro_Akku+/analog.c |
|---|
| 0,0 → 1,283 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
| volatile int HiResNick = 2500, HiResRoll = 2500; |
| volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
| volatile char messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile long SummenHoehe = 0; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| signed char ExpandBaro = 0; |
| volatile int VarioMeter = 0; |
| volatile unsigned int ZaehlMessungen = 0; |
| unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
| volatile unsigned char AdReady = 1; |
| float NeutralAccZ_float; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ANALOG_ON; |
| } |
| #define DESIRED_H_ADC 800 |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| ExpandBaro = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| { |
| unsigned char off2; |
| OCR0A = 150; |
| off2 = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off2 < 230) off2 += 10; |
| OCR0B = off2; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
| for(; off2 >= 5; off2 -= 5) |
| { |
| OCR0B = off2; |
| Delay_ms_Mess(50); |
| printf("*"); |
| if(MessLuftdruck > DESIRED_H_ADC) break; |
| } |
| SetParamByte(PID_PRESSURE_OFFSET, off2); |
| if(off2 >= 15) off = 140; else off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < DESIRED_H_ADC) break; |
| } |
| DruckOffsetSetting = off; |
| } |
| #else |
| off = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < DESIRED_H_ADC) break; |
| } |
| DruckOffsetSetting = off; |
| SetParamByte(PID_PRESSURE_OFFSET, off); |
| #endif |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
| OCR0A = off; |
| Delay_ms_Mess(300); |
| } |
| void SucheGyroOffset(void) |
| { |
| unsigned char i, ready = 0; |
| int timeout; |
| timeout = SetDelay(2000); |
| for(i=140; i != 0; i--) |
| { |
| if(ready == 3 && i > 10) i = 9; |
| ready = 0; |
| if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
| if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
| if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
| if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;}; |
| if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;}; |
| if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;}; |
| while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
| AdReady = 0; |
| ANALOG_ON; |
| while(!AdReady); |
| if(i<10) Delay_ms_Mess(10); |
| } |
| Delay_ms_Mess(70); |
| } |
| /* |
| 0 n |
| 1 r |
| 2 g |
| 3 y |
| 4 x |
| 5 n |
| 6 r |
| 7 u |
| 8 z |
| 9 L |
| 10 n |
| 11 r |
| 12 g |
| 13 y |
| 14 x |
| 15 n |
| 16 r |
| 17 L |
| */ |
| //####################################################################################### |
| // |
| ISR(ADC_vect) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| static signed char subcount = 0; |
| static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
| static signed int accy, accx; |
| static long tmpLuftdruck = 0; |
| static char messanzahl_Druck = 0; |
| switch(state++) |
| { |
| case 0: |
| nick1 = ADC; |
| kanal = AD_ROLL; |
| break; |
| case 1: |
| roll1 = ADC; |
| kanal = AD_GIER; |
| break; |
| case 2: |
| gier1 = ADC; |
| kanal = AD_ACC_Y; |
| break; |
| case 3: |
| Aktuell_ay = NeutralAccY - ADC; |
| accy = Aktuell_ay; |
| kanal = AD_ACC_X; |
| break; |
| case 4: |
| Aktuell_ax = ADC - NeutralAccX; |
| accx = Aktuell_ax; |
| kanal = AD_NICK; |
| break; |
| case 5: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 6: |
| roll1 += ADC; |
| kanal = AD_UBAT; |
| break; |
| case 7: |
| UBat = (3 * UBat + ADC / 3) / 4; |
| kanal = AD_ACC_Z; |
| break; |
| case 8: |
| AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 750) |
| { |
| subcount += 5; |
| if(modell_fliegt < 500) subcount += 10; |
| } |
| if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| subcount -= 5; |
| if(modell_fliegt < 500) subcount -= 10; |
| if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
| } |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = AD_DRUCK; |
| break; |
| // "case 9:" fehlt hier absichtlich |
| case 10: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 11: |
| roll1 += ADC; |
| kanal = AD_GIER; |
| break; |
| case 12: |
| if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
| else |
| if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
| else AdWertGier = (ADC + gier1); |
| kanal = AD_ACC_Y; |
| break; |
| case 13: |
| Aktuell_ay = NeutralAccY - ADC; |
| AdWertAccRoll = (Aktuell_ay + accy); |
| kanal = AD_ACC_X; |
| break; |
| case 14: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = (Aktuell_ax + accx); |
| kanal = AD_NICK; |
| break; |
| case 15: |
| nick1 += ADC; |
| if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
| AdWertNick = nick1 / 8; |
| nick_filter = (nick_filter + nick1) / 2; |
| HiResNick = nick_filter - AdNeutralNick; |
| AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
| kanal = AD_ROLL; |
| break; |
| case 16: |
| roll1 += ADC; |
| if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
| AdWertRoll = roll1 / 8; |
| roll_filter = (roll_filter + roll1) / 2; |
| HiResRoll = roll_filter - AdNeutralRoll; |
| AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
| kanal = AD_DRUCK; |
| break; |
| case 17: |
| state = 0; |
| AdReady = 1; |
| ZaehlMessungen++; |
| // "break" fehlt hier absichtlich |
| case 9: |
| MessLuftdruck = ADC; |
| tmpLuftdruck += MessLuftdruck; |
| if(++messanzahl_Druck >= 18) |
| { |
| Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
| HoehenWert = StartLuftdruck - Luftdruck; |
| SummenHoehe -= SummenHoehe/SM_FILTER; |
| SummenHoehe += HoehenWert; |
| VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
| tmpLuftdruck /= 2; |
| messanzahl_Druck = 18/2; |
| } |
| kanal = AD_NICK; |
| break; |
| default: |
| kanal = 0; state = 0; kanal = AD_NICK; |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; |
| } |
| /branches/metro/v0.82a metro_Akku+/analog.d |
|---|
| 0,0 → 1,3 |
| analog.o analog.d : analog.c main.h old_macros.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h \ |
| capacity.h eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/analog.h |
|---|
| 0,0 → 1,47 |
| #ifndef _ANALOG_H |
| #define _ANALOG_H |
| /*####################################################################################### |
| #######################################################################################*/ |
| #define SM_FILTER 16 |
| extern volatile int UBat; |
| extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
| extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
| extern volatile int HiResNick, HiResRoll; |
| extern volatile int AdWertNickFilter, AdWertRollFilter, AdWertGierFilter; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile long SummenHoehe; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern signed char ExpandBaro; |
| extern volatile int VarioMeter; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern volatile char MessanzahlNick; |
| extern unsigned char AnalogOffsetNick,AnalogOffsetRoll,AnalogOffsetGier; |
| extern volatile unsigned char AdReady; |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| void SucheGyroOffset(void); |
| #define AD_GIER 0 |
| #define AD_ROLL 1 |
| #define AD_NICK 2 |
| #define AD_DRUCK 3 |
| #define AD_UBAT 4 |
| #define AD_ACC_Z 5 |
| #define AD_ACC_Y 6 |
| #define AD_ACC_X 7 |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| //Signle trigger Mode, Interrupt on |
| #endif //_ANALOG_H |
| /branches/metro/v0.82a metro_Akku+/analog.lst |
|---|
| 0,0 → 1,1304 |
| 1 .file "analog.c" |
| 2 .arch atmega644p |
| 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 .global AdReady |
| 11 .data |
| 14 AdReady: |
| 15 0000 01 .byte 1 |
| 16 .global AnalogOffsetGier |
| 19 AnalogOffsetGier: |
| 20 0001 73 .byte 115 |
| 21 .global AnalogOffsetRoll |
| 24 AnalogOffsetRoll: |
| 25 0002 73 .byte 115 |
| 26 .global AnalogOffsetNick |
| 29 AnalogOffsetNick: |
| 30 0003 73 .byte 115 |
| 31 .global ZaehlMessungen |
| 32 .global ZaehlMessungen |
| 33 .section .bss |
| 36 ZaehlMessungen: |
| 37 0000 0000 .skip 2,0 |
| 38 .global VarioMeter |
| 39 .global VarioMeter |
| 42 VarioMeter: |
| 43 0002 0000 .skip 2,0 |
| 44 .global ExpandBaro |
| 45 .global ExpandBaro |
| 48 ExpandBaro: |
| 49 0004 00 .skip 1,0 |
| 50 .global MessLuftdruck |
| 51 .data |
| 54 MessLuftdruck: |
| 55 0004 FF03 .word 1023 |
| 56 .global SummenHoehe |
| 57 .global SummenHoehe |
| 58 .section .bss |
| 61 SummenHoehe: |
| 62 0005 0000 0000 .skip 4,0 |
| 63 .global Luftdruck |
| 64 .data |
| 67 Luftdruck: |
| 68 0006 007D 0000 .long 32000 |
| 69 .global messanzahl_AccHoch |
| 70 .global messanzahl_AccHoch |
| 71 .section .bss |
| 74 messanzahl_AccHoch: |
| 75 0009 00 .skip 1,0 |
| 76 .global AdWertAccHoch |
| 77 .global AdWertAccHoch |
| 80 AdWertAccHoch: |
| 81 000a 0000 .skip 2,0 |
| 82 .global AdWertAccNick |
| 83 .global AdWertAccNick |
| 86 AdWertAccNick: |
| 87 000c 0000 .skip 2,0 |
| 88 .global AdWertAccRoll |
| 89 .global AdWertAccRoll |
| 92 AdWertAccRoll: |
| 93 000e 0000 .skip 2,0 |
| 94 .global AdWertGier |
| 95 .global AdWertGier |
| 98 AdWertGier: |
| 99 0010 0000 .skip 2,0 |
| 100 .global AdWertRoll |
| 101 .global AdWertRoll |
| 104 AdWertRoll: |
| 105 0012 0000 .skip 2,0 |
| 106 .global AdWertNick |
| 107 .global AdWertNick |
| 110 AdWertNick: |
| 111 0014 0000 .skip 2,0 |
| 112 .global HiResRoll |
| 113 .data |
| 116 HiResRoll: |
| 117 000a C409 .word 2500 |
| 118 .global HiResNick |
| 121 HiResNick: |
| 122 000c C409 .word 2500 |
| 123 .global AdWertGierFilter |
| 124 .global AdWertGierFilter |
| 125 .section .bss |
| 128 AdWertGierFilter: |
| 129 0016 0000 .skip 2,0 |
| 130 .global AdWertRollFilter |
| 131 .global AdWertRollFilter |
| 134 AdWertRollFilter: |
| 135 0018 0000 .skip 2,0 |
| 136 .global AdWertNickFilter |
| 137 .global AdWertNickFilter |
| 140 AdWertNickFilter: |
| 141 001a 0000 .skip 2,0 |
| 142 .global UBat |
| 143 .data |
| 146 UBat: |
| 147 000e 6400 .word 100 |
| 148 .text |
| 149 .global ADC_Init |
| 151 ADC_Init: |
| 152 /* prologue: frame size=0 */ |
| 153 /* prologue end (size=0) */ |
| 154 0000 1092 7C00 sts 124,__zero_reg__ |
| 155 0004 8FEC ldi r24,lo8(-49) |
| 156 0006 8093 7A00 sts 122,r24 |
| 157 /* epilogue: frame size=0 */ |
| 158 000a 0895 ret |
| 159 /* epilogue end (size=1) */ |
| 160 /* function ADC_Init size 6 (5) */ |
| 162 .section .progmem.data,"a",@progbits |
| 165 __c.13: |
| 166 0000 2E00 .string "." |
| 167 .text |
| 168 .global SucheLuftruckOffset |
| 170 SucheLuftruckOffset: |
| 171 /* prologue: frame size=0 */ |
| 172 000c CF93 push r28 |
| 173 000e DF93 push r29 |
| 174 /* prologue end (size=2) */ |
| 175 0010 1092 0000 sts ExpandBaro,__zero_reg__ |
| 176 0014 83E0 ldi r24,lo8(3) |
| 177 0016 90E0 ldi r25,hi8(3) |
| 178 0018 0E94 0000 call GetParamByte |
| 179 001c C82F mov r28,r24 |
| 180 001e DD27 clr r29 |
| 181 0020 C531 cpi r28,21 |
| 182 0022 D105 cpc r29,__zero_reg__ |
| 183 0024 08F0 brlo .L3 |
| 184 0026 2A97 sbiw r28,10 |
| 185 .L3: |
| 186 0028 C7BD out 71-0x20,r28 |
| 187 002a 84E6 ldi r24,lo8(100) |
| 188 002c 90E0 ldi r25,hi8(100) |
| 189 002e 0E94 0000 call Delay_ms_Mess |
| 190 0032 8091 0000 lds r24,MessLuftdruck |
| 191 0036 9091 0000 lds r25,(MessLuftdruck)+1 |
| 192 003a 8052 subi r24,lo8(800) |
| 193 003c 9340 sbci r25,hi8(800) |
| 194 003e 10F4 brsh .L4 |
| 195 0040 C0E0 ldi r28,lo8(0) |
| 196 0042 D0E0 ldi r29,hi8(0) |
| 197 .L4: |
| 198 0044 CA3F cpi r28,250 |
| 199 0046 D105 cpc r29,__zero_reg__ |
| 200 0048 F8F4 brsh .L6 |
| 201 004a C7BD out 71-0x20,r28 |
| 202 004c 82E3 ldi r24,lo8(50) |
| 203 004e 90E0 ldi r25,hi8(50) |
| 204 0050 0E94 0000 call Delay_ms_Mess |
| 205 0054 80E0 ldi r24,lo8(__c.13) |
| 206 0056 90E0 ldi r25,hi8(__c.13) |
| 207 0058 9F93 push r25 |
| 208 005a 8F93 push r24 |
| 209 005c 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 210 005e 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 211 0060 9F93 push r25 |
| 212 0062 8F93 push r24 |
| 213 0064 E091 0000 lds r30,_printf_P |
| 214 0068 F091 0000 lds r31,(_printf_P)+1 |
| 215 006c 0995 icall |
| 216 006e 8091 0000 lds r24,MessLuftdruck |
| 217 0072 9091 0000 lds r25,(MessLuftdruck)+1 |
| 218 0076 0F90 pop __tmp_reg__ |
| 219 0078 0F90 pop __tmp_reg__ |
| 220 007a 0F90 pop __tmp_reg__ |
| 221 007c 0F90 pop __tmp_reg__ |
| 222 007e 8052 subi r24,lo8(800) |
| 223 0080 9340 sbci r25,hi8(800) |
| 224 0082 10F0 brlo .L6 |
| 225 0084 2196 adiw r28,1 |
| 226 0086 DECF rjmp .L4 |
| 227 .L6: |
| 228 0088 C093 0000 sts DruckOffsetSetting,r28 |
| 229 008c 6C2F mov r22,r28 |
| 230 008e 83E0 ldi r24,lo8(3) |
| 231 0090 90E0 ldi r25,hi8(3) |
| 232 0092 0E94 0000 call SetParamByte |
| 233 0096 8091 0000 lds r24,EE_Parameter+13 |
| 234 009a 80FF sbrs r24,0 |
| 235 009c 0AC0 rjmp .L10 |
| 236 009e 8091 0000 lds r24,DruckOffsetSetting |
| 237 00a2 8A50 subi r24,lo8(-(-10)) |
| 238 00a4 8B3E cpi r24,lo8(-21) |
| 239 00a6 28F0 brlo .L10 |
| 240 00a8 8091 0000 lds r24,VersionInfo+5 |
| 241 00ac 8064 ori r24,lo8(64) |
| 242 00ae 8093 0000 sts VersionInfo+5,r24 |
| 243 .L10: |
| 244 00b2 C7BD out 71-0x20,r28 |
| 245 00b4 8CE2 ldi r24,lo8(300) |
| 246 00b6 91E0 ldi r25,hi8(300) |
| 247 00b8 0E94 0000 call Delay_ms_Mess |
| 248 /* epilogue: frame size=0 */ |
| 249 00bc DF91 pop r29 |
| 250 00be CF91 pop r28 |
| 251 00c0 0895 ret |
| 252 /* epilogue end (size=3) */ |
| 253 /* function SucheLuftruckOffset size 93 (88) */ |
| 255 .section .progmem.data |
| 258 __c.12: |
| 259 0002 0A0D 2044 .string "\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl" |
| 259 4143 206F |
| 259 7220 4932 |
| 259 4320 4552 |
| 259 524F 5221 |
| 260 .text |
| 261 .global SucheGyroOffset |
| 263 SucheGyroOffset: |
| 264 /* prologue: frame size=0 */ |
| 265 00c2 EF92 push r14 |
| 266 00c4 FF92 push r15 |
| 267 00c6 1F93 push r17 |
| 268 00c8 CF93 push r28 |
| 269 /* prologue end (size=4) */ |
| 270 00ca 10E0 ldi r17,lo8(0) |
| 271 00cc 80ED ldi r24,lo8(2000) |
| 272 00ce 97E0 ldi r25,hi8(2000) |
| 273 00d0 0E94 0000 call SetDelay |
| 274 00d4 7C01 movw r14,r24 |
| 275 00d6 CCE8 ldi r28,lo8(-116) |
| 276 .L43: |
| 277 00d8 1330 cpi r17,lo8(3) |
| 278 00da 19F4 brne .L16 |
| 279 00dc CB30 cpi r28,lo8(11) |
| 280 00de 08F0 brlo .L16 |
| 281 00e0 C9E0 ldi r28,lo8(9) |
| 282 .L16: |
| 283 00e2 10E0 ldi r17,lo8(0) |
| 284 00e4 8091 0000 lds r24,AdWertNick |
| 285 00e8 9091 0000 lds r25,(AdWertNick)+1 |
| 286 00ec 8C5F subi r24,lo8(1020) |
| 287 00ee 9340 sbci r25,hi8(1020) |
| 288 00f0 24F4 brge .L17 |
| 289 00f2 8091 0000 lds r24,AnalogOffsetNick |
| 290 00f6 8150 subi r24,lo8(-(-1)) |
| 291 00f8 0AC0 rjmp .L48 |
| 292 .L17: |
| 293 00fa 8091 0000 lds r24,AdWertNick |
| 294 00fe 9091 0000 lds r25,(AdWertNick)+1 |
| 295 0102 8750 subi r24,lo8(1031) |
| 296 0104 9440 sbci r25,hi8(1031) |
| 297 0106 34F0 brlt .L19 |
| 298 0108 8091 0000 lds r24,AnalogOffsetNick |
| 299 010c 8F5F subi r24,lo8(-(1)) |
| 300 .L48: |
| 301 010e 8093 0000 sts AnalogOffsetNick,r24 |
| 302 0112 01C0 rjmp .L18 |
| 303 .L19: |
| 304 0114 11E0 ldi r17,lo8(1) |
| 305 .L18: |
| 306 0116 8091 0000 lds r24,AdWertRoll |
| 307 011a 9091 0000 lds r25,(AdWertRoll)+1 |
| 308 011e 8C5F subi r24,lo8(1020) |
| 309 0120 9340 sbci r25,hi8(1020) |
| 310 0122 24F4 brge .L21 |
| 311 0124 8091 0000 lds r24,AnalogOffsetRoll |
| 312 0128 8150 subi r24,lo8(-(-1)) |
| 313 012a 0AC0 rjmp .L49 |
| 314 .L21: |
| 315 012c 8091 0000 lds r24,AdWertRoll |
| 316 0130 9091 0000 lds r25,(AdWertRoll)+1 |
| 317 0134 8750 subi r24,lo8(1031) |
| 318 0136 9440 sbci r25,hi8(1031) |
| 319 0138 34F0 brlt .L23 |
| 320 013a 8091 0000 lds r24,AnalogOffsetRoll |
| 321 013e 8F5F subi r24,lo8(-(1)) |
| 322 .L49: |
| 323 0140 8093 0000 sts AnalogOffsetRoll,r24 |
| 324 0144 01C0 rjmp .L22 |
| 325 .L23: |
| 326 0146 1F5F subi r17,lo8(-(1)) |
| 327 .L22: |
| 328 0148 8091 0000 lds r24,AdWertGier |
| 329 014c 9091 0000 lds r25,(AdWertGier)+1 |
| 330 0150 8C5F subi r24,lo8(1020) |
| 331 0152 9340 sbci r25,hi8(1020) |
| 332 0154 24F4 brge .L25 |
| 333 0156 8091 0000 lds r24,AnalogOffsetGier |
| 334 015a 8150 subi r24,lo8(-(-1)) |
| 335 015c 0AC0 rjmp .L50 |
| 336 .L25: |
| 337 015e 8091 0000 lds r24,AdWertGier |
| 338 0162 9091 0000 lds r25,(AdWertGier)+1 |
| 339 0166 8750 subi r24,lo8(1031) |
| 340 0168 9440 sbci r25,hi8(1031) |
| 341 016a C4F0 brlt .L27 |
| 342 016c 8091 0000 lds r24,AnalogOffsetGier |
| 343 0170 8F5F subi r24,lo8(-(1)) |
| 344 .L50: |
| 345 0172 8093 0000 sts AnalogOffsetGier,r24 |
| 346 0176 13C0 rjmp .L26 |
| 347 .L47: |
| 348 0178 80E0 ldi r24,lo8(__c.12) |
| 349 017a 90E0 ldi r25,hi8(__c.12) |
| 350 017c 9F93 push r25 |
| 351 017e 8F93 push r24 |
| 352 0180 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 353 0182 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 354 0184 9F93 push r25 |
| 355 0186 8F93 push r24 |
| 356 0188 E091 0000 lds r30,_printf_P |
| 357 018c F091 0000 lds r31,(_printf_P)+1 |
| 358 0190 0995 icall |
| 359 0192 0F90 pop __tmp_reg__ |
| 360 0194 0F90 pop __tmp_reg__ |
| 361 0196 0F90 pop __tmp_reg__ |
| 362 0198 0F90 pop __tmp_reg__ |
| 363 019a 5FC0 rjmp .L36 |
| 364 .L27: |
| 365 019c 1F5F subi r17,lo8(-(1)) |
| 366 .L26: |
| 367 019e 82E1 ldi r24,lo8(18) |
| 368 01a0 8093 0000 sts twi_state,r24 |
| 369 01a4 8091 0000 lds r24,BLFlags |
| 370 01a8 8E7F andi r24,lo8(-2) |
| 371 01aa 8093 0000 sts BLFlags,r24 |
| 372 01ae 85EA ldi r24,lo8(-91) |
| 373 01b0 8093 BC00 sts 188,r24 |
| 374 01b4 8091 0000 lds r24,AnalogOffsetNick |
| 375 01b8 8A30 cpi r24,lo8(10) |
| 376 01ba 40F4 brsh .L29 |
| 377 01bc 8091 0000 lds r24,VersionInfo+5 |
| 378 01c0 8160 ori r24,lo8(1) |
| 379 01c2 8093 0000 sts VersionInfo+5,r24 |
| 380 01c6 8AE0 ldi r24,lo8(10) |
| 381 01c8 8093 0000 sts AnalogOffsetNick,r24 |
| 382 .L29: |
| 383 01cc 8091 0000 lds r24,AnalogOffsetNick |
| 384 01d0 863F cpi r24,lo8(-10) |
| 385 01d2 40F0 brlo .L30 |
| 386 01d4 8091 0000 lds r24,VersionInfo+5 |
| 387 01d8 8160 ori r24,lo8(1) |
| 388 01da 8093 0000 sts VersionInfo+5,r24 |
| 389 01de 85EF ldi r24,lo8(-11) |
| 390 01e0 8093 0000 sts AnalogOffsetNick,r24 |
| 391 .L30: |
| 392 01e4 8091 0000 lds r24,AnalogOffsetRoll |
| 393 01e8 8A30 cpi r24,lo8(10) |
| 394 01ea 40F4 brsh .L31 |
| 395 01ec 8091 0000 lds r24,VersionInfo+5 |
| 396 01f0 8260 ori r24,lo8(2) |
| 397 01f2 8093 0000 sts VersionInfo+5,r24 |
| 398 01f6 8AE0 ldi r24,lo8(10) |
| 399 01f8 8093 0000 sts AnalogOffsetRoll,r24 |
| 400 .L31: |
| 401 01fc 8091 0000 lds r24,AnalogOffsetRoll |
| 402 0200 863F cpi r24,lo8(-10) |
| 403 0202 40F0 brlo .L32 |
| 404 0204 8091 0000 lds r24,VersionInfo+5 |
| 405 0208 8260 ori r24,lo8(2) |
| 406 020a 8093 0000 sts VersionInfo+5,r24 |
| 407 020e 85EF ldi r24,lo8(-11) |
| 408 0210 8093 0000 sts AnalogOffsetRoll,r24 |
| 409 .L32: |
| 410 0214 8091 0000 lds r24,AnalogOffsetGier |
| 411 0218 8A30 cpi r24,lo8(10) |
| 412 021a 40F4 brsh .L33 |
| 413 021c 8091 0000 lds r24,VersionInfo+5 |
| 414 0220 8460 ori r24,lo8(4) |
| 415 0222 8093 0000 sts VersionInfo+5,r24 |
| 416 0226 8AE0 ldi r24,lo8(10) |
| 417 0228 8093 0000 sts AnalogOffsetGier,r24 |
| 418 .L33: |
| 419 022c 8091 0000 lds r24,AnalogOffsetGier |
| 420 0230 863F cpi r24,lo8(-10) |
| 421 0232 40F0 brlo .L34 |
| 422 0234 8091 0000 lds r24,VersionInfo+5 |
| 423 0238 8460 ori r24,lo8(4) |
| 424 023a 8093 0000 sts VersionInfo+5,r24 |
| 425 023e 85EF ldi r24,lo8(-11) |
| 426 0240 8093 0000 sts AnalogOffsetGier,r24 |
| 427 .L34: |
| 428 0244 8091 0000 lds r24,twi_state |
| 429 0248 8823 tst r24 |
| 430 024a 39F0 breq .L36 |
| 431 024c C701 movw r24,r14 |
| 432 024e 0E94 0000 call CheckDelay |
| 433 0252 8823 tst r24 |
| 434 0254 09F0 breq .+2 |
| 435 0256 90CF rjmp .L47 |
| 436 0258 F5CF rjmp .L34 |
| 437 .L36: |
| 438 025a 1092 0000 sts AdReady,__zero_reg__ |
| 439 025e 8FEC ldi r24,lo8(-49) |
| 440 0260 8093 7A00 sts 122,r24 |
| 441 .L39: |
| 442 0264 8091 0000 lds r24,AdReady |
| 443 0268 8823 tst r24 |
| 444 026a E1F3 breq .L39 |
| 445 026c CA30 cpi r28,lo8(10) |
| 446 026e 20F4 brsh .L15 |
| 447 0270 8AE0 ldi r24,lo8(10) |
| 448 0272 90E0 ldi r25,hi8(10) |
| 449 0274 0E94 0000 call Delay_ms_Mess |
| 450 .L15: |
| 451 0278 C150 subi r28,lo8(-(-1)) |
| 452 027a 09F0 breq .+2 |
| 453 027c 2DCF rjmp .L43 |
| 454 027e 86E4 ldi r24,lo8(70) |
| 455 0280 90E0 ldi r25,hi8(70) |
| 456 0282 0E94 0000 call Delay_ms_Mess |
| 457 /* epilogue: frame size=0 */ |
| 458 0286 CF91 pop r28 |
| 459 0288 1F91 pop r17 |
| 460 028a FF90 pop r15 |
| 461 028c EF90 pop r14 |
| 462 028e 0895 ret |
| 463 /* epilogue end (size=5) */ |
| 464 /* function SucheGyroOffset size 238 (229) */ |
| 466 .lcomm kanal.0,1 |
| 467 .lcomm state.1,1 |
| 468 .lcomm subcount.2,1 |
| 469 .lcomm gier1.3,2 |
| 470 .lcomm roll1.4,2 |
| 471 .lcomm nick1.5,2 |
| 472 .lcomm nick_filter.6,2 |
| 473 .lcomm roll_filter.7,2 |
| 474 .lcomm accy.8,2 |
| 475 .lcomm accx.9,2 |
| 476 .lcomm tmpLuftdruck.10,4 |
| 477 .lcomm messanzahl_Druck.11,1 |
| 478 .global __vector_24 |
| 480 __vector_24: |
| 481 /* prologue: frame size=0 */ |
| 482 0290 1F92 push __zero_reg__ |
| 483 0292 0F92 push __tmp_reg__ |
| 484 0294 0FB6 in __tmp_reg__,__SREG__ |
| 485 0296 0F92 push __tmp_reg__ |
| 486 0298 1124 clr __zero_reg__ |
| 487 029a AF92 push r10 |
| 488 029c BF92 push r11 |
| 489 029e CF92 push r12 |
| 490 02a0 DF92 push r13 |
| 491 02a2 EF92 push r14 |
| 492 02a4 FF92 push r15 |
| 493 02a6 0F93 push r16 |
| 494 02a8 1F93 push r17 |
| 495 02aa 2F93 push r18 |
| 496 02ac 3F93 push r19 |
| 497 02ae 4F93 push r20 |
| 498 02b0 5F93 push r21 |
| 499 02b2 6F93 push r22 |
| 500 02b4 7F93 push r23 |
| 501 02b6 8F93 push r24 |
| 502 02b8 9F93 push r25 |
| 503 02ba AF93 push r26 |
| 504 02bc BF93 push r27 |
| 505 02be EF93 push r30 |
| 506 02c0 FF93 push r31 |
| 507 /* prologue end (size=25) */ |
| 508 02c2 8091 0000 lds r24,state.1 |
| 509 02c6 282F mov r18,r24 |
| 510 02c8 3327 clr r19 |
| 511 02ca 4427 clr r20 |
| 512 02cc 5527 clr r21 |
| 513 02ce 8F5F subi r24,lo8(-(1)) |
| 514 02d0 8093 0000 sts state.1,r24 |
| 515 02d4 F901 movw r30,r18 |
| 516 02d6 2231 cpi r18,18 |
| 517 02d8 3105 cpc r19,__zero_reg__ |
| 518 02da 08F0 brlo .+2 |
| 519 02dc 8CC3 rjmp .L101 |
| 520 02de E050 subi r30,lo8(-(pm(.L102))) |
| 521 02e0 F040 sbci r31,hi8(-(pm(.L102))) |
| 522 02e2 0C94 0000 jmp __tablejump2__ |
| 523 .data |
| 524 .section .progmem.gcc_sw_table, "a", @progbits |
| 525 .p2align 1 |
| 526 .L102: |
| 527 0000 0000 .word pm(.L53) |
| 528 0002 0000 .word pm(.L54) |
| 529 0004 0000 .word pm(.L55) |
| 530 0006 0000 .word pm(.L56) |
| 531 0008 0000 .word pm(.L57) |
| 532 000a 0000 .word pm(.L58) |
| 533 000c 0000 .word pm(.L59) |
| 534 000e 0000 .word pm(.L60) |
| 535 0010 0000 .word pm(.L61) |
| 536 0012 0000 .word pm(.L94) |
| 537 0014 0000 .word pm(.L58) |
| 538 0016 0000 .word pm(.L73) |
| 539 0018 0000 .word pm(.L74) |
| 540 001a 0000 .word pm(.L79) |
| 541 001c 0000 .word pm(.L80) |
| 542 001e 0000 .word pm(.L81) |
| 543 0020 0000 .word pm(.L87) |
| 544 0022 0000 .word pm(.L93) |
| 545 .text |
| 546 .L53: |
| 547 02e6 8091 7800 lds r24,120 |
| 548 02ea 9091 7900 lds r25,(120)+1 |
| 549 02ee 46C0 rjmp .L111 |
| 550 .L54: |
| 551 02f0 8091 7800 lds r24,120 |
| 552 02f4 9091 7900 lds r25,(120)+1 |
| 553 02f8 2CC1 rjmp .L110 |
| 554 .L55: |
| 555 02fa 8091 7800 lds r24,120 |
| 556 02fe 9091 7900 lds r25,(120)+1 |
| 557 0302 9093 0000 sts (gier1.3)+1,r25 |
| 558 0306 8093 0000 sts gier1.3,r24 |
| 559 030a 57C1 rjmp .L112 |
| 560 .L56: |
| 561 030c 8091 0000 lds r24,NeutralAccY |
| 562 0310 9091 0000 lds r25,(NeutralAccY)+1 |
| 563 0314 2091 7800 lds r18,120 |
| 564 0318 3091 7900 lds r19,(120)+1 |
| 565 031c 821B sub r24,r18 |
| 566 031e 930B sbc r25,r19 |
| 567 0320 9093 0000 sts (Aktuell_ay)+1,r25 |
| 568 0324 8093 0000 sts Aktuell_ay,r24 |
| 569 0328 8091 0000 lds r24,Aktuell_ay |
| 570 032c 9091 0000 lds r25,(Aktuell_ay)+1 |
| 571 0330 9093 0000 sts (accy.8)+1,r25 |
| 572 0334 8093 0000 sts accy.8,r24 |
| 573 0338 5EC1 rjmp .L113 |
| 574 .L57: |
| 575 033a 8091 7800 lds r24,120 |
| 576 033e 9091 7900 lds r25,(120)+1 |
| 577 0342 2091 0000 lds r18,NeutralAccX |
| 578 0346 3091 0000 lds r19,(NeutralAccX)+1 |
| 579 034a 821B sub r24,r18 |
| 580 034c 930B sbc r25,r19 |
| 581 034e 9093 0000 sts (Aktuell_ax)+1,r25 |
| 582 0352 8093 0000 sts Aktuell_ax,r24 |
| 583 0356 8091 0000 lds r24,Aktuell_ax |
| 584 035a 9091 0000 lds r25,(Aktuell_ax)+1 |
| 585 035e 9093 0000 sts (accx.9)+1,r25 |
| 586 0362 8093 0000 sts accx.9,r24 |
| 587 0366 49C3 rjmp .L108 |
| 588 .L58: |
| 589 0368 8091 0000 lds r24,nick1.5 |
| 590 036c 9091 0000 lds r25,(nick1.5)+1 |
| 591 0370 2091 7800 lds r18,120 |
| 592 0374 3091 7900 lds r19,(120)+1 |
| 593 0378 820F add r24,r18 |
| 594 037a 931F adc r25,r19 |
| 595 .L111: |
| 596 037c 9093 0000 sts (nick1.5)+1,r25 |
| 597 0380 8093 0000 sts nick1.5,r24 |
| 598 .L115: |
| 599 0384 81E0 ldi r24,lo8(1) |
| 600 0386 3AC3 rjmp .L109 |
| 601 .L59: |
| 602 0388 8091 0000 lds r24,roll1.4 |
| 603 038c 9091 0000 lds r25,(roll1.4)+1 |
| 604 0390 2091 7800 lds r18,120 |
| 605 0394 3091 7900 lds r19,(120)+1 |
| 606 0398 820F add r24,r18 |
| 607 039a 931F adc r25,r19 |
| 608 039c 9093 0000 sts (roll1.4)+1,r25 |
| 609 03a0 8093 0000 sts roll1.4,r24 |
| 610 03a4 84E0 ldi r24,lo8(4) |
| 611 03a6 2AC3 rjmp .L109 |
| 612 .L60: |
| 613 03a8 8091 0000 lds r24,UBat |
| 614 03ac 9091 0000 lds r25,(UBat)+1 |
| 615 03b0 9C01 movw r18,r24 |
| 616 03b2 220F lsl r18 |
| 617 03b4 331F rol r19 |
| 618 03b6 280F add r18,r24 |
| 619 03b8 391F adc r19,r25 |
| 620 03ba 8091 7800 lds r24,120 |
| 621 03be 9091 7900 lds r25,(120)+1 |
| 622 03c2 63E0 ldi r22,lo8(3) |
| 623 03c4 70E0 ldi r23,hi8(3) |
| 624 03c6 0E94 0000 call __udivmodhi4 |
| 625 03ca 260F add r18,r22 |
| 626 03cc 371F adc r19,r23 |
| 627 03ce 3695 lsr r19 |
| 628 03d0 2795 ror r18 |
| 629 03d2 3695 lsr r19 |
| 630 03d4 2795 ror r18 |
| 631 03d6 3093 0000 sts (UBat)+1,r19 |
| 632 03da 2093 0000 sts UBat,r18 |
| 633 03de 85E0 ldi r24,lo8(5) |
| 634 03e0 0DC3 rjmp .L109 |
| 635 .L61: |
| 636 03e2 8091 7800 lds r24,120 |
| 637 03e6 9091 7900 lds r25,(120)+1 |
| 638 03ea 4091 0000 lds r20,NeutralAccZ |
| 639 03ee 5091 0000 lds r21,(NeutralAccZ)+1 |
| 640 03f2 841B sub r24,r20 |
| 641 03f4 950B sbc r25,r21 |
| 642 03f6 9093 0000 sts (AdWertAccHoch)+1,r25 |
| 643 03fa 8093 0000 sts AdWertAccHoch,r24 |
| 644 03fe 8091 0000 lds r24,AdWertAccHoch |
| 645 0402 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 646 0406 0297 sbiw r24,2 |
| 647 0408 04F1 brlt .L62 |
| 648 040a 22E0 ldi r18,hi8(750) |
| 649 040c 4E3E cpi r20,lo8(750) |
| 650 040e 5207 cpc r21,r18 |
| 651 0410 84F4 brge .L63 |
| 652 0412 2091 0000 lds r18,subcount.2 |
| 653 0416 2B5F subi r18,lo8(-(5)) |
| 654 0418 2093 0000 sts subcount.2,r18 |
| 655 041c 2550 subi r18,lo8(-(-5)) |
| 656 041e 8091 0000 lds r24,modell_fliegt |
| 657 0422 9091 0000 lds r25,(modell_fliegt)+1 |
| 658 0426 845F subi r24,lo8(500) |
| 659 0428 9140 sbci r25,hi8(500) |
| 660 042a 18F4 brsh .L63 |
| 661 042c 215F subi r18,lo8(-(15)) |
| 662 042e 2093 0000 sts subcount.2,r18 |
| 663 .L63: |
| 664 0432 8091 0000 lds r24,subcount.2 |
| 665 0436 8536 cpi r24,lo8(101) |
| 666 0438 84F1 brlt .L66 |
| 667 043a 4F5F subi r20,lo8(-(1)) |
| 668 043c 5F4F sbci r21,hi8(-(1)) |
| 669 043e 5093 0000 sts (NeutralAccZ)+1,r21 |
| 670 0442 4093 0000 sts NeutralAccZ,r20 |
| 671 0446 8456 subi r24,lo8(-(-100)) |
| 672 0448 26C0 rjmp .L104 |
| 673 .L62: |
| 674 044a 8091 0000 lds r24,AdWertAccHoch |
| 675 044e 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 676 0452 8F5F subi r24,lo8(-1) |
| 677 0454 9F4F sbci r25,hi8(-1) |
| 678 0456 0CF5 brge .L66 |
| 679 0458 32E0 ldi r19,hi8(551) |
| 680 045a 4732 cpi r20,lo8(551) |
| 681 045c 5307 cpc r21,r19 |
| 682 045e ECF0 brlt .L66 |
| 683 0460 2091 0000 lds r18,subcount.2 |
| 684 0464 2550 subi r18,lo8(-(-5)) |
| 685 0466 2093 0000 sts subcount.2,r18 |
| 686 046a 2B5F subi r18,lo8(-(5)) |
| 687 046c 8091 0000 lds r24,modell_fliegt |
| 688 0470 9091 0000 lds r25,(modell_fliegt)+1 |
| 689 0474 845F subi r24,lo8(500) |
| 690 0476 9140 sbci r25,hi8(500) |
| 691 0478 18F4 brsh .L69 |
| 692 047a 2F50 subi r18,lo8(-(-15)) |
| 693 047c 2093 0000 sts subcount.2,r18 |
| 694 .L69: |
| 695 0480 8091 0000 lds r24,subcount.2 |
| 696 0484 8C39 cpi r24,lo8(-100) |
| 697 0486 4CF4 brge .L66 |
| 698 0488 4150 subi r20,lo8(-(-1)) |
| 699 048a 5040 sbci r21,hi8(-(-1)) |
| 700 048c 5093 0000 sts (NeutralAccZ)+1,r21 |
| 701 0490 4093 0000 sts NeutralAccZ,r20 |
| 702 0494 8C59 subi r24,lo8(-(100)) |
| 703 .L104: |
| 704 0496 8093 0000 sts subcount.2,r24 |
| 705 .L66: |
| 706 049a 81E0 ldi r24,lo8(1) |
| 707 049c 8093 0000 sts messanzahl_AccHoch,r24 |
| 708 04a0 8091 7800 lds r24,120 |
| 709 04a4 9091 7900 lds r25,(120)+1 |
| 710 04a8 9093 0000 sts (Aktuell_az)+1,r25 |
| 711 04ac 8093 0000 sts Aktuell_az,r24 |
| 712 04b0 8091 0000 lds r24,AdWertAccHoch |
| 713 04b4 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 714 04b8 9C01 movw r18,r24 |
| 715 04ba 4427 clr r20 |
| 716 04bc 37FD sbrc r19,7 |
| 717 04be 4095 com r20 |
| 718 04c0 542F mov r21,r20 |
| 719 04c2 8091 0000 lds r24,Mess_Integral_Hoch |
| 720 04c6 9091 0000 lds r25,(Mess_Integral_Hoch)+1 |
| 721 04ca A091 0000 lds r26,(Mess_Integral_Hoch)+2 |
| 722 04ce B091 0000 lds r27,(Mess_Integral_Hoch)+3 |
| 723 04d2 820F add r24,r18 |
| 724 04d4 931F adc r25,r19 |
| 725 04d6 A41F adc r26,r20 |
| 726 04d8 B51F adc r27,r21 |
| 727 04da 8093 0000 sts Mess_Integral_Hoch,r24 |
| 728 04de 9093 0000 sts (Mess_Integral_Hoch)+1,r25 |
| 729 04e2 A093 0000 sts (Mess_Integral_Hoch)+2,r26 |
| 730 04e6 B093 0000 sts (Mess_Integral_Hoch)+3,r27 |
| 731 04ea 2091 0000 lds r18,Mess_Integral_Hoch |
| 732 04ee 3091 0000 lds r19,(Mess_Integral_Hoch)+1 |
| 733 04f2 4091 0000 lds r20,(Mess_Integral_Hoch)+2 |
| 734 04f6 5091 0000 lds r21,(Mess_Integral_Hoch)+3 |
| 735 04fa 57FF sbrs r21,7 |
| 736 04fc 04C0 rjmp .L71 |
| 737 04fe 2150 subi r18,lo8(-(1023)) |
| 738 0500 3C4F sbci r19,hi8(-(1023)) |
| 739 0502 4F4F sbci r20,hlo8(-(1023)) |
| 740 0504 5F4F sbci r21,hhi8(-(1023)) |
| 741 .L71: |
| 742 0506 0AE0 ldi r16,10 |
| 743 0508 5595 1: asr r21 |
| 744 050a 4795 ror r20 |
| 745 050c 3795 ror r19 |
| 746 050e 2795 ror r18 |
| 747 0510 0A95 dec r16 |
| 748 0512 D1F7 brne 1b |
| 749 0514 8091 0000 lds r24,Mess_Integral_Hoch |
| 750 0518 9091 0000 lds r25,(Mess_Integral_Hoch)+1 |
| 751 051c A091 0000 lds r26,(Mess_Integral_Hoch)+2 |
| 752 0520 B091 0000 lds r27,(Mess_Integral_Hoch)+3 |
| 753 0524 821B sub r24,r18 |
| 754 0526 930B sbc r25,r19 |
| 755 0528 A40B sbc r26,r20 |
| 756 052a B50B sbc r27,r21 |
| 757 052c 8093 0000 sts Mess_Integral_Hoch,r24 |
| 758 0530 9093 0000 sts (Mess_Integral_Hoch)+1,r25 |
| 759 0534 A093 0000 sts (Mess_Integral_Hoch)+2,r26 |
| 760 0538 B093 0000 sts (Mess_Integral_Hoch)+3,r27 |
| 761 053c 2EC1 rjmp .L114 |
| 762 .L73: |
| 763 053e 8091 0000 lds r24,roll1.4 |
| 764 0542 9091 0000 lds r25,(roll1.4)+1 |
| 765 0546 2091 7800 lds r18,120 |
| 766 054a 3091 7900 lds r19,(120)+1 |
| 767 054e 820F add r24,r18 |
| 768 0550 931F adc r25,r19 |
| 769 .L110: |
| 770 0552 9093 0000 sts (roll1.4)+1,r25 |
| 771 0556 8093 0000 sts roll1.4,r24 |
| 772 055a 1092 0000 sts kanal.0,__zero_reg__ |
| 773 055e 50C2 rjmp .L52 |
| 774 .L74: |
| 775 0560 8091 0000 lds r24,PlatinenVersion |
| 776 0564 8A30 cpi r24,lo8(10) |
| 777 0566 71F4 brne .L75 |
| 778 0568 8091 7800 lds r24,120 |
| 779 056c 9091 7900 lds r25,(120)+1 |
| 780 0570 2091 0000 lds r18,gier1.3 |
| 781 0574 3091 0000 lds r19,(gier1.3)+1 |
| 782 0578 820F add r24,r18 |
| 783 057a 931F adc r25,r19 |
| 784 057c 0196 adiw r24,1 |
| 785 057e 9695 lsr r25 |
| 786 0580 8795 ror r24 |
| 787 0582 17C0 rjmp .L105 |
| 788 .L75: |
| 789 0584 4091 0000 lds r20,gier1.3 |
| 790 0588 5091 0000 lds r21,(gier1.3)+1 |
| 791 058c 8431 cpi r24,lo8(20) |
| 792 058e 58F0 brlo .L77 |
| 793 0590 2091 7800 lds r18,120 |
| 794 0594 3091 7900 lds r19,(120)+1 |
| 795 0598 240F add r18,r20 |
| 796 059a 351F adc r19,r21 |
| 797 059c 8FEF ldi r24,lo8(2047) |
| 798 059e 97E0 ldi r25,hi8(2047) |
| 799 05a0 821B sub r24,r18 |
| 800 05a2 930B sbc r25,r19 |
| 801 05a4 06C0 rjmp .L105 |
| 802 .L77: |
| 803 05a6 8091 7800 lds r24,120 |
| 804 05aa 9091 7900 lds r25,(120)+1 |
| 805 05ae 840F add r24,r20 |
| 806 05b0 951F adc r25,r21 |
| 807 .L105: |
| 808 05b2 9093 0000 sts (AdWertGier)+1,r25 |
| 809 05b6 8093 0000 sts AdWertGier,r24 |
| 810 .L112: |
| 811 05ba 86E0 ldi r24,lo8(6) |
| 812 05bc 1FC2 rjmp .L109 |
| 813 .L79: |
| 814 05be 8091 0000 lds r24,NeutralAccY |
| 815 05c2 9091 0000 lds r25,(NeutralAccY)+1 |
| 816 05c6 2091 7800 lds r18,120 |
| 817 05ca 3091 7900 lds r19,(120)+1 |
| 818 05ce 821B sub r24,r18 |
| 819 05d0 930B sbc r25,r19 |
| 820 05d2 9093 0000 sts (Aktuell_ay)+1,r25 |
| 821 05d6 8093 0000 sts Aktuell_ay,r24 |
| 822 05da 8091 0000 lds r24,Aktuell_ay |
| 823 05de 9091 0000 lds r25,(Aktuell_ay)+1 |
| 824 05e2 2091 0000 lds r18,accy.8 |
| 825 05e6 3091 0000 lds r19,(accy.8)+1 |
| 826 05ea 820F add r24,r18 |
| 827 05ec 931F adc r25,r19 |
| 828 05ee 9093 0000 sts (AdWertAccRoll)+1,r25 |
| 829 05f2 8093 0000 sts AdWertAccRoll,r24 |
| 830 .L113: |
| 831 05f6 87E0 ldi r24,lo8(7) |
| 832 05f8 01C2 rjmp .L109 |
| 833 .L80: |
| 834 05fa 8091 7800 lds r24,120 |
| 835 05fe 9091 7900 lds r25,(120)+1 |
| 836 0602 2091 0000 lds r18,NeutralAccX |
| 837 0606 3091 0000 lds r19,(NeutralAccX)+1 |
| 838 060a 821B sub r24,r18 |
| 839 060c 930B sbc r25,r19 |
| 840 060e 9093 0000 sts (Aktuell_ax)+1,r25 |
| 841 0612 8093 0000 sts Aktuell_ax,r24 |
| 842 0616 8091 0000 lds r24,Aktuell_ax |
| 843 061a 9091 0000 lds r25,(Aktuell_ax)+1 |
| 844 061e 2091 0000 lds r18,accx.9 |
| 845 0622 3091 0000 lds r19,(accx.9)+1 |
| 846 0626 820F add r24,r18 |
| 847 0628 931F adc r25,r19 |
| 848 062a 9093 0000 sts (AdWertAccNick)+1,r25 |
| 849 062e 8093 0000 sts AdWertAccNick,r24 |
| 850 0632 E3C1 rjmp .L108 |
| 851 .L81: |
| 852 0634 2091 0000 lds r18,nick1.5 |
| 853 0638 3091 0000 lds r19,(nick1.5)+1 |
| 854 063c 8091 7800 lds r24,120 |
| 855 0640 9091 7900 lds r25,(120)+1 |
| 856 0644 280F add r18,r24 |
| 857 0646 391F adc r19,r25 |
| 858 0648 3093 0000 sts (nick1.5)+1,r19 |
| 859 064c 2093 0000 sts nick1.5,r18 |
| 860 0650 8091 0000 lds r24,PlatinenVersion |
| 861 0654 8A30 cpi r24,lo8(10) |
| 862 0656 19F4 brne .L82 |
| 863 0658 220F add r18,r18 |
| 864 065a 331F adc r19,r19 |
| 865 065c 04C0 rjmp .L106 |
| 866 .L82: |
| 867 065e 220F lsl r18 |
| 868 0660 331F rol r19 |
| 869 0662 220F lsl r18 |
| 870 0664 331F rol r19 |
| 871 .L106: |
| 872 0666 3093 0000 sts (nick1.5)+1,r19 |
| 873 066a 2093 0000 sts nick1.5,r18 |
| 874 066e 2091 0000 lds r18,nick1.5 |
| 875 0672 3091 0000 lds r19,(nick1.5)+1 |
| 876 0676 C901 movw r24,r18 |
| 877 0678 37FD sbrc r19,7 |
| 878 067a 0796 adiw r24,7 |
| 879 .L84: |
| 880 067c A3E0 ldi r26,3 |
| 881 067e 9595 1: asr r25 |
| 882 0680 8795 ror r24 |
| 883 0682 AA95 dec r26 |
| 884 0684 E1F7 brne 1b |
| 885 0686 9093 0000 sts (AdWertNick)+1,r25 |
| 886 068a 8093 0000 sts AdWertNick,r24 |
| 887 068e 8091 0000 lds r24,nick_filter.6 |
| 888 0692 9091 0000 lds r25,(nick_filter.6)+1 |
| 889 0696 820F add r24,r18 |
| 890 0698 931F adc r25,r19 |
| 891 069a 97FD sbrc r25,7 |
| 892 069c 0196 adiw r24,1 |
| 893 .L85: |
| 894 069e 9595 asr r25 |
| 895 06a0 8795 ror r24 |
| 896 06a2 9093 0000 sts (nick_filter.6)+1,r25 |
| 897 06a6 8093 0000 sts nick_filter.6,r24 |
| 898 06aa 2091 0000 lds r18,AdNeutralNick |
| 899 06ae 3091 0000 lds r19,(AdNeutralNick)+1 |
| 900 06b2 821B sub r24,r18 |
| 901 06b4 930B sbc r25,r19 |
| 902 06b6 9093 0000 sts (HiResNick)+1,r25 |
| 903 06ba 8093 0000 sts HiResNick,r24 |
| 904 06be 2091 0000 lds r18,AdWertNickFilter |
| 905 06c2 3091 0000 lds r19,(AdWertNickFilter)+1 |
| 906 06c6 8091 0000 lds r24,HiResNick |
| 907 06ca 9091 0000 lds r25,(HiResNick)+1 |
| 908 06ce 280F add r18,r24 |
| 909 06d0 391F adc r19,r25 |
| 910 06d2 37FF sbrs r19,7 |
| 911 06d4 02C0 rjmp .L86 |
| 912 06d6 2F5F subi r18,lo8(-(1)) |
| 913 06d8 3F4F sbci r19,hi8(-(1)) |
| 914 .L86: |
| 915 06da 3595 asr r19 |
| 916 06dc 2795 ror r18 |
| 917 06de 3093 0000 sts (AdWertNickFilter)+1,r19 |
| 918 06e2 2093 0000 sts AdWertNickFilter,r18 |
| 919 06e6 4ECE rjmp .L115 |
| 920 .L87: |
| 921 06e8 2091 0000 lds r18,roll1.4 |
| 922 06ec 3091 0000 lds r19,(roll1.4)+1 |
| 923 06f0 8091 7800 lds r24,120 |
| 924 06f4 9091 7900 lds r25,(120)+1 |
| 925 06f8 280F add r18,r24 |
| 926 06fa 391F adc r19,r25 |
| 927 06fc 3093 0000 sts (roll1.4)+1,r19 |
| 928 0700 2093 0000 sts roll1.4,r18 |
| 929 0704 8091 0000 lds r24,PlatinenVersion |
| 930 0708 8A30 cpi r24,lo8(10) |
| 931 070a 19F4 brne .L88 |
| 932 070c 220F add r18,r18 |
| 933 070e 331F adc r19,r19 |
| 934 0710 04C0 rjmp .L107 |
| 935 .L88: |
| 936 0712 220F lsl r18 |
| 937 0714 331F rol r19 |
| 938 0716 220F lsl r18 |
| 939 0718 331F rol r19 |
| 940 .L107: |
| 941 071a 3093 0000 sts (roll1.4)+1,r19 |
| 942 071e 2093 0000 sts roll1.4,r18 |
| 943 0722 2091 0000 lds r18,roll1.4 |
| 944 0726 3091 0000 lds r19,(roll1.4)+1 |
| 945 072a C901 movw r24,r18 |
| 946 072c 37FD sbrc r19,7 |
| 947 072e 0796 adiw r24,7 |
| 948 .L90: |
| 949 0730 63E0 ldi r22,3 |
| 950 0732 9595 1: asr r25 |
| 951 0734 8795 ror r24 |
| 952 0736 6A95 dec r22 |
| 953 0738 E1F7 brne 1b |
| 954 073a 9093 0000 sts (AdWertRoll)+1,r25 |
| 955 073e 8093 0000 sts AdWertRoll,r24 |
| 956 0742 8091 0000 lds r24,roll_filter.7 |
| 957 0746 9091 0000 lds r25,(roll_filter.7)+1 |
| 958 074a 820F add r24,r18 |
| 959 074c 931F adc r25,r19 |
| 960 074e 97FD sbrc r25,7 |
| 961 0750 0196 adiw r24,1 |
| 962 .L91: |
| 963 0752 9595 asr r25 |
| 964 0754 8795 ror r24 |
| 965 0756 9093 0000 sts (roll_filter.7)+1,r25 |
| 966 075a 8093 0000 sts roll_filter.7,r24 |
| 967 075e 2091 0000 lds r18,AdNeutralRoll |
| 968 0762 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 969 0766 821B sub r24,r18 |
| 970 0768 930B sbc r25,r19 |
| 971 076a 9093 0000 sts (HiResRoll)+1,r25 |
| 972 076e 8093 0000 sts HiResRoll,r24 |
| 973 0772 2091 0000 lds r18,AdWertRollFilter |
| 974 0776 3091 0000 lds r19,(AdWertRollFilter)+1 |
| 975 077a 8091 0000 lds r24,HiResRoll |
| 976 077e 9091 0000 lds r25,(HiResRoll)+1 |
| 977 0782 280F add r18,r24 |
| 978 0784 391F adc r19,r25 |
| 979 0786 37FF sbrs r19,7 |
| 980 0788 02C0 rjmp .L92 |
| 981 078a 2F5F subi r18,lo8(-(1)) |
| 982 078c 3F4F sbci r19,hi8(-(1)) |
| 983 .L92: |
| 984 078e 3595 asr r19 |
| 985 0790 2795 ror r18 |
| 986 0792 3093 0000 sts (AdWertRollFilter)+1,r19 |
| 987 0796 2093 0000 sts AdWertRollFilter,r18 |
| 988 .L114: |
| 989 079a 83E0 ldi r24,lo8(3) |
| 990 079c 2FC1 rjmp .L109 |
| 991 .L93: |
| 992 079e 1092 0000 sts state.1,__zero_reg__ |
| 993 07a2 81E0 ldi r24,lo8(1) |
| 994 07a4 8093 0000 sts AdReady,r24 |
| 995 07a8 8091 0000 lds r24,ZaehlMessungen |
| 996 07ac 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 997 07b0 0196 adiw r24,1 |
| 998 07b2 9093 0000 sts (ZaehlMessungen)+1,r25 |
| 999 07b6 8093 0000 sts ZaehlMessungen,r24 |
| 1000 .L94: |
| 1001 07ba 8091 7800 lds r24,120 |
| 1002 07be 9091 7900 lds r25,(120)+1 |
| 1003 07c2 9093 0000 sts (MessLuftdruck)+1,r25 |
| 1004 07c6 8093 0000 sts MessLuftdruck,r24 |
| 1005 07ca 8091 0000 lds r24,MessLuftdruck |
| 1006 07ce 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1007 07d2 AA27 clr r26 |
| 1008 07d4 BB27 clr r27 |
| 1009 07d6 A090 0000 lds r10,tmpLuftdruck.10 |
| 1010 07da B090 0000 lds r11,(tmpLuftdruck.10)+1 |
| 1011 07de C090 0000 lds r12,(tmpLuftdruck.10)+2 |
| 1012 07e2 D090 0000 lds r13,(tmpLuftdruck.10)+3 |
| 1013 07e6 A80E add r10,r24 |
| 1014 07e8 B91E adc r11,r25 |
| 1015 07ea CA1E adc r12,r26 |
| 1016 07ec DB1E adc r13,r27 |
| 1017 07ee A092 0000 sts tmpLuftdruck.10,r10 |
| 1018 07f2 B092 0000 sts (tmpLuftdruck.10)+1,r11 |
| 1019 07f6 C092 0000 sts (tmpLuftdruck.10)+2,r12 |
| 1020 07fa D092 0000 sts (tmpLuftdruck.10)+3,r13 |
| 1021 07fe 8091 0000 lds r24,messanzahl_Druck.11 |
| 1022 0802 8F5F subi r24,lo8(-(1)) |
| 1023 0804 8093 0000 sts messanzahl_Druck.11,r24 |
| 1024 0808 8231 cpi r24,lo8(18) |
| 1025 080a 08F4 brsh .+2 |
| 1026 080c F6C0 rjmp .L108 |
| 1027 080e 8091 0000 lds r24,Luftdruck |
| 1028 0812 9091 0000 lds r25,(Luftdruck)+1 |
| 1029 0816 A091 0000 lds r26,(Luftdruck)+2 |
| 1030 081a B091 0000 lds r27,(Luftdruck)+3 |
| 1031 081e 7C01 movw r14,r24 |
| 1032 0820 8D01 movw r16,r26 |
| 1033 0822 23E0 ldi r18,3 |
| 1034 0824 EE0C 1: lsl r14 |
| 1035 0826 FF1C rol r15 |
| 1036 0828 001F rol r16 |
| 1037 082a 111F rol r17 |
| 1038 082c 2A95 dec r18 |
| 1039 082e D1F7 brne 1b |
| 1040 0830 E81A sub r14,r24 |
| 1041 0832 F90A sbc r15,r25 |
| 1042 0834 0A0B sbc r16,r26 |
| 1043 0836 1B0B sbc r17,r27 |
| 1044 0838 EA0C add r14,r10 |
| 1045 083a FB1C adc r15,r11 |
| 1046 083c 0C1D adc r16,r12 |
| 1047 083e 1D1D adc r17,r13 |
| 1048 0840 8091 0000 lds r24,ExpandBaro |
| 1049 0844 9927 clr r25 |
| 1050 0846 87FD sbrc r24,7 |
| 1051 0848 9095 com r25 |
| 1052 084a A92F mov r26,r25 |
| 1053 084c B92F mov r27,r25 |
| 1054 084e BC01 movw r22,r24 |
| 1055 0850 CD01 movw r24,r26 |
| 1056 0852 26EC ldi r18,lo8(9414) |
| 1057 0854 34E2 ldi r19,hi8(9414) |
| 1058 0856 40E0 ldi r20,hlo8(9414) |
| 1059 0858 50E0 ldi r21,hhi8(9414) |
| 1060 085a 0E94 0000 call __mulsi3 |
| 1061 085e DC01 movw r26,r24 |
| 1062 0860 CB01 movw r24,r22 |
| 1063 0862 E81A sub r14,r24 |
| 1064 0864 F90A sbc r15,r25 |
| 1065 0866 0A0B sbc r16,r26 |
| 1066 0868 1B0B sbc r17,r27 |
| 1067 086a D801 movw r26,r16 |
| 1068 086c C701 movw r24,r14 |
| 1069 086e 0496 adiw r24,4 |
| 1070 0870 A11D adc r26,__zero_reg__ |
| 1071 0872 B11D adc r27,__zero_reg__ |
| 1072 0874 B7FF sbrs r27,7 |
| 1073 0876 05C0 rjmp .L96 |
| 1074 0878 D801 movw r26,r16 |
| 1075 087a C701 movw r24,r14 |
| 1076 087c 0B96 adiw r24,11 |
| 1077 087e A11D adc r26,__zero_reg__ |
| 1078 0880 B11D adc r27,__zero_reg__ |
| 1079 .L96: |
| 1080 0882 13E0 ldi r17,3 |
| 1081 0884 B595 1: asr r27 |
| 1082 0886 A795 ror r26 |
| 1083 0888 9795 ror r25 |
| 1084 088a 8795 ror r24 |
| 1085 088c 1A95 dec r17 |
| 1086 088e D1F7 brne 1b |
| 1087 0890 8093 0000 sts Luftdruck,r24 |
| 1088 0894 9093 0000 sts (Luftdruck)+1,r25 |
| 1089 0898 A093 0000 sts (Luftdruck)+2,r26 |
| 1090 089c B093 0000 sts (Luftdruck)+3,r27 |
| 1091 08a0 8091 0000 lds r24,StartLuftdruck |
| 1092 08a4 9091 0000 lds r25,(StartLuftdruck)+1 |
| 1093 08a8 7C01 movw r14,r24 |
| 1094 08aa 0027 clr r16 |
| 1095 08ac F7FC sbrc r15,7 |
| 1096 08ae 0095 com r16 |
| 1097 08b0 102F mov r17,r16 |
| 1098 08b2 8091 0000 lds r24,Luftdruck |
| 1099 08b6 9091 0000 lds r25,(Luftdruck)+1 |
| 1100 08ba A091 0000 lds r26,(Luftdruck)+2 |
| 1101 08be B091 0000 lds r27,(Luftdruck)+3 |
| 1102 08c2 E81A sub r14,r24 |
| 1103 08c4 F90A sbc r15,r25 |
| 1104 08c6 0A0B sbc r16,r26 |
| 1105 08c8 1B0B sbc r17,r27 |
| 1106 08ca E092 0000 sts HoehenWert,r14 |
| 1107 08ce F092 0000 sts (HoehenWert)+1,r15 |
| 1108 08d2 0093 0000 sts (HoehenWert)+2,r16 |
| 1109 08d6 1093 0000 sts (HoehenWert)+3,r17 |
| 1110 08da 2091 0000 lds r18,SummenHoehe |
| 1111 08de 3091 0000 lds r19,(SummenHoehe)+1 |
| 1112 08e2 4091 0000 lds r20,(SummenHoehe)+2 |
| 1113 08e6 5091 0000 lds r21,(SummenHoehe)+3 |
| 1114 08ea 57FF sbrs r21,7 |
| 1115 08ec 04C0 rjmp .L97 |
| 1116 08ee 215F subi r18,lo8(-(15)) |
| 1117 08f0 3F4F sbci r19,hi8(-(15)) |
| 1118 08f2 4F4F sbci r20,hlo8(-(15)) |
| 1119 08f4 5F4F sbci r21,hhi8(-(15)) |
| 1120 .L97: |
| 1121 08f6 F4E0 ldi r31,4 |
| 1122 08f8 5595 1: asr r21 |
| 1123 08fa 4795 ror r20 |
| 1124 08fc 3795 ror r19 |
| 1125 08fe 2795 ror r18 |
| 1126 0900 FA95 dec r31 |
| 1127 0902 D1F7 brne 1b |
| 1128 0904 8091 0000 lds r24,SummenHoehe |
| 1129 0908 9091 0000 lds r25,(SummenHoehe)+1 |
| 1130 090c A091 0000 lds r26,(SummenHoehe)+2 |
| 1131 0910 B091 0000 lds r27,(SummenHoehe)+3 |
| 1132 0914 821B sub r24,r18 |
| 1133 0916 930B sbc r25,r19 |
| 1134 0918 A40B sbc r26,r20 |
| 1135 091a B50B sbc r27,r21 |
| 1136 091c 8093 0000 sts SummenHoehe,r24 |
| 1137 0920 9093 0000 sts (SummenHoehe)+1,r25 |
| 1138 0924 A093 0000 sts (SummenHoehe)+2,r26 |
| 1139 0928 B093 0000 sts (SummenHoehe)+3,r27 |
| 1140 092c 8091 0000 lds r24,SummenHoehe |
| 1141 0930 9091 0000 lds r25,(SummenHoehe)+1 |
| 1142 0934 A091 0000 lds r26,(SummenHoehe)+2 |
| 1143 0938 B091 0000 lds r27,(SummenHoehe)+3 |
| 1144 093c 8E0D add r24,r14 |
| 1145 093e 9F1D adc r25,r15 |
| 1146 0940 A01F adc r26,r16 |
| 1147 0942 B11F adc r27,r17 |
| 1148 0944 8093 0000 sts SummenHoehe,r24 |
| 1149 0948 9093 0000 sts (SummenHoehe)+1,r25 |
| 1150 094c A093 0000 sts (SummenHoehe)+2,r26 |
| 1151 0950 B093 0000 sts (SummenHoehe)+3,r27 |
| 1152 0954 8091 0000 lds r24,VarioMeter |
| 1153 0958 9091 0000 lds r25,(VarioMeter)+1 |
| 1154 095c AC01 movw r20,r24 |
| 1155 095e E5E0 ldi r30,5 |
| 1156 0960 440F 1: lsl r20 |
| 1157 0962 551F rol r21 |
| 1158 0964 EA95 dec r30 |
| 1159 0966 E1F7 brne 1b |
| 1160 0968 481B sub r20,r24 |
| 1161 096a 590B sbc r21,r25 |
| 1162 096c 8091 0000 lds r24,SummenHoehe |
| 1163 0970 9091 0000 lds r25,(SummenHoehe)+1 |
| 1164 0974 A091 0000 lds r26,(SummenHoehe)+2 |
| 1165 0978 B091 0000 lds r27,(SummenHoehe)+3 |
| 1166 097c B7FF sbrs r27,7 |
| 1167 097e 03C0 rjmp .L98 |
| 1168 0980 0F96 adiw r24,15 |
| 1169 0982 A11D adc r26,__zero_reg__ |
| 1170 0984 B11D adc r27,__zero_reg__ |
| 1171 .L98: |
| 1172 0986 74E0 ldi r23,4 |
| 1173 0988 B595 1: asr r27 |
| 1174 098a A795 ror r26 |
| 1175 098c 9795 ror r25 |
| 1176 098e 8795 ror r24 |
| 1177 0990 7A95 dec r23 |
| 1178 0992 D1F7 brne 1b |
| 1179 0994 2091 0000 lds r18,HoehenWert |
| 1180 0998 3091 0000 lds r19,(HoehenWert)+1 |
| 1181 099c 281B sub r18,r24 |
| 1182 099e 390B sbc r19,r25 |
| 1183 09a0 63E0 ldi r22,3 |
| 1184 09a2 220F 1: lsl r18 |
| 1185 09a4 331F rol r19 |
| 1186 09a6 6A95 dec r22 |
| 1187 09a8 E1F7 brne 1b |
| 1188 09aa 240F add r18,r20 |
| 1189 09ac 351F adc r19,r21 |
| 1190 09ae 37FF sbrs r19,7 |
| 1191 09b0 02C0 rjmp .L99 |
| 1192 09b2 215E subi r18,lo8(-(31)) |
| 1193 09b4 3F4F sbci r19,hi8(-(31)) |
| 1194 .L99: |
| 1195 09b6 45E0 ldi r20,5 |
| 1196 09b8 3595 1: asr r19 |
| 1197 09ba 2795 ror r18 |
| 1198 09bc 4A95 dec r20 |
| 1199 09be E1F7 brne 1b |
| 1200 09c0 3093 0000 sts (VarioMeter)+1,r19 |
| 1201 09c4 2093 0000 sts VarioMeter,r18 |
| 1202 09c8 D601 movw r26,r12 |
| 1203 09ca C501 movw r24,r10 |
| 1204 09cc D7FE sbrs r13,7 |
| 1205 09ce 03C0 rjmp .L100 |
| 1206 09d0 0196 adiw r24,1 |
| 1207 09d2 A11D adc r26,__zero_reg__ |
| 1208 09d4 B11D adc r27,__zero_reg__ |
| 1209 .L100: |
| 1210 09d6 B595 asr r27 |
| 1211 09d8 A795 ror r26 |
| 1212 09da 9795 ror r25 |
| 1213 09dc 8795 ror r24 |
| 1214 09de 8093 0000 sts tmpLuftdruck.10,r24 |
| 1215 09e2 9093 0000 sts (tmpLuftdruck.10)+1,r25 |
| 1216 09e6 A093 0000 sts (tmpLuftdruck.10)+2,r26 |
| 1217 09ea B093 0000 sts (tmpLuftdruck.10)+3,r27 |
| 1218 09ee 89E0 ldi r24,lo8(9) |
| 1219 09f0 8093 0000 sts messanzahl_Druck.11,r24 |
| 1220 09f4 02C0 rjmp .L108 |
| 1221 .L101: |
| 1222 09f6 1092 0000 sts state.1,__zero_reg__ |
| 1223 .L108: |
| 1224 09fa 82E0 ldi r24,lo8(2) |
| 1225 .L109: |
| 1226 09fc 8093 0000 sts kanal.0,r24 |
| 1227 .L52: |
| 1228 0a00 8091 0000 lds r24,kanal.0 |
| 1229 0a04 8093 7C00 sts 124,r24 |
| 1230 0a08 8091 0000 lds r24,state.1 |
| 1231 0a0c 8823 tst r24 |
| 1232 0a0e 19F0 breq .L51 |
| 1233 0a10 8FEC ldi r24,lo8(-49) |
| 1234 0a12 8093 7A00 sts 122,r24 |
| 1235 .L51: |
| 1236 /* epilogue: frame size=0 */ |
| 1237 0a16 FF91 pop r31 |
| 1238 0a18 EF91 pop r30 |
| 1239 0a1a BF91 pop r27 |
| 1240 0a1c AF91 pop r26 |
| 1241 0a1e 9F91 pop r25 |
| 1242 0a20 8F91 pop r24 |
| 1243 0a22 7F91 pop r23 |
| 1244 0a24 6F91 pop r22 |
| 1245 0a26 5F91 pop r21 |
| 1246 0a28 4F91 pop r20 |
| 1247 0a2a 3F91 pop r19 |
| 1248 0a2c 2F91 pop r18 |
| 1249 0a2e 1F91 pop r17 |
| 1250 0a30 0F91 pop r16 |
| 1251 0a32 FF90 pop r15 |
| 1252 0a34 EF90 pop r14 |
| 1253 0a36 DF90 pop r13 |
| 1254 0a38 CF90 pop r12 |
| 1255 0a3a BF90 pop r11 |
| 1256 0a3c AF90 pop r10 |
| 1257 0a3e 0F90 pop __tmp_reg__ |
| 1258 0a40 0FBE out __SREG__,__tmp_reg__ |
| 1259 0a42 0F90 pop __tmp_reg__ |
| 1260 0a44 1F90 pop __zero_reg__ |
| 1261 0a46 1895 reti |
| 1262 /* epilogue end (size=25) */ |
| 1263 /* function __vector_24 size 1014 (964) */ |
| 1265 .comm Aktuell_Nick,2,1 |
| 1266 .comm Aktuell_Roll,2,1 |
| 1267 .comm Aktuell_Gier,2,1 |
| 1268 .comm Aktuell_ax,2,1 |
| 1269 .comm Aktuell_ay,2,1 |
| 1270 .comm Aktuell_az,2,1 |
| 1271 .comm DruckOffsetSetting,1,1 |
| 1272 .comm StartLuftdruck,2,1 |
| 1273 .comm NeutralAccZ_float,4,1 |
| 1274 /* File "analog.c": code 1351 = 0x0547 (1286), prologues 31, epilogues 34 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 analog.c |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:14 .data:00000000 AdReady |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:19 .data:00000001 AnalogOffsetGier |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:24 .data:00000002 AnalogOffsetRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:29 .data:00000003 AnalogOffsetNick |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:36 .bss:00000000 ZaehlMessungen |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:42 .bss:00000002 VarioMeter |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:48 .bss:00000004 ExpandBaro |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:54 .data:00000004 MessLuftdruck |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:61 .bss:00000005 SummenHoehe |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:67 .data:00000006 Luftdruck |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:74 .bss:00000009 messanzahl_AccHoch |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:80 .bss:0000000a AdWertAccHoch |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:86 .bss:0000000c AdWertAccNick |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:92 .bss:0000000e AdWertAccRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:98 .bss:00000010 AdWertGier |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:104 .bss:00000012 AdWertRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:110 .bss:00000014 AdWertNick |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:116 .data:0000000a HiResRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:121 .data:0000000c HiResNick |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:128 .bss:00000016 AdWertGierFilter |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:134 .bss:00000018 AdWertRollFilter |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:140 .bss:0000001a AdWertNickFilter |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:146 .data:0000000e UBat |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:151 .text:00000000 ADC_Init |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:165 .progmem.data:00000000 __c.13 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:170 .text:0000000c SucheLuftruckOffset |
| *COM*:00000001 DruckOffsetSetting |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:258 .progmem.data:00000002 __c.12 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:263 .text:000000c2 SucheGyroOffset |
| .bss:0000001c kanal.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:466 .bss:0000001d state.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:467 .bss:0000001e subcount.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:468 .bss:0000001f gier1.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:469 .bss:00000021 roll1.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:470 .bss:00000023 nick1.5 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:471 .bss:00000025 nick_filter.6 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:472 .bss:00000027 roll_filter.7 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:473 .bss:00000029 accy.8 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:474 .bss:0000002b accx.9 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:475 .bss:0000002d tmpLuftdruck.10 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:476 .bss:00000031 messanzahl_Druck.11 |
| C:\Users\Thomas\AppData\Local\Temp/ccmObaaa.s:480 .text:00000290 __vector_24 |
| *COM*:00000002 Aktuell_ay |
| *COM*:00000002 Aktuell_ax |
| *COM*:00000002 Aktuell_az |
| *COM*:00000002 StartLuftdruck |
| *COM*:00000002 Aktuell_Nick |
| *COM*:00000002 Aktuell_Roll |
| *COM*:00000002 Aktuell_Gier |
| *COM*:00000004 NeutralAccZ_float |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| GetParamByte |
| Delay_ms_Mess |
| uart_putchar |
| _printf_P |
| SetParamByte |
| EE_Parameter |
| VersionInfo |
| SetDelay |
| twi_state |
| BLFlags |
| CheckDelay |
| __tablejump2__ |
| NeutralAccY |
| NeutralAccX |
| __udivmodhi4 |
| NeutralAccZ |
| modell_fliegt |
| Mess_Integral_Hoch |
| PlatinenVersion |
| AdNeutralNick |
| AdNeutralRoll |
| __mulsi3 |
| HoehenWert |
| /branches/metro/v0.82a metro_Akku+/capacity.c |
|---|
| 0,0 → 1,148 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 "capacity.h" |
| #include "twimaster.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "analog.h" |
| #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
| #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
| #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
| // global varialbles |
| unsigned short update_timer = 0; |
| Capacity_t Capacity; |
| // initialize capacity calculation |
| void Capacity_Init(void) |
| { |
| Capacity.ActualCurrent = 0; |
| Capacity.UsedCapacity = 0; |
| Capacity.ActualPower = 0; |
| Capacity.MinOfMaxPWM = 0; |
| Capacity.RemainCapacity = (EE_Parameter.UserParam1*100); |
| update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
| } |
| // called in main loop at a regular interval |
| void Capacity_Update(void) |
| { |
| unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
| static unsigned short SubCounter = 0; |
| static unsigned short CurrentOffset = 0; |
| static unsigned long SumCurrentOffset = 0; |
| unsigned char i, NumOfMotors, MinOfMaxPWM; |
| if(CheckDelay(update_timer)) |
| { |
| update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
| // determine sum of all present BL currents and setpoints |
| Current = 0; |
| SetSum = 0; |
| NumOfMotors = 0; |
| MinOfMaxPWM = 255; |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| NumOfMotors++; |
| Current += (unsigned int)(Motor[i].Current); |
| SetSum += (unsigned int)(Motor[i].SetPoint); |
| if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
| } |
| } |
| Capacity.MinOfMaxPWM = MinOfMaxPWM; |
| if(SetSum == 0) // if all setpoints are 0 |
| { // determine offsets of motor currents |
| #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
| CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
| SumCurrentOffset -= CurrentOffset; |
| SumCurrentOffset += Current; |
| // after averaging set current to static offset |
| Current = FC_OFFSET_CURRENT; |
| } |
| else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
| { // subtract offset |
| if(Current > CurrentOffset) Current -= CurrentOffset; |
| else Current = 0; |
| // add the FC and BL Offsets |
| Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
| } |
| // update actual Current |
| Capacity.ActualCurrent = Current; |
| // update actual Power |
| if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
| else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
| // update used capacity |
| SubCounter += Current; |
| // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
| // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
| // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
| #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
| if(SubCounter > SUB_COUNTER_LIMIT) |
| { |
| Capacity.UsedCapacity++; // we have one mAh more |
| SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
| Capacity.RemainCapacity=(EE_Parameter.UserParam1*100)-Capacity.UsedCapacity; //Added by metro |
| if((Capacity.RemainCapacity<=500)&&(Capacity.RemainCapacity%100==0)&&(EE_Parameter.UserParam1!=0)) beeptime = 10000; |
| } |
| } // EOF check delay update timer |
| } |
| /branches/metro/v0.82a metro_Akku+/capacity.d |
|---|
| 0,0 → 1,3 |
| capacity.o capacity.d : capacity.c capacity.h twimaster.h main.h old_macros.h \ |
| printf_P.h timer0.h uart.h analog.h menu.h rc.h fc.h gps.h spi.h led.h \ |
| spektrum.h eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/capacity.h |
|---|
| 0,0 → 1,19 |
| #ifndef _CAPACITY_H |
| #define _CAPACITY_H |
| typedef struct |
| { |
| unsigned short ActualCurrent; // in 0.1A Steps |
| unsigned short ActualPower; // in 0.1W |
| signed short UsedCapacity; // in mAh //Modified by metro |
| signed short RemainCapacity; // in mAh //Added by metro |
| unsigned char MinOfMaxPWM; // BL Power Limit |
| } __attribute__((packed)) Capacity_t; |
| extern Capacity_t Capacity; |
| void Capacity_Init(void); |
| void Capacity_Update(void); |
| #endif //_CAPACITY_H |
| /branches/metro/v0.82a metro_Akku+/capacity.lst |
|---|
| 0,0 → 1,264 |
| 1 .file "capacity.c" |
| 2 .arch atmega644p |
| 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 .global update_timer |
| 11 .global update_timer |
| 12 .section .bss |
| 15 update_timer: |
| 16 0000 0000 .skip 2,0 |
| 17 .text |
| 18 .global Capacity_Init |
| 20 Capacity_Init: |
| 21 /* prologue: frame size=0 */ |
| 22 /* prologue end (size=0) */ |
| 23 0000 1092 0000 sts (Capacity)+1,__zero_reg__ |
| 24 0004 1092 0000 sts Capacity,__zero_reg__ |
| 25 0008 1092 0000 sts (Capacity+4)+1,__zero_reg__ |
| 26 000c 1092 0000 sts Capacity+4,__zero_reg__ |
| 27 0010 1092 0000 sts (Capacity+2)+1,__zero_reg__ |
| 28 0014 1092 0000 sts Capacity+2,__zero_reg__ |
| 29 0018 1092 0000 sts Capacity+8,__zero_reg__ |
| 30 001c 9091 0000 lds r25,EE_Parameter+41 |
| 31 0020 84E6 ldi r24,lo8(100) |
| 32 0022 989F mul r25,r24 |
| 33 0024 C001 movw r24,r0 |
| 34 0026 1124 clr r1 |
| 35 0028 9093 0000 sts (Capacity+6)+1,r25 |
| 36 002c 8093 0000 sts Capacity+6,r24 |
| 37 0030 8AE0 ldi r24,lo8(10) |
| 38 0032 90E0 ldi r25,hi8(10) |
| 39 0034 0E94 0000 call SetDelay |
| 40 0038 9093 0000 sts (update_timer)+1,r25 |
| 41 003c 8093 0000 sts update_timer,r24 |
| 42 /* epilogue: frame size=0 */ |
| 43 0040 0895 ret |
| 44 /* epilogue end (size=1) */ |
| 45 /* function Capacity_Init size 33 (32) */ |
| 47 .lcomm SubCounter.0,2 |
| 48 .lcomm CurrentOffset.1,2 |
| 49 .lcomm SumCurrentOffset.2,4 |
| 50 .global Capacity_Update |
| 52 Capacity_Update: |
| 53 /* prologue: frame size=0 */ |
| 54 0042 CF93 push r28 |
| 55 0044 DF93 push r29 |
| 56 /* prologue end (size=2) */ |
| 57 0046 8091 0000 lds r24,update_timer |
| 58 004a 9091 0000 lds r25,(update_timer)+1 |
| 59 004e 0E94 0000 call CheckDelay |
| 60 0052 8823 tst r24 |
| 61 0054 09F4 brne .+2 |
| 62 0056 CEC0 rjmp .L2 |
| 63 0058 8091 0000 lds r24,update_timer |
| 64 005c 9091 0000 lds r25,(update_timer)+1 |
| 65 0060 0A96 adiw r24,10 |
| 66 0062 9093 0000 sts (update_timer)+1,r25 |
| 67 0066 8093 0000 sts update_timer,r24 |
| 68 006a E0E0 ldi r30,lo8(0) |
| 69 006c F0E0 ldi r31,hi8(0) |
| 70 006e 9F01 movw r18,r30 |
| 71 0070 90E0 ldi r25,lo8(0) |
| 72 0072 5FEF ldi r21,lo8(-1) |
| 73 0074 A0E0 ldi r26,lo8(Motor) |
| 74 0076 B0E0 ldi r27,hi8(Motor) |
| 75 0078 4BE0 ldi r20,lo8(11) |
| 76 .L9: |
| 77 007a ED01 movw r28,r26 |
| 78 007c 8B81 ldd r24,Y+3 |
| 79 007e 87FF sbrs r24,7 |
| 80 0080 0BC0 rjmp .L6 |
| 81 0082 9F5F subi r25,lo8(-(1)) |
| 82 0084 8D81 ldd r24,Y+5 |
| 83 0086 E80F add r30,r24 |
| 84 0088 F11D adc r31,__zero_reg__ |
| 85 008a 8981 ldd r24,Y+1 |
| 86 008c 280F add r18,r24 |
| 87 008e 311D adc r19,__zero_reg__ |
| 88 0090 8E81 ldd r24,Y+6 |
| 89 0092 8517 cp r24,r21 |
| 90 0094 08F4 brsh .L6 |
| 91 0096 582F mov r21,r24 |
| 92 .L6: |
| 93 0098 4150 subi r20,lo8(-(-1)) |
| 94 009a 1896 adiw r26,8 |
| 95 009c 47FF sbrs r20,7 |
| 96 009e EDCF rjmp .L9 |
| 97 00a0 5093 0000 sts Capacity+8,r21 |
| 98 00a4 232B or r18,r19 |
| 99 00a6 41F5 brne .L10 |
| 100 00a8 2091 0000 lds r18,SumCurrentOffset.2 |
| 101 00ac 3091 0000 lds r19,(SumCurrentOffset.2)+1 |
| 102 00b0 4091 0000 lds r20,(SumCurrentOffset.2)+2 |
| 103 00b4 5091 0000 lds r21,(SumCurrentOffset.2)+3 |
| 104 00b8 BB27 clr r27 |
| 105 00ba A52F mov r26,r21 |
| 106 00bc 942F mov r25,r20 |
| 107 00be 832F mov r24,r19 |
| 108 00c0 9093 0000 sts (CurrentOffset.1)+1,r25 |
| 109 00c4 8093 0000 sts CurrentOffset.1,r24 |
| 110 00c8 AA27 clr r26 |
| 111 00ca BB27 clr r27 |
| 112 00cc 281B sub r18,r24 |
| 113 00ce 390B sbc r19,r25 |
| 114 00d0 4A0B sbc r20,r26 |
| 115 00d2 5B0B sbc r21,r27 |
| 116 00d4 CF01 movw r24,r30 |
| 117 00d6 AA27 clr r26 |
| 118 00d8 BB27 clr r27 |
| 119 00da 280F add r18,r24 |
| 120 00dc 391F adc r19,r25 |
| 121 00de 4A1F adc r20,r26 |
| 122 00e0 5B1F adc r21,r27 |
| 123 00e2 2093 0000 sts SumCurrentOffset.2,r18 |
| 124 00e6 3093 0000 sts (SumCurrentOffset.2)+1,r19 |
| 125 00ea 4093 0000 sts (SumCurrentOffset.2)+2,r20 |
| 126 00ee 5093 0000 sts (SumCurrentOffset.2)+3,r21 |
| 127 00f2 E5E0 ldi r30,lo8(5) |
| 128 00f4 F0E0 ldi r31,hi8(5) |
| 129 00f6 13C0 rjmp .L11 |
| 130 .L10: |
| 131 00f8 2091 0000 lds r18,CurrentOffset.1 |
| 132 00fc 3091 0000 lds r19,(CurrentOffset.1)+1 |
| 133 0100 2E17 cp r18,r30 |
| 134 0102 3F07 cpc r19,r31 |
| 135 0104 18F4 brsh .L12 |
| 136 0106 E21B sub r30,r18 |
| 137 0108 F30B sbc r31,r19 |
| 138 010a 02C0 rjmp .L13 |
| 139 .L12: |
| 140 010c E0E0 ldi r30,lo8(0) |
| 141 010e F0E0 ldi r31,hi8(0) |
| 142 .L13: |
| 143 0110 892F mov r24,r25 |
| 144 0112 9927 clr r25 |
| 145 0114 880F add r24,r24 |
| 146 0116 991F adc r25,r25 |
| 147 0118 E80F add r30,r24 |
| 148 011a F91F adc r31,r25 |
| 149 011c 3596 adiw r30,5 |
| 150 .L11: |
| 151 011e F093 0000 sts (Capacity)+1,r31 |
| 152 0122 E093 0000 sts Capacity,r30 |
| 153 0126 EF3F cpi r30,255 |
| 154 0128 F105 cpc r31,__zero_reg__ |
| 155 012a 78F4 brsh .L14 |
| 156 012c 8091 0000 lds r24,UBat |
| 157 0130 9091 0000 lds r25,(UBat)+1 |
| 158 0134 8E9F mul r24,r30 |
| 159 0136 9001 movw r18,r0 |
| 160 0138 8F9F mul r24,r31 |
| 161 013a 300D add r19,r0 |
| 162 013c 9E9F mul r25,r30 |
| 163 013e 300D add r19,r0 |
| 164 0140 1124 clr r1 |
| 165 0142 C901 movw r24,r18 |
| 166 0144 64E6 ldi r22,lo8(100) |
| 167 0146 70E0 ldi r23,hi8(100) |
| 168 0148 13C0 rjmp .L20 |
| 169 .L14: |
| 170 014a CF01 movw r24,r30 |
| 171 014c 9695 lsr r25 |
| 172 014e 8795 ror r24 |
| 173 0150 9695 lsr r25 |
| 174 0152 8795 ror r24 |
| 175 0154 2091 0000 lds r18,UBat |
| 176 0158 3091 0000 lds r19,(UBat)+1 |
| 177 015c 289F mul r18,r24 |
| 178 015e A001 movw r20,r0 |
| 179 0160 299F mul r18,r25 |
| 180 0162 500D add r21,r0 |
| 181 0164 389F mul r19,r24 |
| 182 0166 500D add r21,r0 |
| 183 0168 1124 clr r1 |
| 184 016a CA01 movw r24,r20 |
| 185 016c 69E1 ldi r22,lo8(25) |
| 186 016e 70E0 ldi r23,hi8(25) |
| 187 .L20: |
| 188 0170 0E94 0000 call __udivmodhi4 |
| 189 0174 7093 0000 sts (Capacity+2)+1,r23 |
| 190 0178 6093 0000 sts Capacity+2,r22 |
| 191 017c 2091 0000 lds r18,SubCounter.0 |
| 192 0180 3091 0000 lds r19,(SubCounter.0)+1 |
| 193 0184 2E0F add r18,r30 |
| 194 0186 3F1F adc r19,r31 |
| 195 0188 3093 0000 sts (SubCounter.0)+1,r19 |
| 196 018c 2093 0000 sts SubCounter.0,r18 |
| 197 0190 5EE0 ldi r21,hi8(3601) |
| 198 0192 2131 cpi r18,lo8(3601) |
| 199 0194 3507 cpc r19,r21 |
| 200 0196 70F1 brlo .L2 |
| 201 0198 8091 0000 lds r24,Capacity+4 |
| 202 019c 9091 0000 lds r25,(Capacity+4)+1 |
| 203 01a0 0196 adiw r24,1 |
| 204 01a2 9093 0000 sts (Capacity+4)+1,r25 |
| 205 01a6 8093 0000 sts Capacity+4,r24 |
| 206 01aa 2051 subi r18,lo8(-(-3600)) |
| 207 01ac 3E40 sbci r19,hi8(-(-3600)) |
| 208 01ae 3093 0000 sts (SubCounter.0)+1,r19 |
| 209 01b2 2093 0000 sts SubCounter.0,r18 |
| 210 01b6 4091 0000 lds r20,EE_Parameter+41 |
| 211 01ba 24E6 ldi r18,lo8(100) |
| 212 01bc 429F mul r20,r18 |
| 213 01be 9001 movw r18,r0 |
| 214 01c0 1124 clr r1 |
| 215 01c2 281B sub r18,r24 |
| 216 01c4 390B sbc r19,r25 |
| 217 01c6 3093 0000 sts (Capacity+6)+1,r19 |
| 218 01ca 2093 0000 sts Capacity+6,r18 |
| 219 01ce 81E0 ldi r24,hi8(501) |
| 220 01d0 253F cpi r18,lo8(501) |
| 221 01d2 3807 cpc r19,r24 |
| 222 01d4 7CF4 brge .L2 |
| 223 01d6 C901 movw r24,r18 |
| 224 01d8 64E6 ldi r22,lo8(100) |
| 225 01da 70E0 ldi r23,hi8(100) |
| 226 01dc 0E94 0000 call __divmodhi4 |
| 227 01e0 892B or r24,r25 |
| 228 01e2 41F4 brne .L2 |
| 229 01e4 4423 tst r20 |
| 230 01e6 31F0 breq .L2 |
| 231 01e8 80E1 ldi r24,lo8(10000) |
| 232 01ea 97E2 ldi r25,hi8(10000) |
| 233 01ec 9093 0000 sts (beeptime)+1,r25 |
| 234 01f0 8093 0000 sts beeptime,r24 |
| 235 .L2: |
| 236 /* epilogue: frame size=0 */ |
| 237 01f4 DF91 pop r29 |
| 238 01f6 CF91 pop r28 |
| 239 01f8 0895 ret |
| 240 /* epilogue end (size=3) */ |
| 241 /* function Capacity_Update size 220 (215) */ |
| 243 .comm Capacity,9,1 |
| 244 /* File "capacity.c": code 253 = 0x00fd ( 247), prologues 2, epilogues 4 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 capacity.c |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:15 .bss:00000000 update_timer |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:20 .text:00000000 Capacity_Init |
| *COM*:00000009 Capacity |
| .bss:00000002 SubCounter.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:47 .bss:00000004 CurrentOffset.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:48 .bss:00000006 SumCurrentOffset.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccENaaaa.s:52 .text:00000042 Capacity_Update |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| SetDelay |
| CheckDelay |
| Motor |
| UBat |
| __udivmodhi4 |
| __divmodhi4 |
| beeptime |
| /branches/metro/v0.82a metro_Akku+/debug.c |
|---|
| 0,0 → 1,48 |
| #include "main.h" |
| #include "debug.h" |
| #ifdef DEBUG // only include functions if DEBUG is defined in main.h |
| #warning : "### DEBUG-Funktion aktiv ###" |
| unsigned char Debug_BufPtr = 0; |
| struct str_Debug tDebug; |
| unsigned char SendDebugOutput = 0; |
| // function called from _printf_P to output character |
| void Debug_Putchar(char c) |
| { |
| if (!SendDebugOutput) |
| { |
| tDebug.Text[Debug_BufPtr++] = c; // copy character to buffer |
| if (Debug_BufPtr > 30) Debug_BufPtr = 30; // avoid buffer overflow |
| } |
| } |
| void DebugSend(unsigned char cmd) |
| { |
| if (!SendDebugOutput) |
| { |
| tDebug.Cmd = cmd; |
| tDebug.Text[Debug_BufPtr] = '\0'; // end of text marker |
| Debug_BufPtr = 0; // set bufferindex to 0 |
| SendDebugOutput = 1; // set flag to trasmit data the next time in serial transmit function |
| } |
| } |
| #endif |
| /* |
| add the following code block to the serial transmit function |
| #ifdef DEBUG // only include functions if DEBUG is defined |
| if(SendDebugOutput && UebertragungAbgeschlossen) |
| { |
| SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| SendDebugOutput = 0; |
| } |
| #endif |
| */ |
| /branches/metro/v0.82a metro_Akku+/debug.d |
|---|
| 0,0 → 1,3 |
| debug.o debug.d : debug.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
| twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
| eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/debug.h |
|---|
| 0,0 → 1,60 |
| #ifndef _DEBUG_H |
| #define _DEBUG_H |
| // ---------------------------------------------- |
| #define CMD_NONE 0x00 |
| #define CMD_RAW_OUTPUT 0x01 |
| #define CMD_ERROR_MSG 0x02 |
| #define CMD_WARNING_MSG 0x04 |
| #define CMD_GREEN_MSG 0x08 |
| // debug console in MK-Tool can also handle ANSI ESC seq. |
| #define ANSI_ATTRIBUTE_OFF "\033[0m" |
| #define ANSI_BOLD "\033[1m" |
| #define ANSI_UNDERSCORE "\033[4m" |
| #define ANSI_BLINK "\033[5m" |
| #define ANSI_INVERSE "\033[7m" |
| #define ANSI_INVISIBLE "\033[8m" |
| #define ANSI_COLOR_BLACK "\033[30m" |
| #define ANSI_COLOR_RED "\033[31m" |
| #define ANSI_COLOR_GREEN "\033[32m" |
| #define ANSI_COLOR_YELLOW "\033[33m" |
| #define ANSI_COLOR_BLUE "\033[34m" |
| #define ANSI_COLOR_VIOLETT "\033[35m" |
| #define ANSI_COLOR_KOBALTBLUE "\033[36m" |
| #define ANSI_COLOR_WHITE "\033[37m" |
| #define ANSI_CLEAR "\033[2J" |
| #define ANSI_HOME "\033[H" |
| // macros for easier use |
| #ifdef DEBUG // only include functions if DEBUG is defined in main.h |
| #define Debug(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_NONE); } |
| #define Debug_Raw(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_RAW_OUTPUT); } |
| #define Debug_Warning(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_WARNING_MSG); } |
| #define Debug_Error(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_ERROR_MSG); } |
| #define Debug_OK(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_GREEN_MSG); } |
| struct str_Debug |
| { |
| unsigned char Cmd; // bitcoded command |
| char Text[32]; |
| }; |
| extern struct str_Debug tDebug; |
| unsigned char SendDebugOutput; |
| void Debug_Putchar(char c); |
| void DebugSend(unsigned char cmd); |
| #else // dummy macros (won't waste flash, if #DEBUG is disabled) |
| #define Debug(format, args...) ; |
| #define Debug_Raw(format, args...) ; |
| #define Debug_Warning(format, args...) ; |
| #define Debug_Error(format, args...) ; |
| #define Debug_OK(format, args...) ; |
| #endif |
| // ---------------------------------------------- |
| #endif |
| /branches/metro/v0.82a metro_Akku+/debug.lst |
|---|
| 0,0 → 1,21 |
| 1 .file "debug.c" |
| 2 .arch atmega644p |
| 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 /* File "debug.c": code 0 = 0x0000 ( 0), prologues 0, epilogues 0 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 debug.c |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| /branches/metro/v0.82a metro_Akku+/eeprom.c |
|---|
| 0,0 → 1,595 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #include <avr/eeprom.h> |
| #include <string.h> |
| #include "eeprom.h" |
| #include "uart.h" |
| #include "led.h" |
| #include "main.h" |
| #include "fc.h" |
| #include "twimaster.h" |
| paramset_t EE_Parameter; |
| MixerTable_t Mixer; |
| uint8_t RequiredMotors; |
| uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
| { |
| uint8_t crc = 0xAA; |
| uint16_t i; |
| for(i=0; i<len; i++) |
| { |
| crc += pBuffer[i]; |
| } |
| return crc; |
| } |
| uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
| { |
| uint8_t crc = 0xAA; |
| uint16_t off; |
| for(off=0; off<len; off++) |
| { |
| crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
| } |
| return crc; |
| } |
| void ParamSet_DefaultStickMapping(void) |
| { |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_NICK] = 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; |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void CommonDefaults(void) |
| { |
| EE_Parameter.Revision = EEPARAM_REVISION; |
| if(PlatinenVersion >= 20) |
| { |
| EE_Parameter.Gyro_D = 10; |
| EE_Parameter.Driftkomp = 0; |
| EE_Parameter.GyroAccFaktor = 27; |
| EE_Parameter.WinkelUmschlagNick = 78; |
| EE_Parameter.WinkelUmschlagRoll = 78; |
| } |
| else |
| { |
| EE_Parameter.Gyro_D = 3; |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.GyroAccFaktor = 30; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| } |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP; |
| EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
| EE_Parameter.MotorSafetySwitch = 0; |
| EE_Parameter.ExternalControl = 0; |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
| EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
| EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
| 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.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 120; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 2; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 15; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.Servo3 = 125; |
| EE_Parameter.Servo4 = 125; |
| EE_Parameter.Servo5 = 125; |
| EE_Parameter.ServoRollControl = 120; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 90; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoManualControlSpeed = 40; |
| EE_Parameter.CamOrientation = 0; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 20; |
| EE_Parameter.J17Timing = 20; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 2; |
| EE_Parameter.OrientationAngle = 0; |
| EE_Parameter.OrientationModeControl = 0; |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| } |
| void ParamSet_DefaultSet1(void) // sport |
| { |
| CommonDefaults(); |
| EE_Parameter.Stick_P = 14; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.Gier_P = 12; // Wert : 1-20 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 1; |
| EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
| EE_Parameter.DynamicStability = 100; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) // normal |
| { |
| CommonDefaults(); |
| EE_Parameter.Stick_P = 10; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 60; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.DynamicStability = 75; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 3 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet3(void) // beginner |
| { |
| CommonDefaults(); |
| EE_Parameter.Stick_P = 8; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.I_Faktor = 16; |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 70; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.DynamicStability = 70; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as byte */ |
| /***************************************************/ |
| uint8_t GetParamByte(uint16_t param_id) |
| { |
| return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void SetParamByte(uint16_t param_id, uint8_t value) |
| { |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as word */ |
| /***************************************************/ |
| uint16_t GetParamWord(uint16_t param_id) |
| { |
| return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as word */ |
| /***************************************************/ |
| void SetParamWord(uint16_t param_id, uint16_t value) |
| { |
| eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
| } |
| /***************************************************/ |
| /* Read Parameter Set from EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
| { |
| uint8_t crc; |
| uint16_t eeaddr; |
| // range the setnumber |
| if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
| // calculate eeprom addr |
| eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
| // calculate checksum from eeprom |
| crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
| // check crc |
| if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
| // check revision |
| if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
| // read paramset from eeprom |
| eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
| LED_Init(); |
| return 1; |
| } |
| /***************************************************/ |
| /* Write Parameter Set to EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
| { |
| uint8_t crc; |
| if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
| { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) return 0; |
| // update checksum |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| // write paramset to eeprom |
| eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
| // backup channel settings to separate block in eeprom |
| eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| // write crc of channel block to eeprom |
| crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
| // update active settings number |
| SetActiveParamSet(setnumber); |
| LED_Init(); |
| return 1; |
| } |
| // wrong revision |
| return 0; |
| } |
| /***************************************************/ |
| /* Read MixerTable from EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_ReadFromEEProm(void) |
| { |
| uint8_t crc; |
| // calculate checksum in eeprom |
| crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
| // check crc |
| if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
| // check revision |
| if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
| // read mixer table |
| eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
| return 1; |
| } |
| /***************************************************/ |
| /* Write Mixer Table to EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_WriteToEEProm(void) |
| { |
| if(Mixer.Revision == EEMIXER_REVISION) |
| { |
| // update crc |
| Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
| // write to eeprom |
| eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
| return 1; |
| } |
| else return 0; |
| } |
| /***************************************************/ |
| /* Default Values for Mixer Table */ |
| /***************************************************/ |
| void MixerTable_Default(void) // Quadro |
| { |
| uint8_t i; |
| Mixer.Revision = EEMIXER_REVISION; |
| // clear mixer table |
| for(i = 0; i < 16; i++) |
| { |
| Mixer.Motor[i][MIX_GAS] = 0; |
| Mixer.Motor[i][MIX_NICK] = 0; |
| Mixer.Motor[i][MIX_ROLL] = 0; |
| Mixer.Motor[i][MIX_YAW] = 0; |
| } |
| // default = Quadro |
| Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
| Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
| Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
| Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
| memcpy(Mixer.Name, "Quadro\0", 7); |
| Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
| } |
| /***************************************************/ |
| /* Get active parameter set */ |
| /***************************************************/ |
| uint8_t GetActiveParamSet(void) |
| { |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
| if(setnumber > 5) |
| { |
| setnumber = 3; |
| eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
| } |
| return(setnumber); |
| } |
| /***************************************************/ |
| /* Set active parameter set */ |
| /***************************************************/ |
| void SetActiveParamSet(uint8_t setnumber) |
| { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) setnumber = 1; |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
| } |
| /***************************************************/ |
| /* Set default parameter set */ |
| /***************************************************/ |
| void SetDefaultParameter(uint8_t set, uint8_t restore_channels) |
| { |
| if(set > 5) set = 5; |
| else if(set < 1) set = 1; |
| switch(set) |
| { |
| case 1: |
| ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
| break; |
| case 2: |
| ParamSet_DefaultSet2(); // Kamera |
| break; |
| case 3: |
| ParamSet_DefaultSet3(); // Beginner |
| break; |
| default: |
| ParamSet_DefaultSet3(); // Beginner |
| break; |
| } |
| if(restore_channels) |
| { |
| uint8_t crc; |
| // 1st check for a valid channel backup in eeprom |
| crc = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
| if(crc == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) |
| { |
| eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| } |
| else ParamSet_DefaultStickMapping(); |
| } |
| else ParamSet_DefaultStickMapping(); |
| ParamSet_WriteToEEProm(set); |
| } |
| /***************************************************/ |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) |
| { |
| uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
| if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
| { |
| ee_default = 1; // software update or forced by mktool |
| SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
| } |
| // 1st check for a valid channel backup in eeprom |
| i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
| if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
| // parameter check |
| // check all 5 parameter settings |
| for (i = 1;i < 6; i++) |
| { |
| if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
| { |
| bad_params = 1; |
| printf("\n\rGenerating default Parameter Set %d",i); |
| switch(i) |
| { |
| case 1: |
| ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
| break; |
| case 2: |
| ParamSet_DefaultSet2(); // Kamera |
| break; |
| case 3: |
| ParamSet_DefaultSet3(); // Beginner |
| break; |
| default: |
| ParamSet_DefaultSet3(); // Kamera |
| break; |
| } |
| if(channel_backup) // if we have an channel mapping backup in eeprom |
| { // restore it from eeprom |
| eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| } |
| else |
| { // use default mapping |
| ParamSet_DefaultStickMapping(); |
| } |
| ParamSet_WriteToEEProm(i); |
| } |
| } |
| if(bad_params) // at least one of the parameter settings were invalid |
| { |
| // default-Setting is parameter set 3 |
| SetActiveParamSet(3); |
| } |
| // read active parameter set to ParamSet stucture |
| i = GetActiveParamSet(); |
| ParamSet_ReadFromEEProm(i); |
| printf("\n\rUsing Parameter Set %d", i); |
| // load mixer table |
| if(ee_default || !MixerTable_ReadFromEEProm() ) |
| { |
| printf("\n\rGenerating default Mixer Table"); |
| MixerTable_Default(); // Quadro |
| MixerTable_WriteToEEProm(); |
| } |
| // determine motornumber |
| RequiredMotors = 0; |
| for(i = 0; i < 16; i++) |
| { |
| if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
| } |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
| printf("\n\r=============================="); |
| } |
| /branches/metro/v0.82a metro_Akku+/eeprom.d |
|---|
| 0,0 → 1,3 |
| eeprom.o eeprom.d : eeprom.c eeprom.h twimaster.h uart.h led.h main.h old_macros.h \ |
| printf_P.h timer0.h analog.h menu.h rc.h fc.h gps.h spi.h spektrum.h \ |
| capacity.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/eeprom.h |
|---|
| 0,0 → 1,241 |
| #ifndef _EEPROM_H |
| #define _EEPROM_H |
| #include <inttypes.h> |
| #include "twimaster.h" |
| #define EEPARAM_REVISION 85 // is count up, if paramater stucture has changed (compatibility) |
| #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
| #define EEPROM_ADR_PARAM_BEGIN 0 |
| #define PID_EE_REVISION 1 // byte |
| #define PID_ACTIVE_SET 2 // byte |
| #define PID_PRESSURE_OFFSET 3 // byte |
| #define PID_ACC_NICK 4 // word |
| #define PID_ACC_ROLL 6 // word |
| #define PID_ACC_TOP 8 // word |
| #define PID_FLIGHT_MINUTES_TOTAL 10 // word |
| #define PID_FLIGHT_MINUTES 14 // word |
| #define EEPROM_ADR_CHANNELS 80 // 80 - 93, 12 bytes + 1 byte crc |
| #define EEPROM_ADR_PARAMSET 100 // 100 - 650, 5 * 110 bytes |
| #define EEPROM_ADR_MIXERTABLE 1000 // 1000 - 1078, 78 bytes |
| #define EEPROM_ADR_BLCONFIG 1200 // 1200 - 1296, 12 * 8 bytes |
| #define MIX_GAS 0 |
| #define MIX_NICK 1 |
| #define MIX_ROLL 2 |
| #define MIX_YAW 3 |
| typedef struct |
| { |
| uint8_t Revision; |
| int8_t Name[12]; |
| int8_t Motor[16][4]; |
| uint8_t crc; |
| } __attribute__((packed)) MixerTable_t; |
| extern MixerTable_t Mixer; |
| extern uint8_t RequiredMotors; |
| #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 CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| #define CFG_DREHRATEN_BEGRENZER 0x80 |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| #define CFG_MOTOR_BLINK 0x10 |
| #define CFG_MOTOR_OFF_LED1 0x20 |
| #define CFG_MOTOR_OFF_LED2 0x40 |
| #define CFG_RES4 0x80 |
| #define CFG2_HEIGHT_LIMIT 0x01 |
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG_SENSITIVE_RC 0x04 |
| // bit mask for ParamSet.Config0 |
| #define CFG0_AIRPRESS_SENSOR 0x01 |
| #define CFG0_HEIGHT_SWITCH 0x02 |
| #define CFG0_HEADING_HOLD 0x04 |
| #define CFG0_COMPASS_ACTIVE 0x08 |
| #define CFG0_COMPASS_FIX 0x10 |
| #define CFG0_GPS_ACTIVE 0x20 |
| #define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
| #define CFG0_ROTARY_RATE_LIMITER 0x80 |
| // defines for the receiver selection |
| #define RECEIVER_PPM 0 |
| #define RECEIVER_SPEKTRUM 1 |
| #define RECEIVER_SPEKTRUM_HI_RES 2 |
| #define RECEIVER_SPEKTRUM_LOW_RES 3 |
| #define RECEIVER_JETI 4 |
| #define RECEIVER_ACT_DSL 5 |
| #define RECEIVER_UNKNOWN 0xFF |
| // defines for lookup ParamSet.ChannelAssignment |
| #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 |
| // values above 247 representing poti1 to poti8 |
| // poti1 = 255 |
| // poti2 = 254 |
| // poti3 = 253 |
| // poti4 = 252 |
| // poti5 = 251 |
| // poti6 = 250 |
| // poti7 = 249 |
| // poti8 = 248 |
| typedef struct |
| { |
| unsigned char Revision; |
| unsigned char Kanalbelegung[12]; // 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 Hoehe_HoverBand; // Wert : 0-250 |
| unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
| unsigned char Hoehe_StickNeutralPoint;// 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 Gyro_D; // Wert : 0-250 |
| unsigned char Gyro_Gier_P; // Wert : 10-250 |
| unsigned char Gyro_Gier_I; // Wert : 0-250 |
| unsigned char Gyro_Stability; // Wert : 0-16 |
| 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 Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
| 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 |
| //--- Seit V0.75 |
| unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoRollComp; // Wert : 0-250 |
| unsigned char ServoRollMin; // Wert : 0-250 |
| unsigned char ServoRollMax; // Wert : 0-250 |
| //--- |
| unsigned char ServoNickRefresh; // Speed of the Servo |
| unsigned char ServoManualControlSpeed;// |
| unsigned char CamOrientation; // |
| unsigned char Servo3; // Value or mapping of the Servo Output |
| unsigned char Servo4; // Value or mapping of the Servo Output |
| unsigned char Servo5; // Value or mapping of the Servo Output |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| unsigned char Driftkomp; |
| unsigned char DynamicStability; |
| unsigned char UserParam5; // Wert : 0-250 |
| unsigned char UserParam6; // Wert : 0-250 |
| unsigned char UserParam7; // Wert : 0-250 |
| unsigned char UserParam8; // Wert : 0-250 |
| //---Output --------------------------------------------- |
| unsigned char J16Bitmask; // for the J16 Output |
| unsigned char J16Timing; // for the J16 Output |
| unsigned char J17Bitmask; // for the J17 Output |
| unsigned char J17Timing; // for the J17 Output |
| // seit version V0.75c |
| unsigned char WARN_J16_Bitmask; // for the J16 Output |
| unsigned char WARN_J17_Bitmask; // for the J17 Output |
| //---NaviCtrl--------------------------------------------- |
| unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
| unsigned char NaviGpsGain; |
| unsigned char NaviGpsP; |
| unsigned char NaviGpsI; |
| unsigned char NaviGpsD; |
| unsigned char NaviGpsPLimit; |
| unsigned char NaviGpsILimit; |
| unsigned char NaviGpsDLimit; |
| unsigned char NaviGpsACC; |
| unsigned char NaviGpsMinSat; |
| unsigned char NaviStickThreshold; |
| unsigned char NaviWindCorrection; |
| unsigned char NaviSpeedCompensation; |
| unsigned char NaviOperatingRadius; |
| unsigned char NaviAngleLimitation; |
| unsigned char NaviPH_LoginTime; |
| //---Ext.Ctrl--------------------------------------------- |
| unsigned char ExternalControl; // for serial Control |
| //---CareFree--------------------------------------------- |
| unsigned char OrientationAngle; // Where is the front-direction? |
| unsigned char OrientationModeControl; // switch for CareFree |
| unsigned char MotorSafetySwitch; |
| //------------------------------------------------ |
| unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char ExtraConfig; // bitcodiert |
| char Name[12]; |
| unsigned char crc; // must be the last byte! |
| } paramset_t; |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
| extern paramset_t EE_Parameter; |
| extern uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len); |
| extern void ParamSet_Init(void); |
| extern void SetDefaultParameter(uint8_t set, uint8_t restore_channels); |
| extern uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber); |
| extern uint8_t ParamSet_WriteToEEProm(uint8_t setnumber); |
| extern uint8_t GetActiveParamSet(void); |
| extern void SetActiveParamSet(uint8_t setnumber); |
| extern uint8_t MixerTable_ReadFromEEProm(void); |
| extern uint8_t MixerTable_WriteToEEProm(void); |
| extern uint8_t GetParamByte(uint16_t param_id); |
| extern void SetParamByte(uint16_t param_id, uint8_t value); |
| extern uint16_t GetParamWord(uint16_t param_id); |
| extern void SetParamWord(uint16_t param_id, uint16_t value); |
| #endif //_EEPROM_H |
| /branches/metro/v0.82a metro_Akku+/eeprom.lst |
|---|
| 0,0 → 1,1178 |
| 1 .file "eeprom.c" |
| 2 .arch atmega644p |
| 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 RAM_Checksum |
| 13 RAM_Checksum: |
| 14 /* prologue: frame size=0 */ |
| 15 /* prologue end (size=0) */ |
| 16 0000 4AEA ldi r20,lo8(-86) |
| 17 0002 20E0 ldi r18,lo8(0) |
| 18 0004 30E0 ldi r19,hi8(0) |
| 19 0006 2617 cp r18,r22 |
| 20 0008 3707 cpc r19,r23 |
| 21 000a 40F4 brsh .L7 |
| 22 000c FC01 movw r30,r24 |
| 23 .L5: |
| 24 000e 8191 ld r24,Z+ |
| 25 0010 480F add r20,r24 |
| 26 0012 2F5F subi r18,lo8(-(1)) |
| 27 0014 3F4F sbci r19,hi8(-(1)) |
| 28 0016 2617 cp r18,r22 |
| 29 0018 3707 cpc r19,r23 |
| 30 001a C8F3 brlo .L5 |
| 31 .L7: |
| 32 001c 842F mov r24,r20 |
| 33 001e 9927 clr r25 |
| 34 /* epilogue: frame size=0 */ |
| 35 0020 0895 ret |
| 36 /* epilogue end (size=1) */ |
| 37 /* function RAM_Checksum size 17 (16) */ |
| 39 .global EEProm_Checksum |
| 41 EEProm_Checksum: |
| 42 /* prologue: frame size=0 */ |
| 43 /* prologue end (size=0) */ |
| 44 0022 AC01 movw r20,r24 |
| 45 0024 9AEA ldi r25,lo8(-86) |
| 46 0026 20E0 ldi r18,lo8(0) |
| 47 0028 30E0 ldi r19,hi8(0) |
| 48 .L16: |
| 49 002a 2617 cp r18,r22 |
| 50 002c 3707 cpc r19,r23 |
| 51 002e 50F4 brsh .L15 |
| 52 0030 DA01 movw r26,r20 |
| 53 0032 A20F add r26,r18 |
| 54 0034 B31F adc r27,r19 |
| 55 /* #APP */ |
| 56 0036 0E94 0000 call __eeprom_read_byte_1F2021 |
| 57 003a 802D mov r24,__tmp_reg__ |
| 58 /* #NOAPP */ |
| 59 003c 980F add r25,r24 |
| 60 003e 2F5F subi r18,lo8(-(1)) |
| 61 0040 3F4F sbci r19,hi8(-(1)) |
| 62 0042 F3CF rjmp .L16 |
| 63 .L15: |
| 64 0044 892F mov r24,r25 |
| 65 0046 9927 clr r25 |
| 66 /* epilogue: frame size=0 */ |
| 67 0048 0895 ret |
| 68 /* epilogue end (size=1) */ |
| 69 /* function EEProm_Checksum size 21 (20) */ |
| 71 .global ParamSet_DefaultStickMapping |
| 73 ParamSet_DefaultStickMapping: |
| 74 /* prologue: frame size=0 */ |
| 75 /* prologue end (size=0) */ |
| 76 004a 81E0 ldi r24,lo8(1) |
| 77 004c 8093 0000 sts EE_Parameter+3,r24 |
| 78 0050 82E0 ldi r24,lo8(2) |
| 79 0052 8093 0000 sts EE_Parameter+2,r24 |
| 80 0056 83E0 ldi r24,lo8(3) |
| 81 0058 8093 0000 sts EE_Parameter+1,r24 |
| 82 005c 84E0 ldi r24,lo8(4) |
| 83 005e 8093 0000 sts EE_Parameter+4,r24 |
| 84 0062 85E0 ldi r24,lo8(5) |
| 85 0064 8093 0000 sts EE_Parameter+5,r24 |
| 86 0068 86E0 ldi r24,lo8(6) |
| 87 006a 8093 0000 sts EE_Parameter+6,r24 |
| 88 006e 87E0 ldi r24,lo8(7) |
| 89 0070 8093 0000 sts EE_Parameter+7,r24 |
| 90 0074 88E0 ldi r24,lo8(8) |
| 91 0076 8093 0000 sts EE_Parameter+8,r24 |
| 92 007a 89E0 ldi r24,lo8(9) |
| 93 007c 8093 0000 sts EE_Parameter+9,r24 |
| 94 0080 8AE0 ldi r24,lo8(10) |
| 95 0082 8093 0000 sts EE_Parameter+10,r24 |
| 96 0086 8BE0 ldi r24,lo8(11) |
| 97 0088 8093 0000 sts EE_Parameter+11,r24 |
| 98 008c 8CE0 ldi r24,lo8(12) |
| 99 008e 8093 0000 sts EE_Parameter+12,r24 |
| 100 /* epilogue: frame size=0 */ |
| 101 0092 0895 ret |
| 102 /* epilogue end (size=1) */ |
| 103 /* function ParamSet_DefaultStickMapping size 37 (36) */ |
| 105 .global CommonDefaults |
| 107 CommonDefaults: |
| 108 /* prologue: frame size=0 */ |
| 109 /* prologue end (size=0) */ |
| 110 0094 95E5 ldi r25,lo8(85) |
| 111 0096 9093 0000 sts EE_Parameter,r25 |
| 112 009a 8091 0000 lds r24,PlatinenVersion |
| 113 009e 8431 cpi r24,lo8(20) |
| 114 00a0 70F0 brlo .L19 |
| 115 00a2 8AE0 ldi r24,lo8(10) |
| 116 00a4 8093 0000 sts EE_Parameter+32,r24 |
| 117 00a8 1092 0000 sts EE_Parameter+68,__zero_reg__ |
| 118 00ac 8BE1 ldi r24,lo8(27) |
| 119 00ae 8093 0000 sts EE_Parameter+28,r24 |
| 120 00b2 8EE4 ldi r24,lo8(78) |
| 121 00b4 8093 0000 sts EE_Parameter+65,r24 |
| 122 00b8 8093 0000 sts EE_Parameter+66,r24 |
| 123 00bc 0DC0 rjmp .L20 |
| 124 .L19: |
| 125 00be 83E0 ldi r24,lo8(3) |
| 126 00c0 8093 0000 sts EE_Parameter+32,r24 |
| 127 00c4 80E2 ldi r24,lo8(32) |
| 128 00c6 8093 0000 sts EE_Parameter+68,r24 |
| 129 00ca 8EE1 ldi r24,lo8(30) |
| 130 00cc 8093 0000 sts EE_Parameter+28,r24 |
| 131 00d0 9093 0000 sts EE_Parameter+65,r25 |
| 132 00d4 9093 0000 sts EE_Parameter+66,r25 |
| 133 .L20: |
| 134 00d8 8AE6 ldi r24,lo8(106) |
| 135 00da 8093 0000 sts EE_Parameter+13,r24 |
| 136 00de 83E0 ldi r24,lo8(3) |
| 137 00e0 8093 0000 sts EE_Parameter+102,r24 |
| 138 00e4 81E0 ldi r24,lo8(1) |
| 139 00e6 8093 0000 sts EE_Parameter+39,r24 |
| 140 00ea 1092 0000 sts EE_Parameter+99,__zero_reg__ |
| 141 00ee 1092 0000 sts EE_Parameter+96,__zero_reg__ |
| 142 00f2 68E0 ldi r22,lo8(8) |
| 143 00f4 6093 0000 sts EE_Parameter+26,r22 |
| 144 00f8 86EE ldi r24,lo8(-26) |
| 145 00fa 8093 0000 sts EE_Parameter+27,r24 |
| 146 00fe 80E8 ldi r24,lo8(-128) |
| 147 0100 8093 0000 sts EE_Parameter+29,r24 |
| 148 0104 5EE1 ldi r21,lo8(30) |
| 149 0106 5093 0000 sts EE_Parameter+14,r21 |
| 150 010a 8FEF ldi r24,lo8(-1) |
| 151 010c 8093 0000 sts EE_Parameter+16,r24 |
| 152 0110 9FE0 ldi r25,lo8(15) |
| 153 0112 9093 0000 sts EE_Parameter+17,r25 |
| 154 0116 5093 0000 sts EE_Parameter+15,r21 |
| 155 011a 1092 0000 sts EE_Parameter+19,__zero_reg__ |
| 156 011e 6093 0000 sts EE_Parameter+20,r22 |
| 157 0122 80E4 ldi r24,lo8(64) |
| 158 0124 8093 0000 sts EE_Parameter+21,r24 |
| 159 0128 1092 0000 sts EE_Parameter+22,__zero_reg__ |
| 160 012c 9093 0000 sts EE_Parameter+18,r25 |
| 161 0130 1092 0000 sts EE_Parameter+41,__zero_reg__ |
| 162 0134 1092 0000 sts EE_Parameter+42,__zero_reg__ |
| 163 0138 1092 0000 sts EE_Parameter+43,__zero_reg__ |
| 164 013c 1092 0000 sts EE_Parameter+44,__zero_reg__ |
| 165 0140 1092 0000 sts EE_Parameter+70,__zero_reg__ |
| 166 0144 1092 0000 sts EE_Parameter+71,__zero_reg__ |
| 167 0148 1092 0000 sts EE_Parameter+72,__zero_reg__ |
| 168 014c 1092 0000 sts EE_Parameter+73,__zero_reg__ |
| 169 0150 38E7 ldi r19,lo8(120) |
| 170 0152 3093 0000 sts EE_Parameter+45,r19 |
| 171 0156 48E2 ldi r20,lo8(40) |
| 172 0158 4093 0000 sts EE_Parameter+46,r20 |
| 173 015c 72E0 ldi r23,lo8(2) |
| 174 015e 7093 0000 sts EE_Parameter+101,r23 |
| 175 0162 9093 0000 sts EE_Parameter+47,r25 |
| 176 0166 27EF ldi r18,lo8(-9) |
| 177 0168 2093 0000 sts EE_Parameter+48,r18 |
| 178 016c 85E0 ldi r24,lo8(5) |
| 179 016e 8093 0000 sts EE_Parameter+53,r24 |
| 180 0172 8DE7 ldi r24,lo8(125) |
| 181 0174 8093 0000 sts EE_Parameter+56,r24 |
| 182 0178 8093 0000 sts EE_Parameter+57,r24 |
| 183 017c 8093 0000 sts EE_Parameter+58,r24 |
| 184 0180 3093 0000 sts EE_Parameter+49,r19 |
| 185 0184 9AE5 ldi r25,lo8(90) |
| 186 0186 9093 0000 sts EE_Parameter+50,r25 |
| 187 018a 1092 0000 sts EE_Parameter+51,__zero_reg__ |
| 188 018e 2093 0000 sts EE_Parameter+52,r18 |
| 189 0192 4093 0000 sts EE_Parameter+54,r20 |
| 190 0196 1092 0000 sts EE_Parameter+55,__zero_reg__ |
| 191 019a 8FE5 ldi r24,lo8(95) |
| 192 019c 8093 0000 sts EE_Parameter+74,r24 |
| 193 01a0 83EF ldi r24,lo8(-13) |
| 194 01a2 8093 0000 sts EE_Parameter+76,r24 |
| 195 01a6 8AEA ldi r24,lo8(-86) |
| 196 01a8 8093 0000 sts EE_Parameter+78,r24 |
| 197 01ac 8093 0000 sts EE_Parameter+79,r24 |
| 198 01b0 84E1 ldi r24,lo8(20) |
| 199 01b2 8093 0000 sts EE_Parameter+75,r24 |
| 200 01b6 8093 0000 sts EE_Parameter+77,r24 |
| 201 01ba 82E3 ldi r24,lo8(50) |
| 202 01bc 8093 0000 sts EE_Parameter+59,r24 |
| 203 01c0 9093 0000 sts EE_Parameter+60,r25 |
| 204 01c4 8093 0000 sts EE_Parameter+61,r24 |
| 205 01c8 1092 0000 sts EE_Parameter+100,__zero_reg__ |
| 206 01cc 8EEF ldi r24,lo8(-2) |
| 207 01ce 8093 0000 sts EE_Parameter+80,r24 |
| 208 01d2 24E6 ldi r18,lo8(100) |
| 209 01d4 2093 0000 sts EE_Parameter+81,r18 |
| 210 01d8 9093 0000 sts EE_Parameter+82,r25 |
| 211 01dc 9093 0000 sts EE_Parameter+83,r25 |
| 212 01e0 9093 0000 sts EE_Parameter+84,r25 |
| 213 01e4 8BE4 ldi r24,lo8(75) |
| 214 01e6 8093 0000 sts EE_Parameter+85,r24 |
| 215 01ea 8093 0000 sts EE_Parameter+86,r24 |
| 216 01ee 8093 0000 sts EE_Parameter+87,r24 |
| 217 01f2 1092 0000 sts EE_Parameter+88,__zero_reg__ |
| 218 01f6 86E0 ldi r24,lo8(6) |
| 219 01f8 8093 0000 sts EE_Parameter+89,r24 |
| 220 01fc 6093 0000 sts EE_Parameter+90,r22 |
| 221 0200 9093 0000 sts EE_Parameter+91,r25 |
| 222 0204 5093 0000 sts EE_Parameter+92,r21 |
| 223 0208 2093 0000 sts EE_Parameter+93,r18 |
| 224 020c 2093 0000 sts EE_Parameter+94,r18 |
| 225 0210 7093 0000 sts EE_Parameter+95,r23 |
| 226 0214 1092 0000 sts EE_Parameter+97,__zero_reg__ |
| 227 0218 1092 0000 sts EE_Parameter+98,__zero_reg__ |
| 228 021c 81E2 ldi r24,lo8(33) |
| 229 021e 8093 0000 sts EE_Parameter+36,r24 |
| 230 0222 8DE2 ldi r24,lo8(45) |
| 231 0224 8093 0000 sts EE_Parameter+37,r24 |
| 232 0228 9093 0000 sts EE_Parameter+38,r25 |
| 233 /* epilogue: frame size=0 */ |
| 234 022c 0895 ret |
| 235 /* epilogue end (size=1) */ |
| 236 /* function CommonDefaults size 205 (204) */ |
| 238 .data |
| 239 .LC0: |
| 240 0000 5370 6F72 .string "Sport" |
| 240 7400 |
| 241 0006 00 .string "" |
| 242 .text |
| 243 .global ParamSet_DefaultSet1 |
| 245 ParamSet_DefaultSet1: |
| 246 /* prologue: frame size=0 */ |
| 247 022e CF93 push r28 |
| 248 0230 DF93 push r29 |
| 249 /* prologue end (size=2) */ |
| 250 0232 0E94 0000 call CommonDefaults |
| 251 0236 8EE0 ldi r24,lo8(14) |
| 252 0238 8093 0000 sts EE_Parameter+23,r24 |
| 253 023c 20E1 ldi r18,lo8(16) |
| 254 023e 2093 0000 sts EE_Parameter+24,r18 |
| 255 0242 3CE0 ldi r19,lo8(12) |
| 256 0244 3093 0000 sts EE_Parameter+25,r19 |
| 257 0248 90E5 ldi r25,lo8(80) |
| 258 024a 9093 0000 sts EE_Parameter+30,r25 |
| 259 024e 86E9 ldi r24,lo8(-106) |
| 260 0250 8093 0000 sts EE_Parameter+31,r24 |
| 261 0254 9093 0000 sts EE_Parameter+33,r25 |
| 262 0258 8093 0000 sts EE_Parameter+34,r24 |
| 263 025c 86E0 ldi r24,lo8(6) |
| 264 025e 8093 0000 sts EE_Parameter+35,r24 |
| 265 0262 80E2 ldi r24,lo8(32) |
| 266 0264 8093 0000 sts EE_Parameter+40,r24 |
| 267 0268 8AE5 ldi r24,lo8(90) |
| 268 026a 8093 0000 sts EE_Parameter+62,r24 |
| 269 026e 9093 0000 sts EE_Parameter+63,r25 |
| 270 0272 81E0 ldi r24,lo8(1) |
| 271 0274 8093 0000 sts EE_Parameter+64,r24 |
| 272 0278 2093 0000 sts EE_Parameter+67,r18 |
| 273 027c 84E6 ldi r24,lo8(100) |
| 274 027e 8093 0000 sts EE_Parameter+69,r24 |
| 275 0282 A0E0 ldi r26,lo8(EE_Parameter+103) |
| 276 0284 B0E0 ldi r27,hi8(EE_Parameter+103) |
| 277 0286 E0E0 ldi r30,lo8(.LC0) |
| 278 0288 F0E0 ldi r31,hi8(.LC0) |
| 279 028a ED01 movw r28,r26 |
| 280 028c 0190 ld __tmp_reg__,Z+ |
| 281 028e 0992 st Y+,__tmp_reg__ |
| 282 0290 3A95 dec r19 |
| 283 0292 E1F7 brne .-8 |
| 284 0294 63E7 ldi r22,lo8(115) |
| 285 0296 70E0 ldi r23,hi8(115) |
| 286 0298 CD01 movw r24,r26 |
| 287 029a 8756 subi r24,lo8(-(-103)) |
| 288 029c 9040 sbci r25,hi8(-(-103)) |
| 289 029e 0E94 0000 call RAM_Checksum |
| 290 02a2 8093 0000 sts EE_Parameter+115,r24 |
| 291 /* epilogue: frame size=0 */ |
| 292 02a6 DF91 pop r29 |
| 293 02a8 CF91 pop r28 |
| 294 02aa 0895 ret |
| 295 /* epilogue end (size=3) */ |
| 296 /* function ParamSet_DefaultSet1 size 63 (58) */ |
| 298 .data |
| 299 .LC1: |
| 300 0007 4E6F 726D .string "Normal" |
| 300 616C 00 |
| 301 000e 00 .string "" |
| 302 .text |
| 303 .global ParamSet_DefaultSet2 |
| 305 ParamSet_DefaultSet2: |
| 306 /* prologue: frame size=0 */ |
| 307 02ac CF93 push r28 |
| 308 02ae DF93 push r29 |
| 309 /* prologue end (size=2) */ |
| 310 02b0 0E94 0000 call CommonDefaults |
| 311 02b4 8AE0 ldi r24,lo8(10) |
| 312 02b6 8093 0000 sts EE_Parameter+23,r24 |
| 313 02ba 80E1 ldi r24,lo8(16) |
| 314 02bc 8093 0000 sts EE_Parameter+24,r24 |
| 315 02c0 26E0 ldi r18,lo8(6) |
| 316 02c2 2093 0000 sts EE_Parameter+25,r18 |
| 317 02c6 9AE5 ldi r25,lo8(90) |
| 318 02c8 9093 0000 sts EE_Parameter+30,r25 |
| 319 02cc 88E7 ldi r24,lo8(120) |
| 320 02ce 8093 0000 sts EE_Parameter+31,r24 |
| 321 02d2 9093 0000 sts EE_Parameter+33,r25 |
| 322 02d6 8093 0000 sts EE_Parameter+34,r24 |
| 323 02da 2093 0000 sts EE_Parameter+35,r18 |
| 324 02de 20E2 ldi r18,lo8(32) |
| 325 02e0 2093 0000 sts EE_Parameter+40,r18 |
| 326 02e4 9093 0000 sts EE_Parameter+62,r25 |
| 327 02e8 80E5 ldi r24,lo8(80) |
| 328 02ea 8093 0000 sts EE_Parameter+63,r24 |
| 329 02ee 8CE3 ldi r24,lo8(60) |
| 330 02f0 8093 0000 sts EE_Parameter+64,r24 |
| 331 02f4 2093 0000 sts EE_Parameter+67,r18 |
| 332 02f8 8BE4 ldi r24,lo8(75) |
| 333 02fa 8093 0000 sts EE_Parameter+69,r24 |
| 334 02fe A0E0 ldi r26,lo8(EE_Parameter+103) |
| 335 0300 B0E0 ldi r27,hi8(EE_Parameter+103) |
| 336 0302 8CE0 ldi r24,lo8(12) |
| 337 0304 E0E0 ldi r30,lo8(.LC1) |
| 338 0306 F0E0 ldi r31,hi8(.LC1) |
| 339 0308 ED01 movw r28,r26 |
| 340 030a 0190 ld __tmp_reg__,Z+ |
| 341 030c 0992 st Y+,__tmp_reg__ |
| 342 030e 8A95 dec r24 |
| 343 0310 E1F7 brne .-8 |
| 344 0312 63E7 ldi r22,lo8(115) |
| 345 0314 70E0 ldi r23,hi8(115) |
| 346 0316 CD01 movw r24,r26 |
| 347 0318 8756 subi r24,lo8(-(-103)) |
| 348 031a 9040 sbci r25,hi8(-(-103)) |
| 349 031c 0E94 0000 call RAM_Checksum |
| 350 0320 8093 0000 sts EE_Parameter+115,r24 |
| 351 /* epilogue: frame size=0 */ |
| 352 0324 DF91 pop r29 |
| 353 0326 CF91 pop r28 |
| 354 0328 0895 ret |
| 355 /* epilogue end (size=3) */ |
| 356 /* function ParamSet_DefaultSet2 size 63 (58) */ |
| 358 .data |
| 359 .LC2: |
| 360 000f 4265 6769 .string "Beginner" |
| 360 6E6E 6572 |
| 360 00 |
| 361 0018 00 .string "" |
| 362 .text |
| 363 .global ParamSet_DefaultSet3 |
| 365 ParamSet_DefaultSet3: |
| 366 /* prologue: frame size=0 */ |
| 367 032a CF93 push r28 |
| 368 032c DF93 push r29 |
| 369 /* prologue end (size=2) */ |
| 370 032e 0E94 0000 call CommonDefaults |
| 371 0332 88E0 ldi r24,lo8(8) |
| 372 0334 8093 0000 sts EE_Parameter+23,r24 |
| 373 0338 30E1 ldi r19,lo8(16) |
| 374 033a 3093 0000 sts EE_Parameter+24,r19 |
| 375 033e 26E0 ldi r18,lo8(6) |
| 376 0340 2093 0000 sts EE_Parameter+25,r18 |
| 377 0344 94E6 ldi r25,lo8(100) |
| 378 0346 9093 0000 sts EE_Parameter+30,r25 |
| 379 034a 88E7 ldi r24,lo8(120) |
| 380 034c 8093 0000 sts EE_Parameter+31,r24 |
| 381 0350 9093 0000 sts EE_Parameter+33,r25 |
| 382 0354 8093 0000 sts EE_Parameter+34,r24 |
| 383 0358 2093 0000 sts EE_Parameter+35,r18 |
| 384 035c 3093 0000 sts EE_Parameter+40,r19 |
| 385 0360 8AE5 ldi r24,lo8(90) |
| 386 0362 8093 0000 sts EE_Parameter+62,r24 |
| 387 0366 80E5 ldi r24,lo8(80) |
| 388 0368 8093 0000 sts EE_Parameter+63,r24 |
| 389 036c 96E4 ldi r25,lo8(70) |
| 390 036e 9093 0000 sts EE_Parameter+64,r25 |
| 391 0372 80E2 ldi r24,lo8(32) |
| 392 0374 8093 0000 sts EE_Parameter+67,r24 |
| 393 0378 9093 0000 sts EE_Parameter+69,r25 |
| 394 037c A0E0 ldi r26,lo8(EE_Parameter+103) |
| 395 037e B0E0 ldi r27,hi8(EE_Parameter+103) |
| 396 0380 8CE0 ldi r24,lo8(12) |
| 397 0382 E0E0 ldi r30,lo8(.LC2) |
| 398 0384 F0E0 ldi r31,hi8(.LC2) |
| 399 0386 ED01 movw r28,r26 |
| 400 0388 0190 ld __tmp_reg__,Z+ |
| 401 038a 0992 st Y+,__tmp_reg__ |
| 402 038c 8A95 dec r24 |
| 403 038e E1F7 brne .-8 |
| 404 0390 63E7 ldi r22,lo8(115) |
| 405 0392 70E0 ldi r23,hi8(115) |
| 406 0394 CD01 movw r24,r26 |
| 407 0396 8756 subi r24,lo8(-(-103)) |
| 408 0398 9040 sbci r25,hi8(-(-103)) |
| 409 039a 0E94 0000 call RAM_Checksum |
| 410 039e 8093 0000 sts EE_Parameter+115,r24 |
| 411 /* epilogue: frame size=0 */ |
| 412 03a2 DF91 pop r29 |
| 413 03a4 CF91 pop r28 |
| 414 03a6 0895 ret |
| 415 /* epilogue end (size=3) */ |
| 416 /* function ParamSet_DefaultSet3 size 63 (58) */ |
| 418 .global GetParamByte |
| 420 GetParamByte: |
| 421 /* prologue: frame size=0 */ |
| 422 /* prologue end (size=0) */ |
| 423 03a8 DC01 movw r26,r24 |
| 424 /* #APP */ |
| 425 03aa 0E94 0000 call __eeprom_read_byte_1F2021 |
| 426 03ae 802D mov r24,__tmp_reg__ |
| 427 /* #NOAPP */ |
| 428 03b0 9927 clr r25 |
| 429 /* epilogue: frame size=0 */ |
| 430 03b2 0895 ret |
| 431 /* epilogue end (size=1) */ |
| 432 /* function GetParamByte size 7 (6) */ |
| 434 .global SetParamByte |
| 436 SetParamByte: |
| 437 /* prologue: frame size=0 */ |
| 438 /* prologue end (size=0) */ |
| 439 03b4 DC01 movw r26,r24 |
| 440 /* #APP */ |
| 441 03b6 062E mov __tmp_reg__,r22 |
| 442 03b8 0E94 0000 call __eeprom_write_byte_1F2021 |
| 443 /* #NOAPP */ |
| 444 /* epilogue: frame size=0 */ |
| 445 03bc 0895 ret |
| 446 /* epilogue end (size=1) */ |
| 447 /* function SetParamByte size 6 (5) */ |
| 449 .global GetParamWord |
| 451 GetParamWord: |
| 452 /* prologue: frame size=0 */ |
| 453 /* prologue end (size=0) */ |
| 454 03be DC01 movw r26,r24 |
| 455 /* #APP */ |
| 456 03c0 0E94 0000 call __eeprom_read_word_1F2021 |
| 457 |
| 458 /* #NOAPP */ |
| 459 03c4 CF01 movw r24,r30 |
| 460 /* epilogue: frame size=0 */ |
| 461 03c6 0895 ret |
| 462 /* epilogue end (size=1) */ |
| 463 /* function GetParamWord size 7 (6) */ |
| 465 .global SetParamWord |
| 467 SetParamWord: |
| 468 /* prologue: frame size=0 */ |
| 469 /* prologue end (size=0) */ |
| 470 03c8 DC01 movw r26,r24 |
| 471 /* #APP */ |
| 472 03ca 0B01 movw __tmp_reg__,r22 |
| 473 03cc 0E94 0000 call __eeprom_write_word_1F2021 |
| 474 |
| 475 /* #NOAPP */ |
| 476 /* epilogue: frame size=0 */ |
| 477 03d0 0895 ret |
| 478 /* epilogue end (size=1) */ |
| 479 /* function SetParamWord size 8 (7) */ |
| 481 .global ParamSet_ReadFromEEProm |
| 483 ParamSet_ReadFromEEProm: |
| 484 /* prologue: frame size=0 */ |
| 485 03d2 FF92 push r15 |
| 486 03d4 0F93 push r16 |
| 487 03d6 1F93 push r17 |
| 488 03d8 CF93 push r28 |
| 489 03da DF93 push r29 |
| 490 /* prologue end (size=5) */ |
| 491 03dc 982F mov r25,r24 |
| 492 03de 8150 subi r24,lo8(-(-1)) |
| 493 03e0 8530 cpi r24,lo8(5) |
| 494 03e2 08F0 brlo .L33 |
| 495 03e4 93E0 ldi r25,lo8(3) |
| 496 .L33: |
| 497 03e6 84E7 ldi r24,lo8(116) |
| 498 03e8 F82E mov r15,r24 |
| 499 03ea 9F9D mul r25,r15 |
| 500 03ec 8001 movw r16,r0 |
| 501 03ee 1124 clr r1 |
| 502 03f0 E801 movw r28,r16 |
| 503 03f2 6097 sbiw r28,16 |
| 504 03f4 63E7 ldi r22,lo8(115) |
| 505 03f6 70E0 ldi r23,hi8(115) |
| 506 03f8 CE01 movw r24,r28 |
| 507 03fa 0E94 0000 call EEProm_Checksum |
| 508 03fe 982F mov r25,r24 |
| 509 0400 D801 movw r26,r16 |
| 510 0402 AD59 subi r26,lo8(-(99)) |
| 511 0404 BF4F sbci r27,hi8(-(99)) |
| 512 /* #APP */ |
| 513 0406 0E94 0000 call __eeprom_read_byte_1F2021 |
| 514 040a 802D mov r24,__tmp_reg__ |
| 515 /* #NOAPP */ |
| 516 040c 8917 cp r24,r25 |
| 517 040e 31F4 brne .L45 |
| 518 0410 DE01 movw r26,r28 |
| 519 /* #APP */ |
| 520 0412 0E94 0000 call __eeprom_read_byte_1F2021 |
| 521 0416 802D mov r24,__tmp_reg__ |
| 522 /* #NOAPP */ |
| 523 0418 8535 cpi r24,lo8(85) |
| 524 041a 19F0 breq .L36 |
| 525 .L45: |
| 526 041c 80E0 ldi r24,lo8(0) |
| 527 041e 90E0 ldi r25,hi8(0) |
| 528 0420 0AC0 rjmp .L32 |
| 529 .L36: |
| 530 0422 E0E0 ldi r30,lo8(EE_Parameter) |
| 531 0424 F0E0 ldi r31,hi8(EE_Parameter) |
| 532 0426 DE01 movw r26,r28 |
| 533 /* #APP */ |
| 534 0428 1F2C mov __zero_reg__,r15 |
| 535 042a 0E94 0000 call __eeprom_read_block_1F2021 |
| 536 /* #NOAPP */ |
| 537 042e 0E94 0000 call LED_Init |
| 538 0432 81E0 ldi r24,lo8(1) |
| 539 0434 90E0 ldi r25,hi8(1) |
| 540 .L32: |
| 541 /* epilogue: frame size=0 */ |
| 542 0436 E5E0 ldi r30,5 |
| 543 0438 CDB7 in r28,__SP_L__ |
| 544 043a DEB7 in r29,__SP_H__ |
| 545 043c 0C94 0000 jmp __epilogue_restores__+26 |
| 546 /* epilogue end (size=5) */ |
| 547 /* function ParamSet_ReadFromEEProm size 58 (48) */ |
| 549 .global SetActiveParamSet |
| 551 SetActiveParamSet: |
| 552 /* prologue: frame size=0 */ |
| 553 /* prologue end (size=0) */ |
| 554 0440 8630 cpi r24,lo8(6) |
| 555 0442 10F0 brlo .L47 |
| 556 0444 85E0 ldi r24,lo8(5) |
| 557 0446 03C0 rjmp .L48 |
| 558 .L47: |
| 559 0448 8823 tst r24 |
| 560 044a 09F4 brne .L48 |
| 561 044c 81E0 ldi r24,lo8(1) |
| 562 .L48: |
| 563 044e A2E0 ldi r26,lo8(2) |
| 564 0450 B0E0 ldi r27,hi8(2) |
| 565 /* #APP */ |
| 566 0452 082E mov __tmp_reg__,r24 |
| 567 0454 0E94 0000 call __eeprom_write_byte_1F2021 |
| 568 /* #NOAPP */ |
| 569 /* epilogue: frame size=0 */ |
| 570 0458 0895 ret |
| 571 /* epilogue end (size=1) */ |
| 572 /* function SetActiveParamSet size 14 (13) */ |
| 574 .global ParamSet_WriteToEEProm |
| 576 ParamSet_WriteToEEProm: |
| 577 /* prologue: frame size=0 */ |
| 578 045a 1F93 push r17 |
| 579 045c CF93 push r28 |
| 580 045e DF93 push r29 |
| 581 /* prologue end (size=3) */ |
| 582 0460 182F mov r17,r24 |
| 583 0462 C0E0 ldi r28,lo8(EE_Parameter) |
| 584 0464 D0E0 ldi r29,hi8(EE_Parameter) |
| 585 0466 8091 0000 lds r24,EE_Parameter |
| 586 046a 8535 cpi r24,lo8(85) |
| 587 046c 91F5 brne .L51 |
| 588 046e 1630 cpi r17,lo8(6) |
| 589 0470 10F0 brlo .L52 |
| 590 0472 15E0 ldi r17,lo8(5) |
| 591 0474 02C0 rjmp .L53 |
| 592 .L52: |
| 593 0476 1123 tst r17 |
| 594 0478 61F1 breq .L51 |
| 595 .L53: |
| 596 047a 63E7 ldi r22,lo8(115) |
| 597 047c 70E0 ldi r23,hi8(115) |
| 598 047e 80E0 ldi r24,lo8(EE_Parameter) |
| 599 0480 90E0 ldi r25,hi8(EE_Parameter) |
| 600 0482 0E94 0000 call RAM_Checksum |
| 601 0486 8093 0000 sts EE_Parameter+115,r24 |
| 602 048a 84E7 ldi r24,lo8(116) |
| 603 048c 189F mul r17,r24 |
| 604 048e D001 movw r26,r0 |
| 605 0490 1124 clr r1 |
| 606 0492 5097 sbiw r26,16 |
| 607 0494 FE01 movw r30,r28 |
| 608 /* #APP */ |
| 609 0496 182E mov __zero_reg__,r24 |
| 610 0498 0E94 0000 call __eeprom_write_block_1F2021 |
| 611 /* #NOAPP */ |
| 612 049c E0E0 ldi r30,lo8(EE_Parameter+1) |
| 613 049e F0E0 ldi r31,hi8(EE_Parameter+1) |
| 614 04a0 A0E5 ldi r26,lo8(80) |
| 615 04a2 B0E0 ldi r27,hi8(80) |
| 616 04a4 2CE0 ldi r18,lo8(12) |
| 617 04a6 30E0 ldi r19,hi8(12) |
| 618 /* #APP */ |
| 619 04a8 122E mov __zero_reg__,r18 |
| 620 04aa 0E94 0000 call __eeprom_write_block_1F2021 |
| 621 /* #NOAPP */ |
| 622 04ae B901 movw r22,r18 |
| 623 04b0 80E0 ldi r24,lo8(EE_Parameter+1) |
| 624 04b2 90E0 ldi r25,hi8(EE_Parameter+1) |
| 625 04b4 0E94 0000 call RAM_Checksum |
| 626 04b8 ACE5 ldi r26,lo8(92) |
| 627 04ba B0E0 ldi r27,hi8(92) |
| 628 /* #APP */ |
| 629 04bc 082E mov __tmp_reg__,r24 |
| 630 04be 0E94 0000 call __eeprom_write_byte_1F2021 |
| 631 /* #NOAPP */ |
| 632 04c2 812F mov r24,r17 |
| 633 04c4 0E94 0000 call SetActiveParamSet |
| 634 04c8 0E94 0000 call LED_Init |
| 635 04cc 81E0 ldi r24,lo8(1) |
| 636 04ce 90E0 ldi r25,hi8(1) |
| 637 04d0 02C0 rjmp .L50 |
| 638 .L51: |
| 639 04d2 80E0 ldi r24,lo8(0) |
| 640 04d4 90E0 ldi r25,hi8(0) |
| 641 .L50: |
| 642 /* epilogue: frame size=0 */ |
| 643 04d6 DF91 pop r29 |
| 644 04d8 CF91 pop r28 |
| 645 04da 1F91 pop r17 |
| 646 04dc 0895 ret |
| 647 /* epilogue end (size=4) */ |
| 648 /* function ParamSet_WriteToEEProm size 69 (62) */ |
| 650 .global MixerTable_ReadFromEEProm |
| 652 MixerTable_ReadFromEEProm: |
| 653 /* prologue: frame size=0 */ |
| 654 /* prologue end (size=0) */ |
| 655 04de 6DE4 ldi r22,lo8(77) |
| 656 04e0 70E0 ldi r23,hi8(77) |
| 657 04e2 88EE ldi r24,lo8(1000) |
| 658 04e4 93E0 ldi r25,hi8(1000) |
| 659 04e6 0E94 0000 call EEProm_Checksum |
| 660 04ea A5E3 ldi r26,lo8(1077) |
| 661 04ec B4E0 ldi r27,hi8(1077) |
| 662 /* #APP */ |
| 663 04ee 0E94 0000 call __eeprom_read_byte_1F2021 |
| 664 04f2 902D mov r25,__tmp_reg__ |
| 665 /* #NOAPP */ |
| 666 04f4 9817 cp r25,r24 |
| 667 04f6 39F4 brne .L81 |
| 668 04f8 A8EE ldi r26,lo8(1000) |
| 669 04fa B3E0 ldi r27,hi8(1000) |
| 670 /* #APP */ |
| 671 04fc 0E94 0000 call __eeprom_read_byte_1F2021 |
| 672 0500 802D mov r24,__tmp_reg__ |
| 673 /* #NOAPP */ |
| 674 0502 8130 cpi r24,lo8(1) |
| 675 0504 19F0 breq .L72 |
| 676 .L81: |
| 677 0506 80E0 ldi r24,lo8(0) |
| 678 0508 90E0 ldi r25,hi8(0) |
| 679 050a 0895 ret |
| 680 .L72: |
| 681 050c E0E0 ldi r30,lo8(Mixer) |
| 682 050e F0E0 ldi r31,hi8(Mixer) |
| 683 0510 A8EE ldi r26,lo8(1000) |
| 684 0512 B3E0 ldi r27,hi8(1000) |
| 685 0514 8EE4 ldi r24,lo8(78) |
| 686 /* #APP */ |
| 687 0516 182E mov __zero_reg__,r24 |
| 688 0518 0E94 0000 call __eeprom_read_block_1F2021 |
| 689 /* #NOAPP */ |
| 690 051c 81E0 ldi r24,lo8(1) |
| 691 051e 90E0 ldi r25,hi8(1) |
| 692 0520 0895 ret |
| 693 /* epilogue: frame size=0 */ |
| 694 /* epilogue: noreturn */ |
| 695 /* epilogue end (size=0) */ |
| 696 /* function MixerTable_ReadFromEEProm size 37 (37) */ |
| 698 .global MixerTable_WriteToEEProm |
| 700 MixerTable_WriteToEEProm: |
| 701 /* prologue: frame size=0 */ |
| 702 0522 CF93 push r28 |
| 703 0524 DF93 push r29 |
| 704 /* prologue end (size=2) */ |
| 705 0526 C0E0 ldi r28,lo8(Mixer) |
| 706 0528 D0E0 ldi r29,hi8(Mixer) |
| 707 052a 8091 0000 lds r24,Mixer |
| 708 052e 8130 cpi r24,lo8(1) |
| 709 0530 89F4 brne .L83 |
| 710 0532 6DE4 ldi r22,lo8(77) |
| 711 0534 70E0 ldi r23,hi8(77) |
| 712 0536 CE01 movw r24,r28 |
| 713 0538 0E94 0000 call RAM_Checksum |
| 714 053c 8093 0000 sts Mixer+77,r24 |
| 715 0540 A8EE ldi r26,lo8(1000) |
| 716 0542 B3E0 ldi r27,hi8(1000) |
| 717 0544 8EE4 ldi r24,lo8(78) |
| 718 0546 FE01 movw r30,r28 |
| 719 /* #APP */ |
| 720 0548 182E mov __zero_reg__,r24 |
| 721 054a 0E94 0000 call __eeprom_write_block_1F2021 |
| 722 /* #NOAPP */ |
| 723 054e 81E0 ldi r24,lo8(1) |
| 724 0550 90E0 ldi r25,hi8(1) |
| 725 0552 02C0 rjmp .L82 |
| 726 .L83: |
| 727 0554 80E0 ldi r24,lo8(0) |
| 728 0556 90E0 ldi r25,hi8(0) |
| 729 .L82: |
| 730 /* epilogue: frame size=0 */ |
| 731 0558 DF91 pop r29 |
| 732 055a CF91 pop r28 |
| 733 055c 0895 ret |
| 734 /* epilogue end (size=3) */ |
| 735 /* function MixerTable_WriteToEEProm size 31 (26) */ |
| 737 .data |
| 738 .LC3: |
| 739 0019 5175 6164 .string "Quadro" |
| 739 726F 00 |
| 740 0020 00 .string "" |
| 741 .text |
| 742 .global MixerTable_Default |
| 744 MixerTable_Default: |
| 745 /* prologue: frame size=0 */ |
| 746 055e CF93 push r28 |
| 747 0560 DF93 push r29 |
| 748 /* prologue end (size=2) */ |
| 749 0562 81E0 ldi r24,lo8(1) |
| 750 0564 8093 0000 sts Mixer,r24 |
| 751 0568 E0E0 ldi r30,lo8(Mixer) |
| 752 056a F0E0 ldi r31,hi8(Mixer) |
| 753 056c 8FE0 ldi r24,lo8(15) |
| 754 .L96: |
| 755 056e 1586 std Z+13,__zero_reg__ |
| 756 0570 1686 std Z+14,__zero_reg__ |
| 757 0572 1786 std Z+15,__zero_reg__ |
| 758 0574 108A std Z+16,__zero_reg__ |
| 759 0576 8150 subi r24,lo8(-(-1)) |
| 760 0578 3496 adiw r30,4 |
| 761 057a 87FF sbrs r24,7 |
| 762 057c F8CF rjmp .L96 |
| 763 057e 80E4 ldi r24,lo8(64) |
| 764 0580 8093 0000 sts Mixer+13,r24 |
| 765 0584 8093 0000 sts Mixer+14,r24 |
| 766 0588 1092 0000 sts Mixer+15,__zero_reg__ |
| 767 058c 8093 0000 sts Mixer+16,r24 |
| 768 0590 8093 0000 sts Mixer+17,r24 |
| 769 0594 90EC ldi r25,lo8(-64) |
| 770 0596 9093 0000 sts Mixer+18,r25 |
| 771 059a 1092 0000 sts Mixer+19,__zero_reg__ |
| 772 059e 8093 0000 sts Mixer+20,r24 |
| 773 05a2 8093 0000 sts Mixer+21,r24 |
| 774 05a6 1092 0000 sts Mixer+22,__zero_reg__ |
| 775 05aa 9093 0000 sts Mixer+23,r25 |
| 776 05ae 9093 0000 sts Mixer+24,r25 |
| 777 05b2 8093 0000 sts Mixer+25,r24 |
| 778 05b6 1092 0000 sts Mixer+26,__zero_reg__ |
| 779 05ba 8093 0000 sts Mixer+27,r24 |
| 780 05be 9093 0000 sts Mixer+28,r25 |
| 781 05c2 A0E0 ldi r26,lo8(Mixer+1) |
| 782 05c4 B0E0 ldi r27,hi8(Mixer+1) |
| 783 05c6 87E0 ldi r24,lo8(7) |
| 784 05c8 E0E0 ldi r30,lo8(.LC3) |
| 785 05ca F0E0 ldi r31,hi8(.LC3) |
| 786 05cc ED01 movw r28,r26 |
| 787 05ce 0190 ld __tmp_reg__,Z+ |
| 788 05d0 0992 st Y+,__tmp_reg__ |
| 789 05d2 8A95 dec r24 |
| 790 05d4 E1F7 brne .-8 |
| 791 05d6 6DE4 ldi r22,lo8(77) |
| 792 05d8 70E0 ldi r23,hi8(77) |
| 793 05da CD01 movw r24,r26 |
| 794 05dc 0197 sbiw r24,1 |
| 795 05de 0E94 0000 call RAM_Checksum |
| 796 05e2 8093 0000 sts Mixer+77,r24 |
| 797 /* epilogue: frame size=0 */ |
| 798 05e6 DF91 pop r29 |
| 799 05e8 CF91 pop r28 |
| 800 05ea 0895 ret |
| 801 /* epilogue end (size=3) */ |
| 802 /* function MixerTable_Default size 71 (66) */ |
| 804 .global GetActiveParamSet |
| 806 GetActiveParamSet: |
| 807 /* prologue: frame size=0 */ |
| 808 /* prologue end (size=0) */ |
| 809 05ec A2E0 ldi r26,lo8(2) |
| 810 05ee B0E0 ldi r27,hi8(2) |
| 811 /* #APP */ |
| 812 05f0 0E94 0000 call __eeprom_read_byte_1F2021 |
| 813 05f4 802D mov r24,__tmp_reg__ |
| 814 /* #NOAPP */ |
| 815 05f6 8630 cpi r24,lo8(6) |
| 816 05f8 30F0 brlo .L101 |
| 817 05fa 83E0 ldi r24,lo8(3) |
| 818 05fc A2E0 ldi r26,lo8(2) |
| 819 05fe B0E0 ldi r27,hi8(2) |
| 820 /* #APP */ |
| 821 0600 082E mov __tmp_reg__,r24 |
| 822 0602 0E94 0000 call __eeprom_write_byte_1F2021 |
| 823 /* #NOAPP */ |
| 824 .L101: |
| 825 0606 9927 clr r25 |
| 826 /* epilogue: frame size=0 */ |
| 827 0608 0895 ret |
| 828 /* epilogue end (size=1) */ |
| 829 /* function GetActiveParamSet size 17 (16) */ |
| 831 .global SetDefaultParameter |
| 833 SetDefaultParameter: |
| 834 /* prologue: frame size=0 */ |
| 835 060a 1F93 push r17 |
| 836 060c CF93 push r28 |
| 837 /* prologue end (size=2) */ |
| 838 060e C82F mov r28,r24 |
| 839 0610 162F mov r17,r22 |
| 840 0612 8630 cpi r24,lo8(6) |
| 841 0614 10F0 brlo .L104 |
| 842 0616 C5E0 ldi r28,lo8(5) |
| 843 0618 03C0 rjmp .L105 |
| 844 .L104: |
| 845 061a 8823 tst r24 |
| 846 061c 09F4 brne .L105 |
| 847 061e C1E0 ldi r28,lo8(1) |
| 848 .L105: |
| 849 0620 8C2F mov r24,r28 |
| 850 0622 9927 clr r25 |
| 851 0624 8230 cpi r24,2 |
| 852 0626 9105 cpc r25,__zero_reg__ |
| 853 0628 41F0 breq .L109 |
| 854 062a 8330 cpi r24,3 |
| 855 062c 9105 cpc r25,__zero_reg__ |
| 856 062e 44F4 brge .L111 |
| 857 0630 0197 sbiw r24,1 |
| 858 0632 31F4 brne .L111 |
| 859 0634 0E94 0000 call ParamSet_DefaultSet1 |
| 860 0638 05C0 rjmp .L107 |
| 861 .L109: |
| 862 063a 0E94 0000 call ParamSet_DefaultSet2 |
| 863 063e 02C0 rjmp .L107 |
| 864 .L111: |
| 865 0640 0E94 0000 call ParamSet_DefaultSet3 |
| 866 .L107: |
| 867 0644 1123 tst r17 |
| 868 0646 B1F0 breq .L113 |
| 869 0648 6CE0 ldi r22,lo8(12) |
| 870 064a 70E0 ldi r23,hi8(12) |
| 871 064c 80E5 ldi r24,lo8(80) |
| 872 064e 90E0 ldi r25,hi8(80) |
| 873 0650 0E94 0000 call EEProm_Checksum |
| 874 0654 ACE5 ldi r26,lo8(92) |
| 875 0656 B0E0 ldi r27,hi8(92) |
| 876 /* #APP */ |
| 877 0658 0E94 0000 call __eeprom_read_byte_1F2021 |
| 878 065c 902D mov r25,__tmp_reg__ |
| 879 /* #NOAPP */ |
| 880 065e 9817 cp r25,r24 |
| 881 0660 49F4 brne .L113 |
| 882 0662 E0E0 ldi r30,lo8(EE_Parameter+1) |
| 883 0664 F0E0 ldi r31,hi8(EE_Parameter+1) |
| 884 0666 A0E5 ldi r26,lo8(80) |
| 885 0668 B0E0 ldi r27,hi8(80) |
| 886 066a 8CE0 ldi r24,lo8(12) |
| 887 /* #APP */ |
| 888 066c 182E mov __zero_reg__,r24 |
| 889 066e 0E94 0000 call __eeprom_read_block_1F2021 |
| 890 /* #NOAPP */ |
| 891 0672 02C0 rjmp .L124 |
| 892 .L113: |
| 893 0674 0E94 0000 call ParamSet_DefaultStickMapping |
| 894 .L124: |
| 895 0678 8C2F mov r24,r28 |
| 896 067a 0E94 0000 call ParamSet_WriteToEEProm |
| 897 /* epilogue: frame size=0 */ |
| 898 067e CF91 pop r28 |
| 899 0680 1F91 pop r17 |
| 900 0682 0895 ret |
| 901 /* epilogue end (size=3) */ |
| 902 /* function SetDefaultParameter size 64 (59) */ |
| 904 .section .progmem.data,"a",@progbits |
| 907 __c.0: |
| 908 0000 0A0D 4765 .string "\n\rGenerating default Parameter Set %d" |
| 908 6E65 7261 |
| 908 7469 6E67 |
| 908 2064 6566 |
| 908 6175 6C74 |
| 911 __c.1: |
| 912 0026 0A0D 5573 .string "\n\rUsing Parameter Set %d" |
| 912 696E 6720 |
| 912 5061 7261 |
| 912 6D65 7465 |
| 912 7220 5365 |
| 915 __c.2: |
| 916 003f 0A0D 4765 .string "\n\rGenerating default Mixer Table" |
| 916 6E65 7261 |
| 916 7469 6E67 |
| 916 2064 6566 |
| 916 6175 6C74 |
| 919 __c.3: |
| 920 0060 0A0D 4D69 .string "\n\rMixer-Config: '%s' (%u Motors)" |
| 920 7865 722D |
| 920 436F 6E66 |
| 920 6967 3A20 |
| 920 2725 7327 |
| 923 __c.4: |
| 924 0081 0A0D 3D3D .string "\n\r==============================" |
| 924 3D3D 3D3D |
| 924 3D3D 3D3D |
| 924 3D3D 3D3D |
| 924 3D3D 3D3D |
| 925 .text |
| 926 .global ParamSet_Init |
| 928 ParamSet_Init: |
| 929 /* prologue: frame size=0 */ |
| 930 0684 DF92 push r13 |
| 931 0686 EF92 push r14 |
| 932 0688 FF92 push r15 |
| 933 068a 0F93 push r16 |
| 934 068c 1F93 push r17 |
| 935 068e CF93 push r28 |
| 936 /* prologue end (size=6) */ |
| 937 0690 FF24 clr r15 |
| 938 0692 DF2C mov r13,r15 |
| 939 0694 EF2C mov r14,r15 |
| 940 0696 81E0 ldi r24,lo8(1) |
| 941 0698 90E0 ldi r25,hi8(1) |
| 942 069a 0E94 0000 call GetParamByte |
| 943 069e 8535 cpi r24,lo8(85) |
| 944 06a0 39F0 breq .L126 |
| 945 06a2 31E0 ldi r19,lo8(1) |
| 946 06a4 E32E mov r14,r19 |
| 947 06a6 65E5 ldi r22,lo8(85) |
| 948 06a8 81E0 ldi r24,lo8(1) |
| 949 06aa 90E0 ldi r25,hi8(1) |
| 950 06ac 0E94 0000 call SetParamByte |
| 951 .L126: |
| 952 06b0 6CE0 ldi r22,lo8(12) |
| 953 06b2 70E0 ldi r23,hi8(12) |
| 954 06b4 80E5 ldi r24,lo8(80) |
| 955 06b6 90E0 ldi r25,hi8(80) |
| 956 06b8 0E94 0000 call EEProm_Checksum |
| 957 06bc C82F mov r28,r24 |
| 958 06be ACE5 ldi r26,lo8(92) |
| 959 06c0 B0E0 ldi r27,hi8(92) |
| 960 /* #APP */ |
| 961 06c2 0E94 0000 call __eeprom_read_byte_1F2021 |
| 962 06c6 802D mov r24,__tmp_reg__ |
| 963 /* #NOAPP */ |
| 964 06c8 8C17 cp r24,r28 |
| 965 06ca 11F4 brne .L127 |
| 966 06cc 21E0 ldi r18,lo8(1) |
| 967 06ce D22E mov r13,r18 |
| 968 .L127: |
| 969 06d0 C1E0 ldi r28,lo8(1) |
| 970 06d2 01E0 ldi r16,lo8(1) |
| 971 06d4 10E0 ldi r17,hi8(1) |
| 972 .L149: |
| 973 06d6 EE20 tst r14 |
| 974 06d8 29F4 brne .L133 |
| 975 06da 8C2F mov r24,r28 |
| 976 06dc 0E94 0000 call ParamSet_ReadFromEEProm |
| 977 06e0 8823 tst r24 |
| 978 06e2 B1F5 brne .L131 |
| 979 .L133: |
| 980 06e4 91E0 ldi r25,lo8(1) |
| 981 06e6 F92E mov r15,r25 |
| 982 06e8 1F93 push r17 |
| 983 06ea 0F93 push r16 |
| 984 06ec 80E0 ldi r24,lo8(__c.0) |
| 985 06ee 90E0 ldi r25,hi8(__c.0) |
| 986 06f0 9F93 push r25 |
| 987 06f2 8F93 push r24 |
| 988 06f4 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 989 06f6 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 990 06f8 9F93 push r25 |
| 991 06fa 8F93 push r24 |
| 992 06fc E091 0000 lds r30,_printf_P |
| 993 0700 F091 0000 lds r31,(_printf_P)+1 |
| 994 0704 0995 icall |
| 995 0706 8DB7 in r24,__SP_L__ |
| 996 0708 9EB7 in r25,__SP_H__ |
| 997 070a 0696 adiw r24,6 |
| 998 070c 8DBF out __SP_L__,r24 |
| 999 070e 0230 cpi r16,2 |
| 1000 0710 1105 cpc r17,__zero_reg__ |
| 1001 0712 49F0 breq .L136 |
| 1002 0714 0330 cpi r16,3 |
| 1003 0716 1105 cpc r17,__zero_reg__ |
| 1004 0718 4CF4 brge .L138 |
| 1005 071a 0130 cpi r16,1 |
| 1006 071c 1105 cpc r17,__zero_reg__ |
| 1007 071e 31F4 brne .L138 |
| 1008 0720 0E94 0000 call ParamSet_DefaultSet1 |
| 1009 0724 05C0 rjmp .L134 |
| 1010 .L136: |
| 1011 0726 0E94 0000 call ParamSet_DefaultSet2 |
| 1012 072a 02C0 rjmp .L134 |
| 1013 .L138: |
| 1014 072c 0E94 0000 call ParamSet_DefaultSet3 |
| 1015 .L134: |
| 1016 0730 DD20 tst r13 |
| 1017 0732 49F0 breq .L140 |
| 1018 0734 E0E0 ldi r30,lo8(EE_Parameter+1) |
| 1019 0736 F0E0 ldi r31,hi8(EE_Parameter+1) |
| 1020 0738 A0E5 ldi r26,lo8(80) |
| 1021 073a B0E0 ldi r27,hi8(80) |
| 1022 073c 8CE0 ldi r24,lo8(12) |
| 1023 /* #APP */ |
| 1024 073e 182E mov __zero_reg__,r24 |
| 1025 0740 0E94 0000 call __eeprom_read_block_1F2021 |
| 1026 /* #NOAPP */ |
| 1027 0744 02C0 rjmp .L148 |
| 1028 .L140: |
| 1029 0746 0E94 0000 call ParamSet_DefaultStickMapping |
| 1030 .L148: |
| 1031 074a 8C2F mov r24,r28 |
| 1032 074c 0E94 0000 call ParamSet_WriteToEEProm |
| 1033 .L131: |
| 1034 0750 CF5F subi r28,lo8(-(1)) |
| 1035 0752 0F5F subi r16,lo8(-(1)) |
| 1036 0754 1F4F sbci r17,hi8(-(1)) |
| 1037 0756 C630 cpi r28,lo8(6) |
| 1038 0758 08F4 brsh .+2 |
| 1039 075a BDCF rjmp .L149 |
| 1040 075c FF20 tst r15 |
| 1041 075e 19F0 breq .L150 |
| 1042 0760 83E0 ldi r24,lo8(3) |
| 1043 0762 0E94 0000 call SetActiveParamSet |
| 1044 .L150: |
| 1045 0766 0E94 0000 call GetActiveParamSet |
| 1046 076a C82F mov r28,r24 |
| 1047 076c 0E94 0000 call ParamSet_ReadFromEEProm |
| 1048 0770 8C2F mov r24,r28 |
| 1049 0772 9927 clr r25 |
| 1050 0774 9F93 push r25 |
| 1051 0776 8F93 push r24 |
| 1052 0778 80E0 ldi r24,lo8(__c.1) |
| 1053 077a 90E0 ldi r25,hi8(__c.1) |
| 1054 077c 9F93 push r25 |
| 1055 077e 8F93 push r24 |
| 1056 0780 00E0 ldi r16,lo8(pm(uart_putchar)) |
| 1057 0782 10E0 ldi r17,hi8(pm(uart_putchar)) |
| 1058 0784 1F93 push r17 |
| 1059 0786 0F93 push r16 |
| 1060 0788 E091 0000 lds r30,_printf_P |
| 1061 078c F091 0000 lds r31,(_printf_P)+1 |
| 1062 0790 0995 icall |
| 1063 0792 8DB7 in r24,__SP_L__ |
| 1064 0794 9EB7 in r25,__SP_H__ |
| 1065 0796 0696 adiw r24,6 |
| 1066 0798 8DBF out __SP_L__,r24 |
| 1067 079a EE20 tst r14 |
| 1068 079c 21F4 brne .L152 |
| 1069 079e 0E94 0000 call MixerTable_ReadFromEEProm |
| 1070 07a2 8823 tst r24 |
| 1071 07a4 99F4 brne .L151 |
| 1072 .L152: |
| 1073 07a6 80E0 ldi r24,lo8(__c.2) |
| 1074 07a8 90E0 ldi r25,hi8(__c.2) |
| 1075 07aa 9F93 push r25 |
| 1076 07ac 8F93 push r24 |
| 1077 07ae 1F93 push r17 |
| 1078 07b0 0F93 push r16 |
| 1079 07b2 E091 0000 lds r30,_printf_P |
| 1080 07b6 F091 0000 lds r31,(_printf_P)+1 |
| 1081 07ba 0995 icall |
| 1082 07bc 0E94 0000 call MixerTable_Default |
| 1083 07c0 0E94 0000 call MixerTable_WriteToEEProm |
| 1084 07c4 0F90 pop __tmp_reg__ |
| 1085 07c6 0F90 pop __tmp_reg__ |
| 1086 07c8 0F90 pop __tmp_reg__ |
| 1087 07ca 0F90 pop __tmp_reg__ |
| 1088 .L151: |
| 1089 07cc 1092 0000 sts RequiredMotors,__zero_reg__ |
| 1090 07d0 90E0 ldi r25,lo8(0) |
| 1091 07d2 E0E0 ldi r30,lo8(Mixer+13) |
| 1092 07d4 F0E0 ldi r31,hi8(Mixer+13) |
| 1093 07d6 CFE0 ldi r28,lo8(15) |
| 1094 .L157: |
| 1095 07d8 8081 ld r24,Z |
| 1096 07da 3496 adiw r30,4 |
| 1097 07dc 1816 cp __zero_reg__,r24 |
| 1098 07de 0CF4 brge .L155 |
| 1099 07e0 9F5F subi r25,lo8(-(1)) |
| 1100 .L155: |
| 1101 07e2 C150 subi r28,lo8(-(-1)) |
| 1102 07e4 C7FF sbrs r28,7 |
| 1103 07e6 F8CF rjmp .L157 |
| 1104 07e8 9093 0000 sts RequiredMotors,r25 |
| 1105 07ec 892F mov r24,r25 |
| 1106 07ee 9927 clr r25 |
| 1107 07f0 9F93 push r25 |
| 1108 07f2 8F93 push r24 |
| 1109 07f4 80E0 ldi r24,lo8(Mixer+1) |
| 1110 07f6 90E0 ldi r25,hi8(Mixer+1) |
| 1111 07f8 9F93 push r25 |
| 1112 07fa 8F93 push r24 |
| 1113 07fc 80E0 ldi r24,lo8(__c.3) |
| 1114 07fe 90E0 ldi r25,hi8(__c.3) |
| 1115 0800 9F93 push r25 |
| 1116 0802 8F93 push r24 |
| 1117 0804 1F93 push r17 |
| 1118 0806 0F93 push r16 |
| 1119 0808 E091 0000 lds r30,_printf_P |
| 1120 080c F091 0000 lds r31,(_printf_P)+1 |
| 1121 0810 0995 icall |
| 1122 0812 8DB7 in r24,__SP_L__ |
| 1123 0814 9EB7 in r25,__SP_H__ |
| 1124 0816 0896 adiw r24,8 |
| 1125 0818 8DBF out __SP_L__,r24 |
| 1126 081a 80E0 ldi r24,lo8(__c.4) |
| 1127 081c 90E0 ldi r25,hi8(__c.4) |
| 1128 081e 9F93 push r25 |
| 1129 0820 8F93 push r24 |
| 1130 0822 1F93 push r17 |
| 1131 0824 0F93 push r16 |
| 1132 0826 E091 0000 lds r30,_printf_P |
| 1133 082a F091 0000 lds r31,(_printf_P)+1 |
| 1134 082e 0995 icall |
| 1135 0830 0F90 pop __tmp_reg__ |
| 1136 0832 0F90 pop __tmp_reg__ |
| 1137 0834 0F90 pop __tmp_reg__ |
| 1138 0836 0F90 pop __tmp_reg__ |
| 1139 /* epilogue: frame size=0 */ |
| 1140 0838 CF91 pop r28 |
| 1141 083a 1F91 pop r17 |
| 1142 083c 0F91 pop r16 |
| 1143 083e FF90 pop r15 |
| 1144 0840 EF90 pop r14 |
| 1145 0842 DF90 pop r13 |
| 1146 0844 0895 ret |
| 1147 /* epilogue end (size=7) */ |
| 1148 /* function ParamSet_Init size 227 (214) */ |
| 1150 .comm Mixer,78,1 |
| 1151 .comm RequiredMotors,1,1 |
| 1152 .comm EE_Parameter,116,1 |
| 1153 /* File "eeprom.c": code 1085 = 0x043d (1015), prologues 26, epilogues 44 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 eeprom.c |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:13 .text:00000000 RAM_Checksum |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:41 .text:00000022 EEProm_Checksum |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:73 .text:0000004a ParamSet_DefaultStickMapping |
| *COM*:00000074 EE_Parameter |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:107 .text:00000094 CommonDefaults |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:245 .text:0000022e ParamSet_DefaultSet1 |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:305 .text:000002ac ParamSet_DefaultSet2 |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:365 .text:0000032a ParamSet_DefaultSet3 |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:420 .text:000003a8 GetParamByte |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:436 .text:000003b4 SetParamByte |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:451 .text:000003be GetParamWord |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:467 .text:000003c8 SetParamWord |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:483 .text:000003d2 ParamSet_ReadFromEEProm |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:551 .text:00000440 SetActiveParamSet |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:576 .text:0000045a ParamSet_WriteToEEProm |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:652 .text:000004de MixerTable_ReadFromEEProm |
| *COM*:0000004e Mixer |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:700 .text:00000522 MixerTable_WriteToEEProm |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:744 .text:0000055e MixerTable_Default |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:806 .text:000005ec GetActiveParamSet |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:833 .text:0000060a SetDefaultParameter |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:907 .progmem.data:00000000 __c.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:911 .progmem.data:00000026 __c.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:915 .progmem.data:0000003f __c.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:919 .progmem.data:00000060 __c.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:923 .progmem.data:00000081 __c.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccSSbaaa.s:928 .text:00000684 ParamSet_Init |
| *COM*:00000001 RequiredMotors |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __eeprom_read_byte_1F2021 |
| PlatinenVersion |
| __eeprom_write_byte_1F2021 |
| __eeprom_read_word_1F2021 |
| __eeprom_write_word_1F2021 |
| __eeprom_read_block_1F2021 |
| LED_Init |
| __epilogue_restores__ |
| __eeprom_write_block_1F2021 |
| uart_putchar |
| _printf_P |
| /branches/metro/v0.82a metro_Akku+/fc.c |
|---|
| 0,0 → 1,1747 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + 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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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" |
| #include "mymath.h" |
| #include "isqrt.h" |
| //MartinW; added vars |
| unsigned char loop1, loop2, loop3; |
| unsigned char settingdest = 5; |
| int keynumber=-7; |
| unsigned short CurrentOffset = 0;/// |
| unsigned char pos1, pos2, pos3, pos4=0; |
| unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7; |
| unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max; |
| unsigned short MotorsTmax; |
| unsigned char updatemotors=5; |
| //MartinW; added vars |
| unsigned char h,m,s; |
| unsigned int BaroExpandActive = 0; |
| int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| int TrimNick, TrimRoll; |
| int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| int Mittelwert_AccNick, Mittelwert_AccRoll; |
| unsigned int NeutralAccX=0, NeutralAccY=0; |
| int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| int NeutralAccZ = 0; |
| unsigned char ControlHeading = 0;// in 2° |
| long IntegralNick = 0,IntegralNick2 = 0; |
| long IntegralRoll = 0,IntegralRoll2 = 0; |
| long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| long Integral_Gier = 0; |
| long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| long SummeNick=0,SummeRoll=0; |
| volatile long Mess_Integral_Hoch = 0; |
| int KompassValue = 0; |
| int KompassStartwert = 0; |
| int KompassRichtung = 0; |
| unsigned int KompassSignalSchlecht = 500; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char TrichterFlug = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| long ErsatzKompass; |
| int ErsatzKompassInGrad; // Kompasswert in Grad |
| int GierGyroFehler = 0; |
| char GyroFaktor,GyroFaktorGier; |
| char IntegralFaktor,IntegralFaktorGier; |
| int DiffNick,DiffRoll; |
| //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| char MotorenEin = 0,StartTrigger = 0; |
| long HoehenWert = 0; |
| long SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| //float Ki = FAKTOR_I; |
| int Ki = 10300 / 33; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| 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_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
| 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_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_ServoRollControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 90; |
| unsigned char Parameter_AchsKopplung2 = 65; |
| unsigned char Parameter_CouplingYawCorrection = 64; |
| //unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| unsigned char Parameter_J16Bitmask; // for the J16 Output |
| unsigned char Parameter_J16Timing; // for the J16 Output |
| unsigned char Parameter_J17Bitmask; // for the J17 Output |
| unsigned char Parameter_J17Timing; // for the J17 Output |
| unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
| unsigned char Parameter_NaviGpsGain; |
| unsigned char Parameter_NaviGpsP; |
| unsigned char Parameter_NaviGpsI; |
| unsigned char Parameter_NaviGpsD; |
| unsigned char Parameter_NaviGpsACC; |
| unsigned char Parameter_NaviOperatingRadius; |
| unsigned char Parameter_NaviWindCorrection; |
| unsigned char Parameter_NaviSpeedCompensation; |
| unsigned char Parameter_ExternalControl; |
| unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| unsigned char CareFree = 0; |
| const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| volatile unsigned char FC_StatusFlags = 0; |
| long GIER_GRAD_FAKTOR = 1291; |
| signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| signed int tmp_motorwert[MAX_MOTORS]; |
| char VarioCharacter = ' '; |
| #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
| #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void CopyDebugValues(void) |
| { |
| DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
| DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
| DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
| DebugOut.Analog[5] = HoehenWert/5; |
| DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| DebugOut.Analog[12] = Motor[0].SetPoint; |
| DebugOut.Analog[13] = Motor[1].SetPoint; |
| DebugOut.Analog[14] = Motor[2].SetPoint; |
| DebugOut.Analog[15] = Motor[3].SetPoint; |
| DebugOut.Analog[20] = ServoNickValue; |
| DebugOut.Analog[22] = Capacity.ActualCurrent; |
| DebugOut.Analog[23] = Capacity.RemainCapacity; |
| // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
| } |
| void Piep(unsigned char Anzahl, unsigned int dauer) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| while(Anzahl--) |
| { |
| beeptime = dauer; |
| while(beeptime); |
| Delay_ms(dauer * 2); |
| } |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| if(PlatinenVersion == 13) SucheGyroOffset(); |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| // ADC einschalten |
| ANALOG_ON; |
| for(i=0;i<8;i++) |
| { |
| int tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
| LIMIT_MIN_MAX(tmp, 0, 255); |
| if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
| } |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(unsigned char AccAdjustment) |
| //############################################################################ |
| { |
| unsigned char i; |
| unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
| VersionInfo.HardwareError[0] = 0; |
| HEF4017R_ON; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsKopplung2 = 0; |
| ExpandBaro = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| #define NEUTRAL_FILTER 32 |
| for(i=0; i<NEUTRAL_FILTER; i++) |
| { |
| Delay_ms_Mess(10); |
| gier_neutral += AdWertGier; |
| nick_neutral += AdWertNick; |
| roll_neutral += AdWertRoll; |
| } |
| AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(AccAdjustment) |
| { |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| NeutralAccZ = Aktuell_az; |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
| SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| } |
| else |
| { |
| // restore from eeprom |
| NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
| NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
| // strange settings? |
| if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| { |
| printf("\n\rACC not calibrated!\r\n"); |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| NeutralAccZ = Aktuell_az; |
| } |
| } |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| Delay_ms_Mess(100); |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| Mess_Integral_Gier = 0; |
| StartLuftdruck = Luftdruck; |
| VarioMeter = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| beeptime = 50; |
| Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
| ExternHoehenValue = 0; |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| GierGyroFehler = 0; |
| SendVersionToNavi = 1; |
| LED_Init(); |
| FC_StatusFlags |= FC_STATUS_CALIBRATE; |
| FromNaviCtrl_Value.Kalman_K = -1; |
| FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| for(i=0;i<8;i++) |
| { |
| Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
| } |
| SenderOkay = 100; |
| if(ServoActive) |
| { |
| HEF4017R_ON; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| } |
| if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
| if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
| if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
| if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
| if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
| if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
| } |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| static signed int oldNick, oldRoll, d2Roll, d2Nick; |
| signed long winkel_nick, winkel_roll; |
| // unsigned char i; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertNick = (signed int) AdWertNickFilter / 8; |
| MesswertRoll = (signed int) AdWertRollFilter / 8; |
| RohMesswertNick = MesswertNick; |
| RohMesswertRoll = MesswertRoll; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
| Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
| NaviAccNick += AdWertAccNick; |
| NaviAccRoll += AdWertAccRoll; |
| NaviCntAcc++; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| AdReady = 0; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
| else winkel_roll = Mess_IntegralRoll; |
| if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
| else winkel_nick = Mess_IntegralNick; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_Integral_Gier += MesswertGier; |
| ErsatzKompass += MesswertGier; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| tmpl3 *= Parameter_AchsKopplung2; //65 |
| tmpl3 /= 4096L; |
| tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| tmpl4 *= Parameter_AchsKopplung2; //65 |
| tmpl4 /= 4096L; |
| KopplungsteilNickRoll = tmpl3; |
| KopplungsteilRollNick = tmpl4; |
| tmpl4 -= tmpl3; |
| ErsatzKompass += tmpl4; |
| if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| tmpl *= Parameter_AchsKopplung1; // 90 |
| tmpl /= 4096L; |
| tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 4096L; |
| if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| } |
| else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| TrimRoll = tmpl - tmpl2 / 100L; |
| TrimNick = -tmpl2 + tmpl / 100L; |
| // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
| if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralNick2 += MesswertNick + TrimNick; |
| Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| #define D_LIMIT 128 |
| MesswertNick = HiResNick / 8; |
| MesswertRoll = HiResRoll / 8; |
| if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
| else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
| if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
| else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
| if(Parameter_Gyro_D) |
| { |
| d2Nick = HiResNick - oldNick; |
| oldNick = (oldNick + HiResNick)/2; |
| if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
| d2Roll = HiResRoll - oldRoll; |
| oldRoll = (oldRoll + HiResRoll)/2; |
| if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
| MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
| HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
| } |
| if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
| else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
| if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
| else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
| } |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| if(!MotorenEin) |
| { |
| FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
| for(i=0;i<MAX_MOTORS;i++) |
| { |
| if(!PC_MotortestActive) MotorTest[i] = 0; |
| Motor[i].SetPoint = MotorTest[i]; |
| Motor[i].SetPointLowerBits = 0; |
| /* |
| Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
| Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
| */ |
| } |
| if(PC_MotortestActive) PC_MotortestActive--; |
| } |
| else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
| if(I2C_TransferActive) |
| { |
| I2C_TransferActive = 0; // enable for the next time |
| } |
| else |
| { |
| motor_write = 0; |
| I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
| } |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| unsigned char tmp,i; |
| #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
| for(i=0;i<8;i++) |
| { |
| int tmp2; |
| tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
| if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
| if(tmp2 != Poti[i]) |
| { |
| Poti[i] += (tmp2 - Poti[i]) / 4; |
| if(Poti[i] > tmp2) Poti[i]--; |
| else Poti[i]++; |
| } |
| } |
| CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
| CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
| CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
| CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
| CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
| CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
| CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
| CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
| CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
| CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
| CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
| // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
| CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
| Ki = 10300 / (Parameter_I_Faktor + 1); |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| tmp = EE_Parameter.OrientationModeControl; |
| if(tmp > 50) |
| { |
| #ifdef SWITCH_LEARNS_CAREFREE |
| if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| #endif |
| CareFree = 1; |
| if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
| } |
| else CareFree = 0; |
| if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA400; |
| CareFree = 0; |
| } |
| if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| int GierMischanteil,GasMischanteil; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static unsigned char calibration_done = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| unsigned char i; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = StickGas; |
| if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Empfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| } |
| ROT_ON; |
| if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40 && MotorenEin) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 256)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| if(modell_fliegt == 250) |
| { |
| NeueKompassRichtungMerken = 1; |
| } |
| } else FC_StatusFlags |= FC_STATUS_FLY; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| 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) |
| { |
| unsigned char setting=1; |
| 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; |
| SetActiveParamSet(setting); // aktiven Datensatz merken |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| { |
| WinkelOut.CalcState = 1; |
| beeptime = 1000; |
| } |
| else |
| { |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| ServoActive = 0; |
| SetNeutral(0); |
| calibration_done = 1; |
| ServoActive = 1; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| Piep(GetActiveParamSet(),120); |
| } |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(1); |
| calibration_done = 1; |
| Piep(GetActiveParamSet(),120); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| { |
| // Motoren Starten |
| if(!MotorenEin) |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 0; |
| if(!VersionInfo.HardwareError[0] && calibration_done) |
| { |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| FC_StatusFlags |= FC_STATUS_START; |
| ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| } |
| else |
| { |
| beeptime = 1500; // indicate missing calibration |
| } |
| } |
| } |
| else delay_einschalten = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| else // only if motors are running |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 0; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| static int stick_nick,stick_roll; |
| ParameterZuordnung(); |
| stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // CareFree und freie Wahl der vorderen Richtung |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(CareFree) |
| { |
| signed int nick, roll; |
| nick = stick_nick / 4; |
| roll = stick_roll / 4; |
| StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
| StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
| } |
| else |
| { |
| FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
| FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
| StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
| StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
| } |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| if(StickGier > 2) StickGier -= 2; else |
| if(StickGier < -2) StickGier += 2; else StickGier = 0; |
| StickNick -= (GPS_Nick + GPS_Nick2); |
| StickRoll -= (GPS_Roll + GPS_Roll2); |
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| GyroFaktor = (Parameter_Gyro_P + 10.0); |
| IntegralFaktor = Parameter_Gyro_I; |
| GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| IntegralFaktorGier = Parameter_Gyro_Gier_I; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analoge Steuerung per Seriell |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| { |
| StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
| StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
| StickGier += ExternControl.Gier; |
| ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
| if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| } |
| if(StickGas < 0) StickGas = 0; |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| { |
| MaxStickNick = abs(StickNick)/STICK_GAIN; |
| if(MaxStickNick > 100) MaxStickNick = 100; |
| } |
| else MaxStickNick--; |
| if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| { |
| MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| if(MaxStickRoll > 100) MaxStickRoll = 100; |
| } |
| else MaxStickRoll--; |
| if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // Ende neue Funken-Werte |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| TrichterFlug = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 90; |
| IntegralFaktor = 120; |
| GyroFaktorGier = 90; |
| IntegralFaktorGier = 120; |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| if(Looping_Nick || Looping_Roll) |
| { |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| ZaehlMessungen = 0; |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| { |
| long tmp_long, tmp_long2; |
| if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| { |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 2; |
| tmp_long2 /= 2; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| } |
| else |
| { |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long /= 16; |
| tmp_long2 /= 16; |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| #define AUSGLEICH 32 |
| 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; |
| } |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| { |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll /= ABGLEICH_ANZAHL; |
| IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| #define MAX_I 0 |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| { |
| LageKorrekturNick /= 2; |
| LageKorrekturRoll /= 2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| if(EE_Parameter.Driftkomp) |
| { |
| if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
| } |
| GierGyroFehler = 0; |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_p = 1; |
| } else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_n = 1; |
| } else last_n_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 1000; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
| if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 1000; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| TrichterFlug = 0; |
| } |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; |
| } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 15) // war 35 |
| { |
| KompassSignalSchlecht = 1000; |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| { |
| NeueKompassRichtungMerken = 1; |
| }; |
| } |
| tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| int w,v,r,fehler,korrektur; |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| korrektur = w / 8 + 2; |
| fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| //fehler += MesswertGier / 12; |
| if(!KompassSignalSchlecht && w < 25) |
| { |
| GierGyroFehler += fehler; |
| if(NeueKompassRichtungMerken) |
| { |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| NeueKompassRichtungMerken = 0; |
| } |
| } |
| ErsatzKompass += (fehler * 16) / korrektur; |
| w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w >= 0) |
| { |
| if(!KompassSignalSchlecht) |
| { |
| v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| v = (r * w) / v; // nach Kompass ausrichten |
| w = 3 * Parameter_KompassWirkung; |
| if(v > w) v = w; // Begrenzen |
| else |
| if(v < -w) v = -w; |
| Mess_Integral_Gier += v; |
| } |
| if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| } |
| else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
| #define TRIM_MAX 200 |
| if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
| MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
| MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| // Maximalwerte abfangen |
| // #define MAX_SENSOR (4096*STICK_GAIN) |
| #define MAX_SENSOR (4096) |
| 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 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| GasMischanteil *= STICK_GAIN; |
| // if height control is activated |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| { |
| #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #define OPA_OFFSET_STEP 15 |
| #else |
| #define OPA_OFFSET_STEP 10 |
| #endif |
| int HCGas, HeightDeviation = 0,GasReduction = 0; |
| static int HeightTrimming = 0; // rate for change of height setpoint |
| static int FilterHCGas = 0; |
| static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| static unsigned long HoverGasFilter = 0; |
| static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| int CosAttitude; // for projection of hoover gas |
| // get the current hooverpoint |
| DebugOut.Analog[21] = HoverGas; |
| // Expand the measurement |
| // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
| if(!BaroExpandActive) |
| { |
| if(MessLuftdruck > 920) |
| { // increase offset |
| if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| { |
| ExpandBaro -= 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtLowerLimit = 1; |
| } |
| } |
| // measurement of air pressure close to lower limit and |
| else |
| if(MessLuftdruck < 100) |
| { // decrease offset |
| if(OCR0A > OPA_OFFSET_STEP) |
| { |
| ExpandBaro += 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtUpperLimit = 1; |
| } |
| } |
| else |
| { |
| BaroAtUpperLimit = 0; |
| BaroAtLowerLimit = 0; |
| } |
| } |
| else // delay, because of expanding the Baro-Range |
| { |
| // now clear the D-values |
| SummenHoehe = HoehenWert * SM_FILTER; |
| VarioMeter = 0; |
| BaroExpandActive--; |
| } |
| // if height control is activated by an rc channel |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { // check if parameter is less than activation threshold |
| if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
| { //height control not active |
| if(!delay--) |
| { |
| HoehenReglerAktiv = 0; // disable height control |
| SollHoehe = HoehenWert; // update SetPoint with current reading |
| delay = 1; |
| } |
| } |
| else |
| { //height control is activated |
| HoehenReglerAktiv = 1; // enable height control |
| delay = 200; |
| } |
| } |
| else // no switchable height control |
| { |
| SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
| HoehenReglerAktiv = 1; |
| } |
| // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
| CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
| LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
| VarioCharacter = ' '; |
| if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| // Holger original version |
| // start of height control algorithm |
| // the height control is only an attenuation of the actual gas stick. |
| // I.e. it will work only if the gas stick is higher than the hover gas |
| // and the hover height will be allways larger than height setpoint. |
| if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| { // old version |
| HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| HeightTrimming = 0; |
| // set both flags to indicate no vario mode |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } |
| else |
| { |
| // alternative height control |
| // PD-Control with respect to hoover point |
| // the thrust loss out of horizontal attitude is compensated |
| // the setpoint will be fine adjusted with the gas stick position |
| if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
| { // gas stick is above hoover point |
| if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| { |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '+'; |
| } // gas stick is below hoover point |
| else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| { |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
| HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '-'; |
| } |
| else // Gas Stick in Hover Range |
| { |
| if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
| { |
| FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| HeightTrimming = 0; |
| SollHoehe = HoehenWert; // update setpoint to current height |
| if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
| if(!StartTrigger && HoehenWert > 50) |
| { |
| StartTrigger = 1; |
| } |
| } |
| VarioCharacter = '='; |
| } |
| // Trim height set point |
| if(abs(HeightTrimming) > 512) |
| { |
| SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| HeightTrimming = 0; |
| LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| //update hoover gas stick value when setpoint is shifted |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| if(StickGasHover < 70) StickGasHover = 70; |
| else if(StickGasHover > 150) StickGasHover = 150; |
| } |
| } |
| if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| } //if FCFlags & MKFCFLAG_FLY |
| else |
| { |
| SollHoehe = HoehenWert - 400; |
| if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| else StickGasHover = 120; |
| HoverGas = GasMischanteil; |
| } |
| HCGas = HoverGas; // take hover gas (neutral point) |
| } |
| if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| { |
| // from this point the Heigth Control Algorithm is identical for both versions |
| if(BaroExpandActive) // baro range expanding active |
| { |
| HCGas = HoverGas; // hover while expanding baro adc range |
| HeightDeviation = 0; |
| } // EOF // baro range expanding active |
| else // valid data from air pressure sensor |
| { |
| // ------------------------- P-Part ---------------------------- |
| tmp_long = (HoehenWert - SollHoehe); // positive when too high |
| LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
| HeightDeviation = (int)(tmp_long); // positive when too high |
| tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| GasReduction = tmp_long; |
| // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| tmp_int = VarioMeter / 8; |
| LIMIT_MIN_MAX(tmp_int, -127, 128); |
| tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
| if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
| else |
| if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
| GasReduction += tmp_int; |
| } // EOF no baro range expanding |
| // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| if(Parameter_Hoehe_ACC_Wirkung) |
| { |
| tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
| LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_long; |
| } |
| // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_int; |
| GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| // ------------------------ ---------------------------------- |
| HCGas -= GasReduction; |
| // limit deviation from hoover point within the target region |
| if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| { |
| unsigned int tmp; |
| tmp = abs(HeightDeviation); |
| if(tmp <= 60) |
| { |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (tmp - 60) / 32; |
| if(tmp > 15) tmp = 15; |
| if(HeightDeviation > 0) |
| { |
| tmp = (HoverGasMin * (16 - tmp)) / 16; |
| LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (HoverGasMax * (tmp + 16)) / 16; |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
| } |
| } |
| } |
| // strech control output by inverse attitude projection 1/cos |
| // + 1/cos(angle) ++++++++++++++++++++++++++ |
| tmp_long2 = (int32_t)HCGas; |
| tmp_long2 *= 8192L; |
| tmp_long2 /= CosAttitude; |
| HCGas = (int16_t)tmp_long2; |
| // update height control gas averaging |
| FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
| // limit height control gas pd-control output |
| LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
| // set GasMischanteil to HeightControlGasFilter |
| if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| { // old version |
| LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
| GasMischanteil = FilterHCGas; |
| } |
| else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
| } |
| }// EOF height control active |
| else // HC not active |
| { |
| //update hoover gas stick value when HC is not active |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
| StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| } |
| else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
| FilterHCGas = GasMischanteil; |
| // set both flags to indicate no vario mode |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } |
| // Hover gas estimation by averaging gas control output on small z-velocities |
| // this is done only if height contol option is selected in global config and aircraft is flying |
| if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| if(StartTrigger == 1) StartTrigger = 2; |
| tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| tmp_long2 *= CosAttitude; // apply attitude projection |
| tmp_long2 /= 8192; |
| // average vertical projected thrust |
| if(modell_fliegt < 4000) // the first 8 seconds |
| { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
| HoverGasFilter += 16L * tmp_long2; |
| } |
| if(modell_fliegt < 8000) // the first 16 seconds |
| { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| HoverGasFilter += 4L * tmp_long2; |
| } |
| else //later |
| if(abs(VarioMeter) < 100) // only on small vertical speed |
| { |
| HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| HoverGasFilter += tmp_long2; |
| } |
| HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| if(EE_Parameter.Hoehe_HoverBand) |
| { |
| int16_t band; |
| band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| HoverGasMin = HoverGas - band; |
| HoverGasMax = HoverGas + band; |
| } |
| else |
| { // no limit |
| HoverGasMin = 0; |
| HoverGasMax = 1023; |
| } |
| } |
| else |
| { |
| StartTrigger = 0; |
| HoverGasFilter = 0; |
| HoverGas = 0; |
| } |
| }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| else |
| { |
| // set undefined state to indicate vario off |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } // EOF no height control |
| // limit gas to parameter setting |
| LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
| if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| { |
| modell_fliegt = 1; |
| GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| if(GasMischanteil > MIN_GIERGAS) |
| { |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| } |
| else |
| { |
| if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
| } |
| tmp_int = MAX_GAS*STICK_GAIN; |
| if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
| if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
| else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
| pd_ergebnis_nick += SummeNick / Ki; |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
| if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
| if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
| else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
| pd_ergebnis_roll += SummeRoll / Ki; |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Universal Mixer |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| for(i=0; i<MAX_MOTORS; i++) |
| { |
| signed int tmp_int; |
| if(Mixer.Motor[i][0] > 0) |
| { |
| // Gas |
| if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| // Nick |
| if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
| else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
| else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
| // Roll |
| if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
| else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
| else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
| // Gier |
| if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
| else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
| LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
| Motor[i].SetPoint = tmp_int / 4; |
| Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| tmp_motorwert[i] = tmp_int; |
| } |
| else |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| } |
| /branches/metro/v0.82a metro_Akku+/fc.c.bak |
|---|
| 0,0 → 1,1733 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + 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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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" |
| #include "mymath.h" |
| #include "isqrt.h" |
| unsigned char h,m,s; |
| unsigned int BaroExpandActive = 0; |
| int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| int TrimNick, TrimRoll; |
| int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| int Mittelwert_AccNick, Mittelwert_AccRoll; |
| unsigned int NeutralAccX=0, NeutralAccY=0; |
| int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| int NeutralAccZ = 0; |
| unsigned char ControlHeading = 0;// in 2° |
| long IntegralNick = 0,IntegralNick2 = 0; |
| long IntegralRoll = 0,IntegralRoll2 = 0; |
| long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| long Integral_Gier = 0; |
| long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| long SummeNick=0,SummeRoll=0; |
| volatile long Mess_Integral_Hoch = 0; |
| int KompassValue = 0; |
| int KompassStartwert = 0; |
| int KompassRichtung = 0; |
| unsigned int KompassSignalSchlecht = 500; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char TrichterFlug = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| long ErsatzKompass; |
| int ErsatzKompassInGrad; // Kompasswert in Grad |
| int GierGyroFehler = 0; |
| char GyroFaktor,GyroFaktorGier; |
| char IntegralFaktor,IntegralFaktorGier; |
| int DiffNick,DiffRoll; |
| //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| char MotorenEin = 0,StartTrigger = 0; |
| long HoehenWert = 0; |
| long SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| //float Ki = FAKTOR_I; |
| int Ki = 10300 / 33; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| 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_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
| 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_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_ServoRollControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 90; |
| unsigned char Parameter_AchsKopplung2 = 65; |
| unsigned char Parameter_CouplingYawCorrection = 64; |
| //unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| unsigned char Parameter_J16Bitmask; // for the J16 Output |
| unsigned char Parameter_J16Timing; // for the J16 Output |
| unsigned char Parameter_J17Bitmask; // for the J17 Output |
| unsigned char Parameter_J17Timing; // for the J17 Output |
| unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
| unsigned char Parameter_NaviGpsGain; |
| unsigned char Parameter_NaviGpsP; |
| unsigned char Parameter_NaviGpsI; |
| unsigned char Parameter_NaviGpsD; |
| unsigned char Parameter_NaviGpsACC; |
| unsigned char Parameter_NaviOperatingRadius; |
| unsigned char Parameter_NaviWindCorrection; |
| unsigned char Parameter_NaviSpeedCompensation; |
| unsigned char Parameter_ExternalControl; |
| unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| unsigned char CareFree = 0; |
| const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| volatile unsigned char FC_StatusFlags = 0; |
| long GIER_GRAD_FAKTOR = 1291; |
| signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| signed int tmp_motorwert[MAX_MOTORS]; |
| char VarioCharacter = ' '; |
| #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
| #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void CopyDebugValues(void) |
| { |
| DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
| DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
| DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
| DebugOut.Analog[5] = HoehenWert/5; |
| DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| DebugOut.Analog[12] = Motor[0].SetPoint; |
| DebugOut.Analog[13] = Motor[1].SetPoint; |
| DebugOut.Analog[14] = Motor[2].SetPoint; |
| DebugOut.Analog[15] = Motor[3].SetPoint; |
| DebugOut.Analog[20] = ServoNickValue; |
| DebugOut.Analog[22] = Capacity.ActualCurrent; |
| DebugOut.Analog[23] = Capacity.UsedCapacity; |
| DebugOut.Analog[24] =Capacity.RemainCapacity; |
| // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| //if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/) { beeptime = 1000; DebugOut.Analog[25]++; } |
| } |
| void Piep(unsigned char Anzahl, unsigned int dauer) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| while(Anzahl--) |
| { |
| beeptime = dauer; |
| while(beeptime); |
| Delay_ms(dauer * 2); |
| } |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| if(PlatinenVersion == 13) SucheGyroOffset(); |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| // ADC einschalten |
| ANALOG_ON; |
| for(i=0;i<8;i++) |
| { |
| int tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
| LIMIT_MIN_MAX(tmp, 0, 255); |
| if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
| } |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(unsigned char AccAdjustment) |
| //############################################################################ |
| { |
| unsigned char i; |
| unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
| VersionInfo.HardwareError[0] = 0; |
| HEF4017R_ON; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsKopplung2 = 0; |
| ExpandBaro = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| #define NEUTRAL_FILTER 32 |
| for(i=0; i<NEUTRAL_FILTER; i++) |
| { |
| Delay_ms_Mess(10); |
| gier_neutral += AdWertGier; |
| nick_neutral += AdWertNick; |
| roll_neutral += AdWertRoll; |
| } |
| AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(AccAdjustment) |
| { |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| NeutralAccZ = Aktuell_az; |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
| SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| } |
| else |
| { |
| // restore from eeprom |
| NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
| NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
| // strange settings? |
| if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| { |
| printf("\n\rACC not calibrated!\r\n"); |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| NeutralAccZ = Aktuell_az; |
| } |
| } |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| Delay_ms_Mess(100); |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| Mess_Integral_Gier = 0; |
| StartLuftdruck = Luftdruck; |
| VarioMeter = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| beeptime = 50; |
| Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
| ExternHoehenValue = 0; |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| GierGyroFehler = 0; |
| SendVersionToNavi = 1; |
| LED_Init(); |
| FC_StatusFlags |= FC_STATUS_CALIBRATE; |
| FromNaviCtrl_Value.Kalman_K = -1; |
| FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| for(i=0;i<8;i++) |
| { |
| Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
| } |
| SenderOkay = 100; |
| if(ServoActive) |
| { |
| HEF4017R_ON; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| } |
| if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
| if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
| if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
| if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
| if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
| if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
| } |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| static signed int oldNick, oldRoll, d2Roll, d2Nick; |
| signed long winkel_nick, winkel_roll; |
| // unsigned char i; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertNick = (signed int) AdWertNickFilter / 8; |
| MesswertRoll = (signed int) AdWertRollFilter / 8; |
| RohMesswertNick = MesswertNick; |
| RohMesswertRoll = MesswertRoll; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
| Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
| NaviAccNick += AdWertAccNick; |
| NaviAccRoll += AdWertAccRoll; |
| NaviCntAcc++; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| AdReady = 0; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
| else winkel_roll = Mess_IntegralRoll; |
| if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
| else winkel_nick = Mess_IntegralNick; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_Integral_Gier += MesswertGier; |
| ErsatzKompass += MesswertGier; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| tmpl3 *= Parameter_AchsKopplung2; //65 |
| tmpl3 /= 4096L; |
| tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| tmpl4 *= Parameter_AchsKopplung2; //65 |
| tmpl4 /= 4096L; |
| KopplungsteilNickRoll = tmpl3; |
| KopplungsteilRollNick = tmpl4; |
| tmpl4 -= tmpl3; |
| ErsatzKompass += tmpl4; |
| if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| tmpl *= Parameter_AchsKopplung1; // 90 |
| tmpl /= 4096L; |
| tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 4096L; |
| if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| } |
| else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| TrimRoll = tmpl - tmpl2 / 100L; |
| TrimNick = -tmpl2 + tmpl / 100L; |
| // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
| if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralNick2 += MesswertNick + TrimNick; |
| Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| #define D_LIMIT 128 |
| MesswertNick = HiResNick / 8; |
| MesswertRoll = HiResRoll / 8; |
| if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
| else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
| if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
| else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
| if(Parameter_Gyro_D) |
| { |
| d2Nick = HiResNick - oldNick; |
| oldNick = (oldNick + HiResNick)/2; |
| if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
| d2Roll = HiResRoll - oldRoll; |
| oldRoll = (oldRoll + HiResRoll)/2; |
| if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
| MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
| HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
| } |
| if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
| else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
| if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
| else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
| } |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| if(!MotorenEin) |
| { |
| FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
| for(i=0;i<MAX_MOTORS;i++) |
| { |
| if(!PC_MotortestActive) MotorTest[i] = 0; |
| Motor[i].SetPoint = MotorTest[i]; |
| Motor[i].SetPointLowerBits = 0; |
| /* |
| Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
| Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
| */ |
| } |
| if(PC_MotortestActive) PC_MotortestActive--; |
| } |
| else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
| if(I2C_TransferActive) |
| { |
| I2C_TransferActive = 0; // enable for the next time |
| } |
| else |
| { |
| motor_write = 0; |
| I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
| } |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| unsigned char tmp,i; |
| #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
| for(i=0;i<8;i++) |
| { |
| int tmp2; |
| tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
| if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
| if(tmp2 != Poti[i]) |
| { |
| Poti[i] += (tmp2 - Poti[i]) / 4; |
| if(Poti[i] > tmp2) Poti[i]--; |
| else Poti[i]++; |
| } |
| } |
| CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
| CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
| CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
| CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
| CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
| CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
| CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
| CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
| CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
| CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
| CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
| // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
| CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
| Ki = 10300 / (Parameter_I_Faktor + 1); |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| tmp = EE_Parameter.OrientationModeControl; |
| if(tmp > 50) |
| { |
| #ifdef SWITCH_LEARNS_CAREFREE |
| if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| #endif |
| CareFree = 1; |
| if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
| } |
| else CareFree = 0; |
| if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA400; |
| CareFree = 0; |
| } |
| if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| int GierMischanteil,GasMischanteil; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static unsigned char calibration_done = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| unsigned char i; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = StickGas; |
| if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Empfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| } |
| ROT_ON; |
| if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40 && MotorenEin) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 256)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| if(modell_fliegt == 250) |
| { |
| NeueKompassRichtungMerken = 1; |
| } |
| } else FC_StatusFlags |= FC_STATUS_FLY; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| 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) |
| { |
| unsigned char setting=1; |
| 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; |
| SetActiveParamSet(setting); // aktiven Datensatz merken |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| { |
| WinkelOut.CalcState = 1; |
| beeptime = 1000; |
| } |
| else |
| { |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| ServoActive = 0; |
| SetNeutral(0); |
| calibration_done = 1; |
| ServoActive = 1; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| Piep(GetActiveParamSet(),120); |
| } |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(1); |
| calibration_done = 1; |
| Piep(GetActiveParamSet(),120); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| { |
| // Motoren Starten |
| if(!MotorenEin) |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 0; |
| if(!VersionInfo.HardwareError[0] && calibration_done) |
| { |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| FC_StatusFlags |= FC_STATUS_START; |
| ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| } |
| else |
| { |
| beeptime = 1500; // indicate missing calibration |
| } |
| } |
| } |
| else delay_einschalten = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| else // only if motors are running |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 0; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| static int stick_nick,stick_roll; |
| ParameterZuordnung(); |
| stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // CareFree und freie Wahl der vorderen Richtung |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(CareFree) |
| { |
| signed int nick, roll; |
| nick = stick_nick / 4; |
| roll = stick_roll / 4; |
| StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
| StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
| } |
| else |
| { |
| FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
| FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
| StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
| StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
| } |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| if(StickGier > 2) StickGier -= 2; else |
| if(StickGier < -2) StickGier += 2; else StickGier = 0; |
| StickNick -= (GPS_Nick + GPS_Nick2); |
| StickRoll -= (GPS_Roll + GPS_Roll2); |
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| GyroFaktor = (Parameter_Gyro_P + 10.0); |
| IntegralFaktor = Parameter_Gyro_I; |
| GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| IntegralFaktorGier = Parameter_Gyro_Gier_I; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analoge Steuerung per Seriell |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| { |
| StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
| StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
| StickGier += ExternControl.Gier; |
| ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
| if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| } |
| if(StickGas < 0) StickGas = 0; |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| { |
| MaxStickNick = abs(StickNick)/STICK_GAIN; |
| if(MaxStickNick > 100) MaxStickNick = 100; |
| } |
| else MaxStickNick--; |
| if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| { |
| MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| if(MaxStickRoll > 100) MaxStickRoll = 100; |
| } |
| else MaxStickRoll--; |
| if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // Ende neue Funken-Werte |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| TrichterFlug = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 90; |
| IntegralFaktor = 120; |
| GyroFaktorGier = 90; |
| IntegralFaktorGier = 120; |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| if(Looping_Nick || Looping_Roll) |
| { |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| ZaehlMessungen = 0; |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| { |
| long tmp_long, tmp_long2; |
| if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| { |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 2; |
| tmp_long2 /= 2; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| } |
| else |
| { |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long /= 16; |
| tmp_long2 /= 16; |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| #define AUSGLEICH 32 |
| 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; |
| } |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| { |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll /= ABGLEICH_ANZAHL; |
| IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| #define MAX_I 0 |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| { |
| LageKorrekturNick /= 2; |
| LageKorrekturRoll /= 2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| if(EE_Parameter.Driftkomp) |
| { |
| if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
| } |
| GierGyroFehler = 0; |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_p = 1; |
| } else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_n = 1; |
| } else last_n_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 1000; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
| if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 1000; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| TrichterFlug = 0; |
| } |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; |
| } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 15) // war 35 |
| { |
| KompassSignalSchlecht = 1000; |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| { |
| NeueKompassRichtungMerken = 1; |
| }; |
| } |
| tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| int w,v,r,fehler,korrektur; |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| korrektur = w / 8 + 2; |
| fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| //fehler += MesswertGier / 12; |
| if(!KompassSignalSchlecht && w < 25) |
| { |
| GierGyroFehler += fehler; |
| if(NeueKompassRichtungMerken) |
| { |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| NeueKompassRichtungMerken = 0; |
| } |
| } |
| ErsatzKompass += (fehler * 16) / korrektur; |
| w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w >= 0) |
| { |
| if(!KompassSignalSchlecht) |
| { |
| v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| v = (r * w) / v; // nach Kompass ausrichten |
| w = 3 * Parameter_KompassWirkung; |
| if(v > w) v = w; // Begrenzen |
| else |
| if(v < -w) v = -w; |
| Mess_Integral_Gier += v; |
| } |
| if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| } |
| else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
| #define TRIM_MAX 200 |
| if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
| MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
| MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| // Maximalwerte abfangen |
| // #define MAX_SENSOR (4096*STICK_GAIN) |
| #define MAX_SENSOR (4096) |
| 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 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| GasMischanteil *= STICK_GAIN; |
| // if height control is activated |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| { |
| #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #define OPA_OFFSET_STEP 15 |
| #else |
| #define OPA_OFFSET_STEP 10 |
| #endif |
| int HCGas, HeightDeviation = 0,GasReduction = 0; |
| static int HeightTrimming = 0; // rate for change of height setpoint |
| static int FilterHCGas = 0; |
| static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| static unsigned long HoverGasFilter = 0; |
| static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| int CosAttitude; // for projection of hoover gas |
| // get the current hooverpoint |
| DebugOut.Analog[21] = HoverGas; |
| // Expand the measurement |
| // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
| if(!BaroExpandActive) |
| { |
| if(MessLuftdruck > 920) |
| { // increase offset |
| if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| { |
| ExpandBaro -= 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtLowerLimit = 1; |
| } |
| } |
| // measurement of air pressure close to lower limit and |
| else |
| if(MessLuftdruck < 100) |
| { // decrease offset |
| if(OCR0A > OPA_OFFSET_STEP) |
| { |
| ExpandBaro += 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtUpperLimit = 1; |
| } |
| } |
| else |
| { |
| BaroAtUpperLimit = 0; |
| BaroAtLowerLimit = 0; |
| } |
| } |
| else // delay, because of expanding the Baro-Range |
| { |
| // now clear the D-values |
| SummenHoehe = HoehenWert * SM_FILTER; |
| VarioMeter = 0; |
| BaroExpandActive--; |
| } |
| // if height control is activated by an rc channel |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { // check if parameter is less than activation threshold |
| if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
| { //height control not active |
| if(!delay--) |
| { |
| HoehenReglerAktiv = 0; // disable height control |
| SollHoehe = HoehenWert; // update SetPoint with current reading |
| delay = 1; |
| } |
| } |
| else |
| { //height control is activated |
| HoehenReglerAktiv = 1; // enable height control |
| delay = 200; |
| } |
| } |
| else // no switchable height control |
| { |
| SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
| HoehenReglerAktiv = 1; |
| } |
| // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
| CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
| LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
| VarioCharacter = ' '; |
| if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| // Holger original version |
| // start of height control algorithm |
| // the height control is only an attenuation of the actual gas stick. |
| // I.e. it will work only if the gas stick is higher than the hover gas |
| // and the hover height will be allways larger than height setpoint. |
| if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| { // old version |
| HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| HeightTrimming = 0; |
| // set both flags to indicate no vario mode |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } |
| else |
| { |
| // alternative height control |
| // PD-Control with respect to hoover point |
| // the thrust loss out of horizontal attitude is compensated |
| // the setpoint will be fine adjusted with the gas stick position |
| if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
| { // gas stick is above hoover point |
| if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| { |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '+'; |
| } // gas stick is below hoover point |
| else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| { |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
| HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '-'; |
| } |
| else // Gas Stick in Hover Range |
| { |
| if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
| { |
| FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| HeightTrimming = 0; |
| SollHoehe = HoehenWert; // update setpoint to current height |
| if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
| if(!StartTrigger && HoehenWert > 50) |
| { |
| StartTrigger = 1; |
| } |
| } |
| VarioCharacter = '='; |
| } |
| // Trim height set point |
| if(abs(HeightTrimming) > 512) |
| { |
| SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| HeightTrimming = 0; |
| LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| //update hoover gas stick value when setpoint is shifted |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| if(StickGasHover < 70) StickGasHover = 70; |
| else if(StickGasHover > 150) StickGasHover = 150; |
| } |
| } |
| if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| } //if FCFlags & MKFCFLAG_FLY |
| else |
| { |
| SollHoehe = HoehenWert - 400; |
| if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| else StickGasHover = 120; |
| HoverGas = GasMischanteil; |
| } |
| HCGas = HoverGas; // take hover gas (neutral point) |
| } |
| if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| { |
| // from this point the Heigth Control Algorithm is identical for both versions |
| if(BaroExpandActive) // baro range expanding active |
| { |
| HCGas = HoverGas; // hover while expanding baro adc range |
| HeightDeviation = 0; |
| } // EOF // baro range expanding active |
| else // valid data from air pressure sensor |
| { |
| // ------------------------- P-Part ---------------------------- |
| tmp_long = (HoehenWert - SollHoehe); // positive when too high |
| LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
| HeightDeviation = (int)(tmp_long); // positive when too high |
| tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| GasReduction = tmp_long; |
| // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| tmp_int = VarioMeter / 8; |
| LIMIT_MIN_MAX(tmp_int, -127, 128); |
| tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
| if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
| else |
| if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
| GasReduction += tmp_int; |
| } // EOF no baro range expanding |
| // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| if(Parameter_Hoehe_ACC_Wirkung) |
| { |
| tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
| LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_long; |
| } |
| // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_int; |
| GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| // ------------------------ ---------------------------------- |
| HCGas -= GasReduction; |
| // limit deviation from hoover point within the target region |
| if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| { |
| unsigned int tmp; |
| tmp = abs(HeightDeviation); |
| if(tmp <= 60) |
| { |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (tmp - 60) / 32; |
| if(tmp > 15) tmp = 15; |
| if(HeightDeviation > 0) |
| { |
| tmp = (HoverGasMin * (16 - tmp)) / 16; |
| LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (HoverGasMax * (tmp + 16)) / 16; |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
| } |
| } |
| } |
| // strech control output by inverse attitude projection 1/cos |
| // + 1/cos(angle) ++++++++++++++++++++++++++ |
| tmp_long2 = (int32_t)HCGas; |
| tmp_long2 *= 8192L; |
| tmp_long2 /= CosAttitude; |
| HCGas = (int16_t)tmp_long2; |
| // update height control gas averaging |
| FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
| // limit height control gas pd-control output |
| LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
| // set GasMischanteil to HeightControlGasFilter |
| if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| { // old version |
| LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
| GasMischanteil = FilterHCGas; |
| } |
| else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
| } |
| }// EOF height control active |
| else // HC not active |
| { |
| //update hoover gas stick value when HC is not active |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
| StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| } |
| else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
| FilterHCGas = GasMischanteil; |
| // set both flags to indicate no vario mode |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } |
| // Hover gas estimation by averaging gas control output on small z-velocities |
| // this is done only if height contol option is selected in global config and aircraft is flying |
| if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| if(StartTrigger == 1) StartTrigger = 2; |
| tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| tmp_long2 *= CosAttitude; // apply attitude projection |
| tmp_long2 /= 8192; |
| // average vertical projected thrust |
| if(modell_fliegt < 4000) // the first 8 seconds |
| { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
| HoverGasFilter += 16L * tmp_long2; |
| } |
| if(modell_fliegt < 8000) // the first 16 seconds |
| { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| HoverGasFilter += 4L * tmp_long2; |
| } |
| else //later |
| if(abs(VarioMeter) < 100) // only on small vertical speed |
| { |
| HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| HoverGasFilter += tmp_long2; |
| } |
| HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| if(EE_Parameter.Hoehe_HoverBand) |
| { |
| int16_t band; |
| band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| HoverGasMin = HoverGas - band; |
| HoverGasMax = HoverGas + band; |
| } |
| else |
| { // no limit |
| HoverGasMin = 0; |
| HoverGasMax = 1023; |
| } |
| } |
| else |
| { |
| StartTrigger = 0; |
| HoverGasFilter = 0; |
| HoverGas = 0; |
| } |
| }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| else |
| { |
| // set undefined state to indicate vario off |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } // EOF no height control |
| // limit gas to parameter setting |
| LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
| if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| { |
| modell_fliegt = 1; |
| GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| if(GasMischanteil > MIN_GIERGAS) |
| { |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| } |
| else |
| { |
| if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
| } |
| tmp_int = MAX_GAS*STICK_GAIN; |
| if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
| if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
| else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
| pd_ergebnis_nick += SummeNick / Ki; |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
| if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
| if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
| else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
| pd_ergebnis_roll += SummeRoll / Ki; |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Universal Mixer |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| for(i=0; i<MAX_MOTORS; i++) |
| { |
| signed int tmp_int; |
| if(Mixer.Motor[i][0] > 0) |
| { |
| // Gas |
| if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| // Nick |
| if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
| else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
| else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
| // Roll |
| if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
| else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
| else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
| // Gier |
| if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
| else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
| LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
| Motor[i].SetPoint = tmp_int / 4; |
| Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| tmp_motorwert[i] = tmp_int; |
| } |
| else |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| } |
| /branches/metro/v0.82a metro_Akku+/fc.d |
|---|
| 0,0 → 1,3 |
| fc.o fc.d : fc.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
| twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
| eeprom.h libfc.h debug.h mymath.h isqrt.h |
| /branches/metro/v0.82a metro_Akku+/fc.h |
|---|
| 0,0 → 1,109 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
| //#define GIER_GRAD_FAKTOR 1160L |
| extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
| #define STICK_GAIN 4 |
| #define ACC_AMPLIFY 6 |
| // FC STATUS FLAGS |
| #define FC_STATUS_MOTOR_RUN 0x01 |
| #define FC_STATUS_FLY 0x02 |
| #define FC_STATUS_CALIBRATE 0x04 |
| #define FC_STATUS_START 0x08 |
| #define FC_STATUS_EMERGENCY_LANDING 0x10 |
| #define FC_STATUS_LOWBAT 0x20 |
| #define FC_STATUS_VARIO_TRIM_UP 0x40 |
| #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
| extern volatile unsigned char FC_StatusFlags; |
| #define Poti1 Poti[0] |
| #define Poti2 Poti[1] |
| #define Poti3 Poti[2] |
| #define Poti4 Poti[3] |
| #define Poti5 Poti[4] |
| #define Poti6 Poti[5] |
| #define Poti7 Poti[6] |
| #define Poti8 Poti[7] |
| extern unsigned char Sekunde,Minute; |
| extern unsigned int BaroExpandActive; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| //extern int IntegralNick,IntegralNick2; |
| //extern int IntegralRoll,IntegralRoll2; |
| extern unsigned char Poti[9]; |
| extern long Mess_IntegralNick,Mess_IntegralNick2; |
| extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern long IntegralAccNick,IntegralAccRoll; |
| extern long SummeNick,SummeRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassStartwert; |
| extern int KompassRichtung; |
| extern unsigned char ControlHeading; |
| extern int TrimNick, TrimRoll; |
| extern long ErsatzKompass; |
| extern int ErsatzKompassInGrad; // Kompasswert in Grad |
| extern long HoehenWert; |
| extern long SollHoehe; |
| extern unsigned char CareFree; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern unsigned int NeutralAccX, NeutralAccY; |
| extern unsigned char HoehenReglerAktiv; |
| extern int NeutralAccZ; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
| extern unsigned int modell_fliegt; |
| extern void MotorRegler(void); |
| extern void SendMotorData(void); |
| //void CalibrierMittelwert(void); |
| //void Mittelwert(void); |
| extern void SetNeutral(unsigned char AccAdjustment); |
| extern void Piep(unsigned char Anzahl, unsigned int dauer); |
| extern void CopyDebugValues(void); |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern int DiffNick,DiffRoll; |
| //extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| extern char VarioCharacter; |
| extern int HoverGas; |
| 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; |
| extern unsigned char Parameter_ServoRollControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsKopplung2; |
| //extern unsigned char Parameter_AchsGegenKopplung1; |
| extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
| extern unsigned char Parameter_J16Timing; // for the J16 Output |
| extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
| extern unsigned char Parameter_J17Timing; // for the J17 Output |
| extern signed char MixerTable[MAX_MOTORS][4]; |
| extern const signed char sintab[31]; |
| #endif //_FC_H |
| /branches/metro/v0.82a metro_Akku+/fc.h.bak |
|---|
| 0,0 → 1,109 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
| //#define GIER_GRAD_FAKTOR 1160L |
| extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
| #define STICK_GAIN 4 |
| #define ACC_AMPLIFY 6 |
| // FC STATUS FLAGS |
| #define FC_STATUS_MOTOR_RUN 0x01 |
| #define FC_STATUS_FLY 0x02 |
| #define FC_STATUS_CALIBRATE 0x04 |
| #define FC_STATUS_START 0x08 |
| #define FC_STATUS_EMERGENCY_LANDING 0x10 |
| #define FC_STATUS_LOWBAT 0x20 |
| #define FC_STATUS_VARIO_TRIM_UP 0x40 |
| #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
| extern volatile unsigned char FC_StatusFlags; |
| #define Poti1 Poti[0] |
| #define Poti2 Poti[1] |
| #define Poti3 Poti[2] |
| #define Poti4 Poti[3] |
| #define Poti5 Poti[4] |
| #define Poti6 Poti[5] |
| #define Poti7 Poti[6] |
| #define Poti8 Poti[7] |
| extern unsigned char Sekunde,Minute; |
| extern unsigned int BaroExpandActive; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| //extern int IntegralNick,IntegralNick2; |
| //extern int IntegralRoll,IntegralRoll2; |
| extern unsigned char Poti[9]; |
| extern long Mess_IntegralNick,Mess_IntegralNick2; |
| extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern long IntegralAccNick,IntegralAccRoll; |
| extern long SummeNick,SummeRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassStartwert; |
| extern int KompassRichtung; |
| extern unsigned char ControlHeading; |
| extern int TrimNick, TrimRoll; |
| extern long ErsatzKompass; |
| extern int ErsatzKompassInGrad; // Kompasswert in Grad |
| extern long HoehenWert; |
| extern long SollHoehe; |
| extern unsigned char CareFree; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern unsigned int NeutralAccX, NeutralAccY; |
| extern unsigned char HoehenReglerAktiv; |
| extern int NeutralAccZ; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
| extern unsigned int modell_fliegt; |
| extern void MotorRegler(void); |
| extern void SendMotorData(void); |
| //void CalibrierMittelwert(void); |
| //void Mittelwert(void); |
| extern void SetNeutral(unsigned char AccAdjustment); |
| extern void Piep(unsigned char Anzahl, unsigned int dauer); |
| extern void CopyDebugValues(void); |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern int DiffNick,DiffRoll; |
| //extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| extern char VarioCharacter; |
| extern int HoverGas; |
| 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; |
| extern unsigned char Parameter_ServoRollControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsKopplung2; |
| //extern unsigned char Parameter_AchsGegenKopplung1; |
| extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
| extern unsigned char Parameter_J16Timing; // for the J16 Output |
| extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
| extern unsigned char Parameter_J17Timing; // for the J17 Output |
| extern signed char MixerTable[MAX_MOTORS][4]; |
| extern const signed char sintab[31]; |
| #endif //_FC_H |
| /branches/metro/v0.82a metro_Akku+/fc.lst |
|---|
| 0,0 → 1,10398 |
| 1 .file "fc.c" |
| 2 .arch atmega644p |
| 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 .global VarioCharacter |
| 11 .data |
| 14 VarioCharacter: |
| 15 0000 20 .byte 32 |
| 16 .global GIER_GRAD_FAKTOR |
| 19 GIER_GRAD_FAKTOR: |
| 20 0001 0B05 0000 .long 1291 |
| 21 .global FC_StatusFlags |
| 22 .global FC_StatusFlags |
| 23 .section .bss |
| 26 FC_StatusFlags: |
| 27 0000 00 .skip 1,0 |
| 28 .global modell_fliegt |
| 29 .global modell_fliegt |
| 32 modell_fliegt: |
| 33 0001 0000 .skip 2,0 |
| 34 .global MaxStickRoll |
| 35 .global MaxStickRoll |
| 38 MaxStickRoll: |
| 39 0003 0000 .skip 2,0 |
| 40 .global MaxStickNick |
| 41 .global MaxStickNick |
| 44 MaxStickNick: |
| 45 0005 0000 .skip 2,0 |
| 46 .global ExternHoehenValue |
| 47 .data |
| 50 ExternHoehenValue: |
| 51 0005 ECFF .word -20 |
| 52 .global ExternStickGier |
| 53 .global ExternStickGier |
| 54 .section .bss |
| 57 ExternStickGier: |
| 58 0007 0000 .skip 2,0 |
| 59 .global ExternStickRoll |
| 60 .global ExternStickRoll |
| 63 ExternStickRoll: |
| 64 0009 0000 .skip 2,0 |
| 65 .global ExternStickNick |
| 66 .global ExternStickNick |
| 69 ExternStickNick: |
| 70 000b 0000 .skip 2,0 |
| 71 .global sintab |
| 72 .data |
| 75 sintab: |
| 76 0007 00 .byte 0 |
| 77 0008 02 .byte 2 |
| 78 0009 04 .byte 4 |
| 79 000a 06 .byte 6 |
| 80 000b 07 .byte 7 |
| 81 000c 08 .byte 8 |
| 82 000d 08 .byte 8 |
| 83 000e 08 .byte 8 |
| 84 000f 07 .byte 7 |
| 85 0010 06 .byte 6 |
| 86 0011 04 .byte 4 |
| 87 0012 02 .byte 2 |
| 88 0013 00 .byte 0 |
| 89 0014 FE .byte -2 |
| 90 0015 FC .byte -4 |
| 91 0016 FA .byte -6 |
| 92 0017 F9 .byte -7 |
| 93 0018 F8 .byte -8 |
| 94 0019 F8 .byte -8 |
| 95 001a F8 .byte -8 |
| 96 001b F9 .byte -7 |
| 97 001c FA .byte -6 |
| 98 001d FC .byte -4 |
| 99 001e FE .byte -2 |
| 100 001f 00 .byte 0 |
| 101 0020 02 .byte 2 |
| 102 0021 04 .byte 4 |
| 103 0022 06 .byte 6 |
| 104 0023 07 .byte 7 |
| 105 0024 08 .byte 8 |
| 106 0025 08 .byte 8 |
| 107 .global CareFree |
| 108 .global CareFree |
| 109 .section .bss |
| 112 CareFree: |
| 113 000d 00 .skip 1,0 |
| 114 .global Parameter_DynamicStability |
| 115 .data |
| 118 Parameter_DynamicStability: |
| 119 0026 64 .byte 100 |
| 120 .global Parameter_CouplingYawCorrection |
| 123 Parameter_CouplingYawCorrection: |
| 124 0027 40 .byte 64 |
| 125 .global Parameter_AchsKopplung2 |
| 128 Parameter_AchsKopplung2: |
| 129 0028 41 .byte 65 |
| 130 .global Parameter_AchsKopplung1 |
| 133 Parameter_AchsKopplung1: |
| 134 0029 5A .byte 90 |
| 135 .global Parameter_LoopGasLimit |
| 138 Parameter_LoopGasLimit: |
| 139 002a 46 .byte 70 |
| 140 .global Parameter_ServoRollControl |
| 143 Parameter_ServoRollControl: |
| 144 002b 64 .byte 100 |
| 145 .global Parameter_ServoNickControl |
| 148 Parameter_ServoNickControl: |
| 149 002c 64 .byte 100 |
| 150 .global Parameter_UserParam8 |
| 151 .global Parameter_UserParam8 |
| 152 .section .bss |
| 155 Parameter_UserParam8: |
| 156 000e 00 .skip 1,0 |
| 157 .global Parameter_UserParam7 |
| 158 .global Parameter_UserParam7 |
| 161 Parameter_UserParam7: |
| 162 000f 00 .skip 1,0 |
| 163 .global Parameter_UserParam6 |
| 164 .global Parameter_UserParam6 |
| 167 Parameter_UserParam6: |
| 168 0010 00 .skip 1,0 |
| 169 .global Parameter_UserParam5 |
| 170 .global Parameter_UserParam5 |
| 173 Parameter_UserParam5: |
| 174 0011 00 .skip 1,0 |
| 175 .global Parameter_UserParam4 |
| 176 .global Parameter_UserParam4 |
| 179 Parameter_UserParam4: |
| 180 0012 00 .skip 1,0 |
| 181 .global Parameter_UserParam3 |
| 182 .global Parameter_UserParam3 |
| 185 Parameter_UserParam3: |
| 186 0013 00 .skip 1,0 |
| 187 .global Parameter_UserParam2 |
| 188 .global Parameter_UserParam2 |
| 191 Parameter_UserParam2: |
| 192 0014 00 .skip 1,0 |
| 193 .global Parameter_UserParam1 |
| 194 .global Parameter_UserParam1 |
| 197 Parameter_UserParam1: |
| 198 0015 00 .skip 1,0 |
| 199 .global Parameter_I_Faktor |
| 200 .data |
| 203 Parameter_I_Faktor: |
| 204 002d 0A .byte 10 |
| 205 .global Parameter_Gier_P |
| 208 Parameter_Gier_P: |
| 209 002e 02 .byte 2 |
| 210 .global Parameter_Gyro_Gier_I |
| 213 Parameter_Gyro_Gier_I: |
| 214 002f 96 .byte -106 |
| 215 .global Parameter_Gyro_Gier_P |
| 218 Parameter_Gyro_Gier_P: |
| 219 0030 96 .byte -106 |
| 220 .global Parameter_Gyro_I |
| 223 Parameter_Gyro_I: |
| 224 0031 96 .byte -106 |
| 225 .global Parameter_Gyro_P |
| 228 Parameter_Gyro_P: |
| 229 0032 96 .byte -106 |
| 230 .global Parameter_Gyro_D |
| 233 Parameter_Gyro_D: |
| 234 0033 08 .byte 8 |
| 235 .global Parameter_Hoehe_GPS_Z |
| 238 Parameter_Hoehe_GPS_Z: |
| 239 0034 40 .byte 64 |
| 240 .global Parameter_KompassWirkung |
| 243 Parameter_KompassWirkung: |
| 244 0035 40 .byte 64 |
| 245 .global Parameter_Hoehe_ACC_Wirkung |
| 248 Parameter_Hoehe_ACC_Wirkung: |
| 249 0036 3A .byte 58 |
| 250 .global Parameter_Hoehe_P |
| 253 Parameter_Hoehe_P: |
| 254 0037 10 .byte 16 |
| 255 .global Parameter_MaxHoehe |
| 258 Parameter_MaxHoehe: |
| 259 0038 FB .byte -5 |
| 260 .global Parameter_Luftdruck_D |
| 263 Parameter_Luftdruck_D: |
| 264 0039 30 .byte 48 |
| 265 .global Looping_Oben |
| 266 .global Looping_Oben |
| 267 .section .bss |
| 270 Looping_Oben: |
| 271 0016 00 .skip 1,0 |
| 272 .global Looping_Unten |
| 273 .global Looping_Unten |
| 276 Looping_Unten: |
| 277 0017 00 .skip 1,0 |
| 278 .global Looping_Rechts |
| 279 .global Looping_Rechts |
| 282 Looping_Rechts: |
| 283 0018 00 .skip 1,0 |
| 284 .global Looping_Links |
| 285 .global Looping_Links |
| 288 Looping_Links: |
| 289 0019 00 .skip 1,0 |
| 290 .global Looping_Roll |
| 291 .global Looping_Roll |
| 294 Looping_Roll: |
| 295 001a 00 .skip 1,0 |
| 296 .global Looping_Nick |
| 297 .global Looping_Nick |
| 300 Looping_Nick: |
| 301 001b 00 .skip 1,0 |
| 302 .global Ki |
| 303 .data |
| 306 Ki: |
| 307 003a 3801 .word 312 |
| 308 .global HoverGas |
| 309 .global HoverGas |
| 310 .section .bss |
| 313 HoverGas: |
| 314 001c 0000 .skip 2,0 |
| 315 .global LageKorrekturNick |
| 316 .global LageKorrekturNick |
| 319 LageKorrekturNick: |
| 320 001e 0000 .skip 2,0 |
| 321 .global LageKorrekturRoll |
| 322 .global LageKorrekturRoll |
| 325 LageKorrekturRoll: |
| 326 0020 0000 .skip 2,0 |
| 327 .global SollHoehe |
| 328 .global SollHoehe |
| 331 SollHoehe: |
| 332 0022 0000 0000 .skip 4,0 |
| 333 .global HoehenWert |
| 334 .global HoehenWert |
| 337 HoehenWert: |
| 338 0026 0000 0000 .skip 4,0 |
| 339 .global StartTrigger |
| 340 .global StartTrigger |
| 343 StartTrigger: |
| 344 002a 00 .skip 1,0 |
| 345 .global MotorenEin |
| 346 .global MotorenEin |
| 349 MotorenEin: |
| 350 002b 00 .skip 1,0 |
| 351 .global StickGas |
| 352 .global StickGas |
| 355 StickGas: |
| 356 002c 0000 .skip 2,0 |
| 357 .global StickGier |
| 358 .global StickGier |
| 361 StickGier: |
| 362 002e 0000 .skip 2,0 |
| 363 .global StickRoll |
| 364 .global StickRoll |
| 367 StickRoll: |
| 368 0030 0000 .skip 2,0 |
| 369 .global StickNick |
| 370 .global StickNick |
| 373 StickNick: |
| 374 0032 0000 .skip 2,0 |
| 375 .global SenderOkay |
| 376 .global SenderOkay |
| 379 SenderOkay: |
| 380 0034 00 .skip 1,0 |
| 381 .global Poti |
| 382 .global Poti |
| 385 Poti: |
| 386 0035 0000 0000 .skip 9,0 |
| 386 0000 0000 |
| 386 00 |
| 387 .global GierGyroFehler |
| 388 .global GierGyroFehler |
| 391 GierGyroFehler: |
| 392 003e 0000 .skip 2,0 |
| 393 .global Umschlag180Roll |
| 394 .data |
| 397 Umschlag180Roll: |
| 398 003c 90D0 0300 .long 250000 |
| 399 .global Umschlag180Nick |
| 402 Umschlag180Nick: |
| 403 0040 90D0 0300 .long 250000 |
| 404 .global TrichterFlug |
| 405 .global TrichterFlug |
| 406 .section .bss |
| 409 TrichterFlug: |
| 410 0040 00 .skip 1,0 |
| 411 .global HoehenReglerAktiv |
| 412 .global HoehenReglerAktiv |
| 415 HoehenReglerAktiv: |
| 416 0041 00 .skip 1,0 |
| 417 .global KompassSignalSchlecht |
| 418 .data |
| 421 KompassSignalSchlecht: |
| 422 0044 F401 .word 500 |
| 423 .global KompassRichtung |
| 424 .global KompassRichtung |
| 425 .section .bss |
| 428 KompassRichtung: |
| 429 0042 0000 .skip 2,0 |
| 430 .global KompassStartwert |
| 431 .global KompassStartwert |
| 434 KompassStartwert: |
| 435 0044 0000 .skip 2,0 |
| 436 .global KompassValue |
| 437 .global KompassValue |
| 440 KompassValue: |
| 441 0046 0000 .skip 2,0 |
| 442 .global Mess_Integral_Hoch |
| 443 .global Mess_Integral_Hoch |
| 446 Mess_Integral_Hoch: |
| 447 0048 0000 0000 .skip 4,0 |
| 448 .global SummeRoll |
| 449 .global SummeRoll |
| 452 SummeRoll: |
| 453 004c 0000 0000 .skip 4,0 |
| 454 .global SummeNick |
| 455 .global SummeNick |
| 458 SummeNick: |
| 459 0050 0000 0000 .skip 4,0 |
| 460 .global Mess_Integral_Gier2 |
| 461 .global Mess_Integral_Gier2 |
| 464 Mess_Integral_Gier2: |
| 465 0054 0000 0000 .skip 4,0 |
| 466 .global Mess_Integral_Gier |
| 467 .global Mess_Integral_Gier |
| 470 Mess_Integral_Gier: |
| 471 0058 0000 0000 .skip 4,0 |
| 472 .global Mess_IntegralRoll2 |
| 473 .global Mess_IntegralRoll2 |
| 476 Mess_IntegralRoll2: |
| 477 005c 0000 0000 .skip 4,0 |
| 478 .global Mess_IntegralRoll |
| 479 .global Mess_IntegralRoll |
| 482 Mess_IntegralRoll: |
| 483 0060 0000 0000 .skip 4,0 |
| 484 .global Mess_IntegralNick2 |
| 485 .global Mess_IntegralNick2 |
| 488 Mess_IntegralNick2: |
| 489 0064 0000 0000 .skip 4,0 |
| 490 .global Mess_IntegralNick |
| 491 .global Mess_IntegralNick |
| 494 Mess_IntegralNick: |
| 495 0068 0000 0000 .skip 4,0 |
| 496 .global Integral_Gier |
| 497 .global Integral_Gier |
| 500 Integral_Gier: |
| 501 006c 0000 0000 .skip 4,0 |
| 502 .global IntegralAccZ |
| 503 .global IntegralAccZ |
| 506 IntegralAccZ: |
| 507 0070 0000 0000 .skip 4,0 |
| 508 .global IntegralAccRoll |
| 509 .global IntegralAccRoll |
| 512 IntegralAccRoll: |
| 513 0074 0000 0000 .skip 4,0 |
| 514 .global IntegralAccNick |
| 515 .global IntegralAccNick |
| 518 IntegralAccNick: |
| 519 0078 0000 0000 .skip 4,0 |
| 520 .global IntegralRoll2 |
| 521 .global IntegralRoll2 |
| 524 IntegralRoll2: |
| 525 007c 0000 0000 .skip 4,0 |
| 526 .global IntegralRoll |
| 527 .global IntegralRoll |
| 530 IntegralRoll: |
| 531 0080 0000 0000 .skip 4,0 |
| 532 .global IntegralNick2 |
| 533 .global IntegralNick2 |
| 536 IntegralNick2: |
| 537 0084 0000 0000 .skip 4,0 |
| 538 .global IntegralNick |
| 539 .global IntegralNick |
| 542 IntegralNick: |
| 543 0088 0000 0000 .skip 4,0 |
| 544 .global ControlHeading |
| 545 .global ControlHeading |
| 548 ControlHeading: |
| 549 008c 00 .skip 1,0 |
| 550 .global NeutralAccZ |
| 551 .global NeutralAccZ |
| 554 NeutralAccZ: |
| 555 008d 0000 .skip 2,0 |
| 556 .global NaviCntAcc |
| 557 .global NaviCntAcc |
| 560 NaviCntAcc: |
| 561 008f 0000 .skip 2,0 |
| 562 .global NeutralAccY |
| 563 .global NeutralAccY |
| 566 NeutralAccY: |
| 567 0091 0000 .skip 2,0 |
| 568 .global NeutralAccX |
| 569 .global NeutralAccX |
| 572 NeutralAccX: |
| 573 0093 0000 .skip 2,0 |
| 574 .global StartNeutralNick |
| 575 .global StartNeutralNick |
| 578 StartNeutralNick: |
| 579 0095 0000 .skip 2,0 |
| 580 .global StartNeutralRoll |
| 581 .global StartNeutralRoll |
| 584 StartNeutralRoll: |
| 585 0097 0000 .skip 2,0 |
| 586 .global AdNeutralGier |
| 587 .global AdNeutralGier |
| 590 AdNeutralGier: |
| 591 0099 0000 .skip 2,0 |
| 592 .global AdNeutralRoll |
| 593 .global AdNeutralRoll |
| 596 AdNeutralRoll: |
| 597 009b 0000 .skip 2,0 |
| 598 .global AdNeutralNick |
| 599 .global AdNeutralNick |
| 602 AdNeutralNick: |
| 603 009d 0000 .skip 2,0 |
| 604 .global BaroExpandActive |
| 605 .global BaroExpandActive |
| 608 BaroExpandActive: |
| 609 009f 0000 .skip 2,0 |
| 610 .global updatemotors |
| 611 .data |
| 614 updatemotors: |
| 615 0046 05 .byte 5 |
| 616 .global pos4 |
| 617 .global pos4 |
| 618 .section .bss |
| 621 pos4: |
| 622 00a1 00 .skip 1,0 |
| 623 .global CurrentOffset |
| 624 .global CurrentOffset |
| 627 CurrentOffset: |
| 628 00a2 0000 .skip 2,0 |
| 629 .global keynumber |
| 630 .data |
| 633 keynumber: |
| 634 0047 F9FF .word -7 |
| 635 .global settingdest |
| 638 settingdest: |
| 639 0049 05 .byte 5 |
| 640 .text |
| 641 .global CopyDebugValues |
| 643 CopyDebugValues: |
| 644 /* prologue: frame size=0 */ |
| 645 0000 EF92 push r14 |
| 646 0002 FF92 push r15 |
| 647 0004 0F93 push r16 |
| 648 0006 1F93 push r17 |
| 649 /* prologue end (size=4) */ |
| 650 0008 8091 0000 lds r24,EE_Parameter+28 |
| 651 000c 9927 clr r25 |
| 652 000e 880F lsl r24 |
| 653 0010 991F rol r25 |
| 654 0012 880F lsl r24 |
| 655 0014 991F rol r25 |
| 656 0016 7C01 movw r14,r24 |
| 657 0018 0027 clr r16 |
| 658 001a F7FC sbrc r15,7 |
| 659 001c 0095 com r16 |
| 660 001e 102F mov r17,r16 |
| 661 0020 8091 0000 lds r24,IntegralNick |
| 662 0024 9091 0000 lds r25,(IntegralNick)+1 |
| 663 0028 A091 0000 lds r26,(IntegralNick)+2 |
| 664 002c B091 0000 lds r27,(IntegralNick)+3 |
| 665 0030 BC01 movw r22,r24 |
| 666 0032 CD01 movw r24,r26 |
| 667 0034 A801 movw r20,r16 |
| 668 0036 9701 movw r18,r14 |
| 669 0038 0E94 0000 call __divmodsi4 |
| 670 003c 3093 0000 sts (DebugOut+2)+1,r19 |
| 671 0040 2093 0000 sts DebugOut+2,r18 |
| 672 0044 8091 0000 lds r24,IntegralRoll |
| 673 0048 9091 0000 lds r25,(IntegralRoll)+1 |
| 674 004c A091 0000 lds r26,(IntegralRoll)+2 |
| 675 0050 B091 0000 lds r27,(IntegralRoll)+3 |
| 676 0054 BC01 movw r22,r24 |
| 677 0056 CD01 movw r24,r26 |
| 678 0058 A801 movw r20,r16 |
| 679 005a 9701 movw r18,r14 |
| 680 005c 0E94 0000 call __divmodsi4 |
| 681 0060 3093 0000 sts (DebugOut+4)+1,r19 |
| 682 0064 2093 0000 sts DebugOut+4,r18 |
| 683 0068 8091 0000 lds r24,Mittelwert_AccNick |
| 684 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 685 0070 97FD sbrc r25,7 |
| 686 0072 0396 adiw r24,3 |
| 687 .L2: |
| 688 0074 9595 asr r25 |
| 689 0076 8795 ror r24 |
| 690 0078 9595 asr r25 |
| 691 007a 8795 ror r24 |
| 692 007c 9093 0000 sts (DebugOut+6)+1,r25 |
| 693 0080 8093 0000 sts DebugOut+6,r24 |
| 694 0084 8091 0000 lds r24,Mittelwert_AccRoll |
| 695 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 696 008c 97FD sbrc r25,7 |
| 697 008e 0396 adiw r24,3 |
| 698 .L3: |
| 699 0090 9595 asr r25 |
| 700 0092 8795 ror r24 |
| 701 0094 9595 asr r25 |
| 702 0096 8795 ror r24 |
| 703 0098 9093 0000 sts (DebugOut+8)+1,r25 |
| 704 009c 8093 0000 sts DebugOut+8,r24 |
| 705 00a0 8091 0000 lds r24,AdNeutralGier |
| 706 00a4 9091 0000 lds r25,(AdNeutralGier)+1 |
| 707 00a8 2091 0000 lds r18,AdWertGier |
| 708 00ac 3091 0000 lds r19,(AdWertGier)+1 |
| 709 00b0 821B sub r24,r18 |
| 710 00b2 930B sbc r25,r19 |
| 711 00b4 9093 0000 sts (DebugOut+10)+1,r25 |
| 712 00b8 8093 0000 sts DebugOut+10,r24 |
| 713 00bc 8091 0000 lds r24,HoehenWert |
| 714 00c0 9091 0000 lds r25,(HoehenWert)+1 |
| 715 00c4 A091 0000 lds r26,(HoehenWert)+2 |
| 716 00c8 B091 0000 lds r27,(HoehenWert)+3 |
| 717 00cc BC01 movw r22,r24 |
| 718 00ce CD01 movw r24,r26 |
| 719 00d0 25E0 ldi r18,lo8(5) |
| 720 00d2 30E0 ldi r19,hi8(5) |
| 721 00d4 40E0 ldi r20,hlo8(5) |
| 722 00d6 50E0 ldi r21,hhi8(5) |
| 723 00d8 0E94 0000 call __divmodsi4 |
| 724 00dc 3093 0000 sts (DebugOut+12)+1,r19 |
| 725 00e0 2093 0000 sts DebugOut+12,r18 |
| 726 00e4 8091 0000 lds r24,AdWertAccHoch |
| 727 00e8 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 728 00ec 9093 0000 sts (DebugOut+14)+1,r25 |
| 729 00f0 8093 0000 sts DebugOut+14,r24 |
| 730 00f4 8091 0000 lds r24,KompassValue |
| 731 00f8 9091 0000 lds r25,(KompassValue)+1 |
| 732 00fc 9093 0000 sts (DebugOut+18)+1,r25 |
| 733 0100 8093 0000 sts DebugOut+18,r24 |
| 734 0104 8091 0000 lds r24,UBat |
| 735 0108 9091 0000 lds r25,(UBat)+1 |
| 736 010c 9093 0000 sts (DebugOut+20)+1,r25 |
| 737 0110 8093 0000 sts DebugOut+20,r24 |
| 738 0114 8091 0000 lds r24,SenderOkay |
| 739 0118 9927 clr r25 |
| 740 011a 9093 0000 sts (DebugOut+22)+1,r25 |
| 741 011e 8093 0000 sts DebugOut+22,r24 |
| 742 0122 8091 0000 lds r24,ErsatzKompass |
| 743 0126 9091 0000 lds r25,(ErsatzKompass)+1 |
| 744 012a A091 0000 lds r26,(ErsatzKompass)+2 |
| 745 012e B091 0000 lds r27,(ErsatzKompass)+3 |
| 746 0132 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 747 0136 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 748 013a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 749 013e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 750 0142 BC01 movw r22,r24 |
| 751 0144 CD01 movw r24,r26 |
| 752 0146 0E94 0000 call __divmodsi4 |
| 753 014a 3093 0000 sts (DebugOut+24)+1,r19 |
| 754 014e 2093 0000 sts DebugOut+24,r18 |
| 755 0152 8091 0000 lds r24,Motor+1 |
| 756 0156 9927 clr r25 |
| 757 0158 9093 0000 sts (DebugOut+26)+1,r25 |
| 758 015c 8093 0000 sts DebugOut+26,r24 |
| 759 0160 8091 0000 lds r24,Motor+9 |
| 760 0164 9927 clr r25 |
| 761 0166 9093 0000 sts (DebugOut+28)+1,r25 |
| 762 016a 8093 0000 sts DebugOut+28,r24 |
| 763 016e 8091 0000 lds r24,Motor+17 |
| 764 0172 9927 clr r25 |
| 765 0174 9093 0000 sts (DebugOut+30)+1,r25 |
| 766 0178 8093 0000 sts DebugOut+30,r24 |
| 767 017c 8091 0000 lds r24,Motor+25 |
| 768 0180 9927 clr r25 |
| 769 0182 9093 0000 sts (DebugOut+32)+1,r25 |
| 770 0186 8093 0000 sts DebugOut+32,r24 |
| 771 018a 8091 0000 lds r24,ServoNickValue |
| 772 018e 9091 0000 lds r25,(ServoNickValue)+1 |
| 773 0192 9093 0000 sts (DebugOut+42)+1,r25 |
| 774 0196 8093 0000 sts DebugOut+42,r24 |
| 775 019a 8091 0000 lds r24,Capacity |
| 776 019e 9091 0000 lds r25,(Capacity)+1 |
| 777 01a2 9093 0000 sts (DebugOut+46)+1,r25 |
| 778 01a6 8093 0000 sts DebugOut+46,r24 |
| 779 01aa 8091 0000 lds r24,Capacity+6 |
| 780 01ae 9091 0000 lds r25,(Capacity+6)+1 |
| 781 01b2 9093 0000 sts (DebugOut+48)+1,r25 |
| 782 01b6 8093 0000 sts DebugOut+48,r24 |
| 783 01ba 8091 0000 lds r24,Capacity+8 |
| 784 01be 9927 clr r25 |
| 785 01c0 9093 0000 sts (DebugOut+60)+1,r25 |
| 786 01c4 8093 0000 sts DebugOut+60,r24 |
| 787 01c8 8091 0000 lds r24,GPS_Nick |
| 788 01cc 9091 0000 lds r25,(GPS_Nick)+1 |
| 789 01d0 9093 0000 sts (DebugOut+62)+1,r25 |
| 790 01d4 8093 0000 sts DebugOut+62,r24 |
| 791 01d8 8091 0000 lds r24,GPS_Roll |
| 792 01dc 9091 0000 lds r25,(GPS_Roll)+1 |
| 793 01e0 9093 0000 sts (DebugOut+64)+1,r25 |
| 794 01e4 8093 0000 sts DebugOut+64,r24 |
| 795 01e8 8091 0000 lds r24,VersionInfo+5 |
| 796 01ec 8823 tst r24 |
| 797 01ee 21F4 brne .L5 |
| 798 01f0 8091 0000 lds r24,VersionInfo+6 |
| 799 01f4 8823 tst r24 |
| 800 01f6 21F0 breq .L4 |
| 801 .L5: |
| 802 01f8 8091 0000 lds r24,DebugOut+1 |
| 803 01fc 8160 ori r24,lo8(1) |
| 804 01fe 03C0 rjmp .L7 |
| 805 .L4: |
| 806 0200 8091 0000 lds r24,DebugOut+1 |
| 807 0204 8E7F andi r24,lo8(-2) |
| 808 .L7: |
| 809 0206 8093 0000 sts DebugOut+1,r24 |
| 810 /* epilogue: frame size=0 */ |
| 811 020a 1F91 pop r17 |
| 812 020c 0F91 pop r16 |
| 813 020e FF90 pop r15 |
| 814 0210 EF90 pop r14 |
| 815 0212 0895 ret |
| 816 /* epilogue end (size=5) */ |
| 817 /* function CopyDebugValues size 268 (259) */ |
| 819 .global Piep |
| 821 Piep: |
| 822 /* prologue: frame size=0 */ |
| 823 0214 1F93 push r17 |
| 824 0216 CF93 push r28 |
| 825 0218 DF93 push r29 |
| 826 /* prologue end (size=3) */ |
| 827 021a 182F mov r17,r24 |
| 828 021c EB01 movw r28,r22 |
| 829 021e 8091 0000 lds r24,MotorenEin |
| 830 0222 8823 tst r24 |
| 831 0224 A1F4 brne .L8 |
| 832 0226 1150 subi r17,lo8(-(-1)) |
| 833 0228 1F3F cpi r17,lo8(-1) |
| 834 022a 89F0 breq .L8 |
| 835 .L15: |
| 836 022c D093 0000 sts (beeptime)+1,r29 |
| 837 0230 C093 0000 sts beeptime,r28 |
| 838 .L12: |
| 839 0234 8091 0000 lds r24,beeptime |
| 840 0238 9091 0000 lds r25,(beeptime)+1 |
| 841 023c 892B or r24,r25 |
| 842 023e D1F7 brne .L12 |
| 843 0240 CE01 movw r24,r28 |
| 844 0242 8C0F add r24,r28 |
| 845 0244 9D1F adc r25,r29 |
| 846 0246 0E94 0000 call Delay_ms |
| 847 024a 1150 subi r17,1 |
| 848 024c 78F7 brcc .L15 |
| 849 .L8: |
| 850 /* epilogue: frame size=0 */ |
| 851 024e DF91 pop r29 |
| 852 0250 CF91 pop r28 |
| 853 0252 1F91 pop r17 |
| 854 0254 0895 ret |
| 855 /* epilogue end (size=4) */ |
| 856 /* function Piep size 34 (27) */ |
| 858 .global CalibrierMittelwert |
| 860 CalibrierMittelwert: |
| 861 /* prologue: frame size=0 */ |
| 862 0256 CF93 push r28 |
| 863 0258 DF93 push r29 |
| 864 /* prologue end (size=2) */ |
| 865 025a 8091 0000 lds r24,PlatinenVersion |
| 866 025e 8D30 cpi r24,lo8(13) |
| 867 0260 11F4 brne .L18 |
| 868 0262 0E94 0000 call SucheGyroOffset |
| 869 .L18: |
| 870 0266 1092 7A00 sts 122,__zero_reg__ |
| 871 026a 8091 0000 lds r24,AdWertNick |
| 872 026e 9091 0000 lds r25,(AdWertNick)+1 |
| 873 0272 9093 0000 sts (MesswertNick)+1,r25 |
| 874 0276 8093 0000 sts MesswertNick,r24 |
| 875 027a 8091 0000 lds r24,AdWertRoll |
| 876 027e 9091 0000 lds r25,(AdWertRoll)+1 |
| 877 0282 9093 0000 sts (MesswertRoll)+1,r25 |
| 878 0286 8093 0000 sts MesswertRoll,r24 |
| 879 028a 8091 0000 lds r24,AdWertGier |
| 880 028e 9091 0000 lds r25,(AdWertGier)+1 |
| 881 0292 9093 0000 sts (MesswertGier)+1,r25 |
| 882 0296 8093 0000 sts MesswertGier,r24 |
| 883 029a 2091 0000 lds r18,AdWertAccNick |
| 884 029e 3091 0000 lds r19,(AdWertAccNick)+1 |
| 885 02a2 C901 movw r24,r18 |
| 886 02a4 880F lsl r24 |
| 887 02a6 991F rol r25 |
| 888 02a8 880F lsl r24 |
| 889 02aa 991F rol r25 |
| 890 02ac 820F add r24,r18 |
| 891 02ae 931F adc r25,r19 |
| 892 02b0 820F add r24,r18 |
| 893 02b2 931F adc r25,r19 |
| 894 02b4 9093 0000 sts (Mittelwert_AccNick)+1,r25 |
| 895 02b8 8093 0000 sts Mittelwert_AccNick,r24 |
| 896 02bc 2091 0000 lds r18,AdWertAccRoll |
| 897 02c0 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 898 02c4 C901 movw r24,r18 |
| 899 02c6 880F lsl r24 |
| 900 02c8 991F rol r25 |
| 901 02ca 880F lsl r24 |
| 902 02cc 991F rol r25 |
| 903 02ce 820F add r24,r18 |
| 904 02d0 931F adc r25,r19 |
| 905 02d2 820F add r24,r18 |
| 906 02d4 931F adc r25,r19 |
| 907 02d6 9093 0000 sts (Mittelwert_AccRoll)+1,r25 |
| 908 02da 8093 0000 sts Mittelwert_AccRoll,r24 |
| 909 02de 8FEC ldi r24,lo8(-49) |
| 910 02e0 8093 7A00 sts 122,r24 |
| 911 02e4 A0E0 ldi r26,lo8(Poti) |
| 912 02e6 B0E0 ldi r27,hi8(Poti) |
| 913 02e8 C0E0 ldi r28,lo8(EE_Parameter+5) |
| 914 02ea D0E0 ldi r29,hi8(EE_Parameter+5) |
| 915 02ec 97E0 ldi r25,lo8(7) |
| 916 .L28: |
| 917 02ee 8991 ld r24,Y+ |
| 918 02f0 E82F mov r30,r24 |
| 919 02f2 FF27 clr r31 |
| 920 02f4 EE0F add r30,r30 |
| 921 02f6 FF1F adc r31,r31 |
| 922 02f8 E050 subi r30,lo8(-(PPM_in)) |
| 923 02fa F040 sbci r31,hi8(-(PPM_in)) |
| 924 02fc 0190 ld __tmp_reg__,Z+ |
| 925 02fe F081 ld r31,Z |
| 926 0300 E02D mov r30,__tmp_reg__ |
| 927 0302 E259 subi r30,lo8(-(110)) |
| 928 0304 FF4F sbci r31,hi8(-(110)) |
| 929 0306 1E16 cp __zero_reg__,r30 |
| 930 0308 1F06 cpc __zero_reg__,r31 |
| 931 030a 1CF0 brlt .L22 |
| 932 030c E0E0 ldi r30,lo8(0) |
| 933 030e F0E0 ldi r31,hi8(0) |
| 934 0310 05C0 rjmp .L23 |
| 935 .L22: |
| 936 0312 EF3F cpi r30,255 |
| 937 0314 F105 cpc r31,__zero_reg__ |
| 938 0316 14F0 brlt .L23 |
| 939 0318 EFEF ldi r30,lo8(255) |
| 940 031a F0E0 ldi r31,hi8(255) |
| 941 .L23: |
| 942 031c 8C91 ld r24,X |
| 943 031e 282F mov r18,r24 |
| 944 0320 3327 clr r19 |
| 945 0322 E217 cp r30,r18 |
| 946 0324 F307 cpc r31,r19 |
| 947 0326 14F4 brge .L25 |
| 948 0328 8150 subi r24,lo8(-(-1)) |
| 949 032a 04C0 rjmp .L31 |
| 950 .L25: |
| 951 032c 2E17 cp r18,r30 |
| 952 032e 3F07 cpc r19,r31 |
| 953 0330 14F4 brge .L21 |
| 954 0332 8F5F subi r24,lo8(-(1)) |
| 955 .L31: |
| 956 0334 8C93 st X,r24 |
| 957 .L21: |
| 958 0336 9150 subi r25,lo8(-(-1)) |
| 959 0338 1196 adiw r26,1 |
| 960 033a 97FF sbrs r25,7 |
| 961 033c D8CF rjmp .L28 |
| 962 033e 8091 0000 lds r24,EE_Parameter+65 |
| 963 0342 9927 clr r25 |
| 964 0344 AA27 clr r26 |
| 965 0346 BB27 clr r27 |
| 966 0348 BC01 movw r22,r24 |
| 967 034a CD01 movw r24,r26 |
| 968 034c 24EC ldi r18,lo8(2500) |
| 969 034e 39E0 ldi r19,hi8(2500) |
| 970 0350 40E0 ldi r20,hlo8(2500) |
| 971 0352 50E0 ldi r21,hhi8(2500) |
| 972 0354 0E94 0000 call __mulsi3 |
| 973 0358 DC01 movw r26,r24 |
| 974 035a CB01 movw r24,r22 |
| 975 035c 8093 0000 sts Umschlag180Nick,r24 |
| 976 0360 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 977 0364 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 978 0368 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 979 036c 8091 0000 lds r24,EE_Parameter+66 |
| 980 0370 9927 clr r25 |
| 981 0372 AA27 clr r26 |
| 982 0374 BB27 clr r27 |
| 983 0376 BC01 movw r22,r24 |
| 984 0378 CD01 movw r24,r26 |
| 985 037a 0E94 0000 call __mulsi3 |
| 986 037e DC01 movw r26,r24 |
| 987 0380 CB01 movw r24,r22 |
| 988 0382 8093 0000 sts Umschlag180Roll,r24 |
| 989 0386 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 990 038a A093 0000 sts (Umschlag180Roll)+2,r26 |
| 991 038e B093 0000 sts (Umschlag180Roll)+3,r27 |
| 992 /* epilogue: frame size=0 */ |
| 993 0392 DF91 pop r29 |
| 994 0394 CF91 pop r28 |
| 995 0396 0895 ret |
| 996 /* epilogue end (size=3) */ |
| 997 /* function CalibrierMittelwert size 161 (156) */ |
| 999 .section .progmem.data,"a",@progbits |
| 1002 __c.39: |
| 1003 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n" |
| 1003 4320 6E6F |
| 1003 7420 6361 |
| 1003 6C69 6272 |
| 1003 6174 6564 |
| 1004 .text |
| 1005 .global SetNeutral |
| 1007 SetNeutral: |
| 1008 /* prologue: frame size=0 */ |
| 1009 0398 A0E0 ldi r26,lo8(0) |
| 1010 039a B0E0 ldi r27,hi8(0) |
| 1011 039c E0E0 ldi r30,pm_lo8(1f) |
| 1012 039e F0E0 ldi r31,pm_hi8(1f) |
| 1013 03a0 0C94 0000 jmp __prologue_saves__+12 |
| 1014 1: |
| 1015 /* prologue end (size=6) */ |
| 1016 03a4 882E mov r8,r24 |
| 1017 03a6 C0E0 ldi r28,lo8(0) |
| 1018 03a8 D0E0 ldi r29,hi8(0) |
| 1019 03aa 7E01 movw r14,r28 |
| 1020 03ac 6E01 movw r12,r28 |
| 1021 03ae 1092 0000 sts VersionInfo+5,__zero_reg__ |
| 1022 03b2 469A sbi 40-0x20,6 |
| 1023 03b4 D093 0000 sts (NeutralAccX)+1,r29 |
| 1024 03b8 C093 0000 sts NeutralAccX,r28 |
| 1025 03bc D093 0000 sts (NeutralAccY)+1,r29 |
| 1026 03c0 C093 0000 sts NeutralAccY,r28 |
| 1027 03c4 D093 0000 sts (NeutralAccZ)+1,r29 |
| 1028 03c8 C093 0000 sts NeutralAccZ,r28 |
| 1029 03cc D093 0000 sts (AdNeutralNick)+1,r29 |
| 1030 03d0 C093 0000 sts AdNeutralNick,r28 |
| 1031 03d4 D093 0000 sts (AdNeutralRoll)+1,r29 |
| 1032 03d8 C093 0000 sts AdNeutralRoll,r28 |
| 1033 03dc D093 0000 sts (AdNeutralGier)+1,r29 |
| 1034 03e0 C093 0000 sts AdNeutralGier,r28 |
| 1035 03e4 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__ |
| 1036 03e8 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__ |
| 1037 03ec 1092 0000 sts ExpandBaro,__zero_reg__ |
| 1038 03f0 0E94 0000 call CalibrierMittelwert |
| 1039 03f4 84E6 ldi r24,lo8(100) |
| 1040 03f6 90E0 ldi r25,hi8(100) |
| 1041 03f8 0E94 0000 call Delay_ms_Mess |
| 1042 03fc 0E94 0000 call CalibrierMittelwert |
| 1043 0400 8091 0000 lds r24,EE_Parameter+13 |
| 1044 0404 80FF sbrs r24,0 |
| 1045 0406 10C0 rjmp .L33 |
| 1046 0408 8091 0000 lds r24,MessLuftdruck |
| 1047 040c 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1048 0410 875B subi r24,lo8(951) |
| 1049 0412 9340 sbci r25,hi8(951) |
| 1050 0414 38F4 brsh .L35 |
| 1051 0416 8091 0000 lds r24,MessLuftdruck |
| 1052 041a 9091 0000 lds r25,(MessLuftdruck)+1 |
| 1053 041e 8E5E subi r24,lo8(750) |
| 1054 0420 9240 sbci r25,hi8(750) |
| 1055 0422 10F4 brsh .L33 |
| 1056 .L35: |
| 1057 0424 0E94 0000 call SucheLuftruckOffset |
| 1058 .L33: |
| 1059 0428 0FE1 ldi r16,lo8(31) |
| 1060 .L39: |
| 1061 042a 8AE0 ldi r24,lo8(10) |
| 1062 042c 90E0 ldi r25,hi8(10) |
| 1063 042e 0E94 0000 call Delay_ms_Mess |
| 1064 0432 8091 0000 lds r24,AdWertGier |
| 1065 0436 9091 0000 lds r25,(AdWertGier)+1 |
| 1066 043a C80F add r28,r24 |
| 1067 043c D91F adc r29,r25 |
| 1068 043e 8091 0000 lds r24,AdWertNick |
| 1069 0442 9091 0000 lds r25,(AdWertNick)+1 |
| 1070 0446 E80E add r14,r24 |
| 1071 0448 F91E adc r15,r25 |
| 1072 044a 8091 0000 lds r24,AdWertRoll |
| 1073 044e 9091 0000 lds r25,(AdWertRoll)+1 |
| 1074 0452 C80E add r12,r24 |
| 1075 0454 D91E adc r13,r25 |
| 1076 0456 0150 subi r16,lo8(-(-1)) |
| 1077 0458 07FF sbrs r16,7 |
| 1078 045a E7CF rjmp .L39 |
| 1079 045c 9701 movw r18,r14 |
| 1080 045e 205F subi r18,lo8(-(16)) |
| 1081 0460 3F4F sbci r19,hi8(-(16)) |
| 1082 0462 3695 lsr r19 |
| 1083 0464 2795 ror r18 |
| 1084 0466 3695 lsr r19 |
| 1085 0468 2795 ror r18 |
| 1086 046a 3093 0000 sts (AdNeutralNick)+1,r19 |
| 1087 046e 2093 0000 sts AdNeutralNick,r18 |
| 1088 0472 C601 movw r24,r12 |
| 1089 0474 4096 adiw r24,16 |
| 1090 0476 9695 lsr r25 |
| 1091 0478 8795 ror r24 |
| 1092 047a 9695 lsr r25 |
| 1093 047c 8795 ror r24 |
| 1094 047e 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 1095 0482 8093 0000 sts AdNeutralRoll,r24 |
| 1096 0486 6096 adiw r28,16 |
| 1097 0488 F5E0 ldi r31,5 |
| 1098 048a D695 1: lsr r29 |
| 1099 048c C795 ror r28 |
| 1100 048e FA95 dec r31 |
| 1101 0490 E1F7 brne 1b |
| 1102 0492 D093 0000 sts (AdNeutralGier)+1,r29 |
| 1103 0496 C093 0000 sts AdNeutralGier,r28 |
| 1104 049a 9093 0000 sts (StartNeutralRoll)+1,r25 |
| 1105 049e 8093 0000 sts StartNeutralRoll,r24 |
| 1106 04a2 3093 0000 sts (StartNeutralNick)+1,r19 |
| 1107 04a6 2093 0000 sts StartNeutralNick,r18 |
| 1108 04aa 8820 tst r8 |
| 1109 04ac 09F4 brne .+2 |
| 1110 04ae 41C0 rjmp .L40 |
| 1111 04b0 8091 0000 lds r24,Mittelwert_AccNick |
| 1112 04b4 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1113 04b8 97FF sbrs r25,7 |
| 1114 04ba 03C0 rjmp .L41 |
| 1115 04bc 9095 com r25 |
| 1116 04be 8195 neg r24 |
| 1117 04c0 9F4F sbci r25,lo8(-1) |
| 1118 .L41: |
| 1119 04c2 6CE0 ldi r22,lo8(12) |
| 1120 04c4 70E0 ldi r23,hi8(12) |
| 1121 04c6 0E94 0000 call __divmodhi4 |
| 1122 04ca 9B01 movw r18,r22 |
| 1123 04cc 7093 0000 sts (NeutralAccX)+1,r23 |
| 1124 04d0 6093 0000 sts NeutralAccX,r22 |
| 1125 04d4 8091 0000 lds r24,Mittelwert_AccRoll |
| 1126 04d8 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1127 04dc 97FF sbrs r25,7 |
| 1128 04de 03C0 rjmp .L42 |
| 1129 04e0 9095 com r25 |
| 1130 04e2 8195 neg r24 |
| 1131 04e4 9F4F sbci r25,lo8(-1) |
| 1132 .L42: |
| 1133 04e6 6CE0 ldi r22,lo8(12) |
| 1134 04e8 70E0 ldi r23,hi8(12) |
| 1135 04ea 0E94 0000 call __divmodhi4 |
| 1136 04ee 7093 0000 sts (NeutralAccY)+1,r23 |
| 1137 04f2 6093 0000 sts NeutralAccY,r22 |
| 1138 04f6 8091 0000 lds r24,Aktuell_az |
| 1139 04fa 9091 0000 lds r25,(Aktuell_az)+1 |
| 1140 04fe 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1141 0502 8093 0000 sts NeutralAccZ,r24 |
| 1142 0506 B901 movw r22,r18 |
| 1143 0508 84E0 ldi r24,lo8(4) |
| 1144 050a 90E0 ldi r25,hi8(4) |
| 1145 050c 0E94 0000 call SetParamWord |
| 1146 0510 6091 0000 lds r22,NeutralAccY |
| 1147 0514 7091 0000 lds r23,(NeutralAccY)+1 |
| 1148 0518 86E0 ldi r24,lo8(6) |
| 1149 051a 90E0 ldi r25,hi8(6) |
| 1150 051c 0E94 0000 call SetParamWord |
| 1151 0520 6091 0000 lds r22,NeutralAccZ |
| 1152 0524 7091 0000 lds r23,(NeutralAccZ)+1 |
| 1153 0528 88E0 ldi r24,lo8(8) |
| 1154 052a 90E0 ldi r25,hi8(8) |
| 1155 052c 0E94 0000 call SetParamWord |
| 1156 0530 65C0 rjmp .L43 |
| 1157 .L40: |
| 1158 0532 84E0 ldi r24,lo8(4) |
| 1159 0534 90E0 ldi r25,hi8(4) |
| 1160 0536 0E94 0000 call GetParamWord |
| 1161 053a 9093 0000 sts (NeutralAccX)+1,r25 |
| 1162 053e 8093 0000 sts NeutralAccX,r24 |
| 1163 0542 86E0 ldi r24,lo8(6) |
| 1164 0544 90E0 ldi r25,hi8(6) |
| 1165 0546 0E94 0000 call GetParamWord |
| 1166 054a 9093 0000 sts (NeutralAccY)+1,r25 |
| 1167 054e 8093 0000 sts NeutralAccY,r24 |
| 1168 0552 88E0 ldi r24,lo8(8) |
| 1169 0554 90E0 ldi r25,hi8(8) |
| 1170 0556 0E94 0000 call GetParamWord |
| 1171 055a 9C01 movw r18,r24 |
| 1172 055c 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1173 0560 8093 0000 sts NeutralAccZ,r24 |
| 1174 0564 8091 0000 lds r24,NeutralAccX |
| 1175 0568 9091 0000 lds r25,(NeutralAccX)+1 |
| 1176 056c 8150 subi r24,lo8(2049) |
| 1177 056e 9840 sbci r25,hi8(2049) |
| 1178 0570 50F4 brsh .L45 |
| 1179 0572 8091 0000 lds r24,NeutralAccY |
| 1180 0576 9091 0000 lds r25,(NeutralAccY)+1 |
| 1181 057a 8150 subi r24,lo8(2049) |
| 1182 057c 9840 sbci r25,hi8(2049) |
| 1183 057e 18F4 brsh .L45 |
| 1184 0580 2150 subi r18,lo8(1025) |
| 1185 0582 3440 sbci r19,hi8(1025) |
| 1186 0584 D8F1 brlo .L43 |
| 1187 .L45: |
| 1188 0586 80E0 ldi r24,lo8(__c.39) |
| 1189 0588 90E0 ldi r25,hi8(__c.39) |
| 1190 058a 9F93 push r25 |
| 1191 058c 8F93 push r24 |
| 1192 058e 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 1193 0590 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 1194 0592 9F93 push r25 |
| 1195 0594 8F93 push r24 |
| 1196 0596 E091 0000 lds r30,_printf_P |
| 1197 059a F091 0000 lds r31,(_printf_P)+1 |
| 1198 059e 0995 icall |
| 1199 05a0 8091 0000 lds r24,Mittelwert_AccNick |
| 1200 05a4 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1201 05a8 97FF sbrs r25,7 |
| 1202 05aa 03C0 rjmp .L46 |
| 1203 05ac 9095 com r25 |
| 1204 05ae 8195 neg r24 |
| 1205 05b0 9F4F sbci r25,lo8(-1) |
| 1206 .L46: |
| 1207 05b2 6CE0 ldi r22,lo8(12) |
| 1208 05b4 70E0 ldi r23,hi8(12) |
| 1209 05b6 0E94 0000 call __divmodhi4 |
| 1210 05ba 7093 0000 sts (NeutralAccX)+1,r23 |
| 1211 05be 6093 0000 sts NeutralAccX,r22 |
| 1212 05c2 8091 0000 lds r24,Mittelwert_AccRoll |
| 1213 05c6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1214 05ca 97FF sbrs r25,7 |
| 1215 05cc 03C0 rjmp .L47 |
| 1216 05ce 9095 com r25 |
| 1217 05d0 8195 neg r24 |
| 1218 05d2 9F4F sbci r25,lo8(-1) |
| 1219 .L47: |
| 1220 05d4 6CE0 ldi r22,lo8(12) |
| 1221 05d6 70E0 ldi r23,hi8(12) |
| 1222 05d8 0E94 0000 call __divmodhi4 |
| 1223 05dc 7093 0000 sts (NeutralAccY)+1,r23 |
| 1224 05e0 6093 0000 sts NeutralAccY,r22 |
| 1225 05e4 8091 0000 lds r24,Aktuell_az |
| 1226 05e8 9091 0000 lds r25,(Aktuell_az)+1 |
| 1227 05ec 9093 0000 sts (NeutralAccZ)+1,r25 |
| 1228 05f0 8093 0000 sts NeutralAccZ,r24 |
| 1229 05f4 0F90 pop __tmp_reg__ |
| 1230 05f6 0F90 pop __tmp_reg__ |
| 1231 05f8 0F90 pop __tmp_reg__ |
| 1232 05fa 0F90 pop __tmp_reg__ |
| 1233 .L43: |
| 1234 05fc 1092 0000 sts (MesswertNick)+1,__zero_reg__ |
| 1235 0600 1092 0000 sts MesswertNick,__zero_reg__ |
| 1236 0604 1092 0000 sts (MesswertRoll)+1,__zero_reg__ |
| 1237 0608 1092 0000 sts MesswertRoll,__zero_reg__ |
| 1238 060c 1092 0000 sts (MesswertGier)+1,__zero_reg__ |
| 1239 0610 1092 0000 sts MesswertGier,__zero_reg__ |
| 1240 0614 84E6 ldi r24,lo8(100) |
| 1241 0616 90E0 ldi r25,hi8(100) |
| 1242 0618 0E94 0000 call Delay_ms_Mess |
| 1243 061c 8091 0000 lds r24,AdWertAccNick |
| 1244 0620 9091 0000 lds r25,(AdWertAccNick)+1 |
| 1245 0624 9C01 movw r18,r24 |
| 1246 0626 220F lsl r18 |
| 1247 0628 331F rol r19 |
| 1248 062a 220F lsl r18 |
| 1249 062c 331F rol r19 |
| 1250 062e 280F add r18,r24 |
| 1251 0630 391F adc r19,r25 |
| 1252 0632 280F add r18,r24 |
| 1253 0634 391F adc r19,r25 |
| 1254 0636 3093 0000 sts (Mittelwert_AccNick)+1,r19 |
| 1255 063a 2093 0000 sts Mittelwert_AccNick,r18 |
| 1256 063e 8091 0000 lds r24,AdWertAccRoll |
| 1257 0642 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 1258 0646 8C01 movw r16,r24 |
| 1259 0648 000F lsl r16 |
| 1260 064a 111F rol r17 |
| 1261 064c 000F lsl r16 |
| 1262 064e 111F rol r17 |
| 1263 0650 080F add r16,r24 |
| 1264 0652 191F adc r17,r25 |
| 1265 0654 080F add r16,r24 |
| 1266 0656 191F adc r17,r25 |
| 1267 0658 1093 0000 sts (Mittelwert_AccRoll)+1,r17 |
| 1268 065c 0093 0000 sts Mittelwert_AccRoll,r16 |
| 1269 0660 8091 0000 lds r24,EE_Parameter+28 |
| 1270 0664 C82E mov r12,r24 |
| 1271 0666 DD24 clr r13 |
| 1272 0668 EE24 clr r14 |
| 1273 066a FF24 clr r15 |
| 1274 066c 4427 clr r20 |
| 1275 066e 37FD sbrc r19,7 |
| 1276 0670 4095 com r20 |
| 1277 0672 542F mov r21,r20 |
| 1278 0674 C701 movw r24,r14 |
| 1279 0676 B601 movw r22,r12 |
| 1280 0678 0E94 0000 call __mulsi3 |
| 1281 067c 4B01 movw r8,r22 |
| 1282 067e 5C01 movw r10,r24 |
| 1283 0680 6093 0000 sts IntegralNick,r22 |
| 1284 0684 7093 0000 sts (IntegralNick)+1,r23 |
| 1285 0688 8093 0000 sts (IntegralNick)+2,r24 |
| 1286 068c 9093 0000 sts (IntegralNick)+3,r25 |
| 1287 0690 9801 movw r18,r16 |
| 1288 0692 4427 clr r20 |
| 1289 0694 37FD sbrc r19,7 |
| 1290 0696 4095 com r20 |
| 1291 0698 542F mov r21,r20 |
| 1292 069a C701 movw r24,r14 |
| 1293 069c B601 movw r22,r12 |
| 1294 069e 0E94 0000 call __mulsi3 |
| 1295 06a2 DC01 movw r26,r24 |
| 1296 06a4 CB01 movw r24,r22 |
| 1297 06a6 8093 0000 sts IntegralRoll,r24 |
| 1298 06aa 9093 0000 sts (IntegralRoll)+1,r25 |
| 1299 06ae A093 0000 sts (IntegralRoll)+2,r26 |
| 1300 06b2 B093 0000 sts (IntegralRoll)+3,r27 |
| 1301 06b6 8092 0000 sts Mess_IntegralNick2,r8 |
| 1302 06ba 9092 0000 sts (Mess_IntegralNick2)+1,r9 |
| 1303 06be A092 0000 sts (Mess_IntegralNick2)+2,r10 |
| 1304 06c2 B092 0000 sts (Mess_IntegralNick2)+3,r11 |
| 1305 06c6 8093 0000 sts Mess_IntegralRoll2,r24 |
| 1306 06ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 1307 06ce A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 1308 06d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 1309 06d6 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 1310 06da 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 1311 06de 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 1312 06e2 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 1313 06e6 8091 0000 lds r24,Luftdruck |
| 1314 06ea 9091 0000 lds r25,(Luftdruck)+1 |
| 1315 06ee A091 0000 lds r26,(Luftdruck)+2 |
| 1316 06f2 B091 0000 lds r27,(Luftdruck)+3 |
| 1317 06f6 9093 0000 sts (StartLuftdruck)+1,r25 |
| 1318 06fa 8093 0000 sts StartLuftdruck,r24 |
| 1319 06fe 1092 0000 sts (VarioMeter)+1,__zero_reg__ |
| 1320 0702 1092 0000 sts VarioMeter,__zero_reg__ |
| 1321 0706 1092 0000 sts Mess_Integral_Hoch,__zero_reg__ |
| 1322 070a 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__ |
| 1323 070e 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__ |
| 1324 0712 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__ |
| 1325 0716 8091 0000 lds r24,KompassValue |
| 1326 071a 9091 0000 lds r25,(KompassValue)+1 |
| 1327 071e 9093 0000 sts (KompassStartwert)+1,r25 |
| 1328 0722 8093 0000 sts KompassStartwert,r24 |
| 1329 0726 0E94 0000 call GPS_Neutral |
| 1330 072a 82E3 ldi r24,lo8(50) |
| 1331 072c 90E0 ldi r25,hi8(50) |
| 1332 072e 9093 0000 sts (beeptime)+1,r25 |
| 1333 0732 8093 0000 sts beeptime,r24 |
| 1334 0736 8091 0000 lds r24,EE_Parameter+65 |
| 1335 073a 9927 clr r25 |
| 1336 073c AA27 clr r26 |
| 1337 073e BB27 clr r27 |
| 1338 0740 BC01 movw r22,r24 |
| 1339 0742 CD01 movw r24,r26 |
| 1340 0744 24EC ldi r18,lo8(2500) |
| 1341 0746 39E0 ldi r19,hi8(2500) |
| 1342 0748 40E0 ldi r20,hlo8(2500) |
| 1343 074a 50E0 ldi r21,hhi8(2500) |
| 1344 074c 0E94 0000 call __mulsi3 |
| 1345 0750 DC01 movw r26,r24 |
| 1346 0752 CB01 movw r24,r22 |
| 1347 0754 8856 subi r24,lo8(-(15000)) |
| 1348 0756 954C sbci r25,hi8(-(15000)) |
| 1349 0758 AF4F sbci r26,hlo8(-(15000)) |
| 1350 075a BF4F sbci r27,hhi8(-(15000)) |
| 1351 075c 8093 0000 sts Umschlag180Nick,r24 |
| 1352 0760 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1353 0764 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1354 0768 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1355 076c 8091 0000 lds r24,EE_Parameter+66 |
| 1356 0770 9927 clr r25 |
| 1357 0772 AA27 clr r26 |
| 1358 0774 BB27 clr r27 |
| 1359 0776 BC01 movw r22,r24 |
| 1360 0778 CD01 movw r24,r26 |
| 1361 077a 0E94 0000 call __mulsi3 |
| 1362 077e DC01 movw r26,r24 |
| 1363 0780 CB01 movw r24,r22 |
| 1364 0782 8856 subi r24,lo8(-(15000)) |
| 1365 0784 954C sbci r25,hi8(-(15000)) |
| 1366 0786 AF4F sbci r26,hlo8(-(15000)) |
| 1367 0788 BF4F sbci r27,hhi8(-(15000)) |
| 1368 078a 8093 0000 sts Umschlag180Roll,r24 |
| 1369 078e 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1370 0792 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1371 0796 B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1372 079a 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__ |
| 1373 079e 1092 0000 sts ExternHoehenValue,__zero_reg__ |
| 1374 07a2 8091 0000 lds r24,KompassValue |
| 1375 07a6 9091 0000 lds r25,(KompassValue)+1 |
| 1376 07aa AA27 clr r26 |
| 1377 07ac 97FD sbrc r25,7 |
| 1378 07ae A095 com r26 |
| 1379 07b0 BA2F mov r27,r26 |
| 1380 07b2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 1381 07b6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 1382 07ba 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 1383 07be 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 1384 07c2 BC01 movw r22,r24 |
| 1385 07c4 CD01 movw r24,r26 |
| 1386 07c6 0E94 0000 call __mulsi3 |
| 1387 07ca DC01 movw r26,r24 |
| 1388 07cc CB01 movw r24,r22 |
| 1389 07ce 8093 0000 sts ErsatzKompass,r24 |
| 1390 07d2 9093 0000 sts (ErsatzKompass)+1,r25 |
| 1391 07d6 A093 0000 sts (ErsatzKompass)+2,r26 |
| 1392 07da B093 0000 sts (ErsatzKompass)+3,r27 |
| 1393 07de 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 1394 07e2 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 1395 07e6 81E0 ldi r24,lo8(1) |
| 1396 07e8 8093 0000 sts SendVersionToNavi,r24 |
| 1397 07ec 0E94 0000 call LED_Init |
| 1398 07f0 8091 0000 lds r24,FC_StatusFlags |
| 1399 07f4 8460 ori r24,lo8(4) |
| 1400 07f6 8093 0000 sts FC_StatusFlags,r24 |
| 1401 07fa 8FEF ldi r24,lo8(-1) |
| 1402 07fc 8093 0000 sts FromNaviCtrl_Value,r24 |
| 1403 0800 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__ |
| 1404 0804 80E2 ldi r24,lo8(32) |
| 1405 0806 8093 0000 sts FromNaviCtrl_Value+2,r24 |
| 1406 080a C0E0 ldi r28,lo8(Poti) |
| 1407 080c D0E0 ldi r29,hi8(Poti) |
| 1408 080e A0E0 ldi r26,lo8(EE_Parameter+5) |
| 1409 0810 B0E0 ldi r27,hi8(EE_Parameter+5) |
| 1410 0812 07E0 ldi r16,lo8(7) |
| 1411 .L51: |
| 1412 0814 8D91 ld r24,X+ |
| 1413 0816 E82F mov r30,r24 |
| 1414 0818 FF27 clr r31 |
| 1415 081a EE0F add r30,r30 |
| 1416 081c FF1F adc r31,r31 |
| 1417 081e E050 subi r30,lo8(-(PPM_in)) |
| 1418 0820 F040 sbci r31,hi8(-(PPM_in)) |
| 1419 0822 8081 ld r24,Z |
| 1420 0824 9181 ldd r25,Z+1 |
| 1421 0826 8259 subi r24,lo8(-(110)) |
| 1422 0828 8993 st Y+,r24 |
| 1423 082a 0150 subi r16,lo8(-(-1)) |
| 1424 082c 07FF sbrs r16,7 |
| 1425 082e F2CF rjmp .L51 |
| 1426 0830 84E6 ldi r24,lo8(100) |
| 1427 0832 8093 0000 sts SenderOkay,r24 |
| 1428 0836 8091 0000 lds r24,ServoActive |
| 1429 083a 8823 tst r24 |
| 1430 083c 11F0 breq .L52 |
| 1431 083e 469A sbi 40-0x20,6 |
| 1432 0840 579A sbi 42-0x20,7 |
| 1433 .L52: |
| 1434 0842 8091 0000 lds r24,AdNeutralNick |
| 1435 0846 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1436 084a 8056 subi r24,lo8(-(-2400)) |
| 1437 084c 9940 sbci r25,hi8(-(-2400)) |
| 1438 084e 815C subi r24,lo8(11201) |
| 1439 0850 9B42 sbci r25,hi8(11201) |
| 1440 0852 28F0 brlo .L53 |
| 1441 0854 8091 0000 lds r24,VersionInfo+5 |
| 1442 0858 8160 ori r24,lo8(1) |
| 1443 085a 8093 0000 sts VersionInfo+5,r24 |
| 1444 .L53: |
| 1445 085e 8091 0000 lds r24,AdNeutralRoll |
| 1446 0862 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1447 0866 8056 subi r24,lo8(-(-2400)) |
| 1448 0868 9940 sbci r25,hi8(-(-2400)) |
| 1449 086a 815C subi r24,lo8(11201) |
| 1450 086c 9B42 sbci r25,hi8(11201) |
| 1451 086e 28F0 brlo .L54 |
| 1452 0870 8091 0000 lds r24,VersionInfo+5 |
| 1453 0874 8260 ori r24,lo8(2) |
| 1454 0876 8093 0000 sts VersionInfo+5,r24 |
| 1455 .L54: |
| 1456 087a 8091 0000 lds r24,AdNeutralGier |
| 1457 087e 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1458 0882 8C52 subi r24,lo8(-(-300)) |
| 1459 0884 9140 sbci r25,hi8(-(-300)) |
| 1460 0886 8957 subi r24,lo8(1401) |
| 1461 0888 9540 sbci r25,hi8(1401) |
| 1462 088a 28F0 brlo .L55 |
| 1463 088c 8091 0000 lds r24,VersionInfo+5 |
| 1464 0890 8460 ori r24,lo8(4) |
| 1465 0892 8093 0000 sts VersionInfo+5,r24 |
| 1466 .L55: |
| 1467 0896 8091 0000 lds r24,NeutralAccX |
| 1468 089a 9091 0000 lds r25,(NeutralAccX)+1 |
| 1469 089e 8C52 subi r24,lo8(-(-300)) |
| 1470 08a0 9140 sbci r25,hi8(-(-300)) |
| 1471 08a2 835C subi r24,lo8(451) |
| 1472 08a4 9140 sbci r25,hi8(451) |
| 1473 08a6 28F0 brlo .L56 |
| 1474 08a8 8091 0000 lds r24,VersionInfo+5 |
| 1475 08ac 8860 ori r24,lo8(8) |
| 1476 08ae 8093 0000 sts VersionInfo+5,r24 |
| 1477 .L56: |
| 1478 08b2 8091 0000 lds r24,NeutralAccY |
| 1479 08b6 9091 0000 lds r25,(NeutralAccY)+1 |
| 1480 08ba 8C52 subi r24,lo8(-(-300)) |
| 1481 08bc 9140 sbci r25,hi8(-(-300)) |
| 1482 08be 835C subi r24,lo8(451) |
| 1483 08c0 9140 sbci r25,hi8(451) |
| 1484 08c2 28F0 brlo .L57 |
| 1485 08c4 8091 0000 lds r24,VersionInfo+5 |
| 1486 08c8 8061 ori r24,lo8(16) |
| 1487 08ca 8093 0000 sts VersionInfo+5,r24 |
| 1488 .L57: |
| 1489 08ce 8091 0000 lds r24,NeutralAccZ |
| 1490 08d2 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1491 08d6 8050 subi r24,lo8(-(-512)) |
| 1492 08d8 9240 sbci r25,hi8(-(-512)) |
| 1493 08da 8355 subi r24,lo8(339) |
| 1494 08dc 9140 sbci r25,hi8(339) |
| 1495 08de 28F0 brlo .L32 |
| 1496 08e0 8091 0000 lds r24,VersionInfo+5 |
| 1497 08e4 8062 ori r24,lo8(32) |
| 1498 08e6 8093 0000 sts VersionInfo+5,r24 |
| 1499 .L32: |
| 1500 /* epilogue: frame size=0 */ |
| 1501 08ea ECE0 ldi r30,12 |
| 1502 08ec CDB7 in r28,__SP_L__ |
| 1503 08ee DEB7 in r29,__SP_H__ |
| 1504 08f0 0C94 0000 jmp __epilogue_restores__+12 |
| 1505 /* epilogue end (size=5) */ |
| 1506 /* function SetNeutral size 697 (686) */ |
| 1508 .lcomm tmpl.31,4 |
| 1509 .lcomm tmpl2.32,4 |
| 1510 .lcomm tmpl3.33,4 |
| 1511 .lcomm tmpl4.34,4 |
| 1512 .lcomm oldNick.35,2 |
| 1513 .lcomm oldRoll.36,2 |
| 1514 .lcomm d2Roll.37,2 |
| 1515 .lcomm d2Nick.38,2 |
| 1516 .global Mittelwert |
| 1518 Mittelwert: |
| 1519 /* prologue: frame size=19 */ |
| 1520 08f4 A3E1 ldi r26,lo8(19) |
| 1521 08f6 B0E0 ldi r27,hi8(19) |
| 1522 08f8 E0E0 ldi r30,pm_lo8(1f) |
| 1523 08fa F0E0 ldi r31,pm_hi8(1f) |
| 1524 08fc 0C94 0000 jmp __prologue_saves__+0 |
| 1525 1: |
| 1526 /* prologue end (size=6) */ |
| 1527 0900 8091 0000 lds r24,AdNeutralGier |
| 1528 0904 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1529 0908 2091 0000 lds r18,AdWertGier |
| 1530 090c 3091 0000 lds r19,(AdWertGier)+1 |
| 1531 0910 821B sub r24,r18 |
| 1532 0912 930B sbc r25,r19 |
| 1533 0914 9093 0000 sts (MesswertGier)+1,r25 |
| 1534 0918 8093 0000 sts MesswertGier,r24 |
| 1535 091c 8091 0000 lds r24,AdWertNickFilter |
| 1536 0920 9091 0000 lds r25,(AdWertNickFilter)+1 |
| 1537 0924 97FD sbrc r25,7 |
| 1538 0926 0796 adiw r24,7 |
| 1539 .L64: |
| 1540 0928 9C01 movw r18,r24 |
| 1541 092a 13E0 ldi r17,3 |
| 1542 092c 3595 1: asr r19 |
| 1543 092e 2795 ror r18 |
| 1544 0930 1A95 dec r17 |
| 1545 0932 E1F7 brne 1b |
| 1546 0934 3093 0000 sts (MesswertNick)+1,r19 |
| 1547 0938 2093 0000 sts MesswertNick,r18 |
| 1548 093c 8091 0000 lds r24,AdWertRollFilter |
| 1549 0940 9091 0000 lds r25,(AdWertRollFilter)+1 |
| 1550 0944 97FD sbrc r25,7 |
| 1551 0946 0796 adiw r24,7 |
| 1552 .L65: |
| 1553 0948 B3E0 ldi r27,3 |
| 1554 094a 9595 1: asr r25 |
| 1555 094c 8795 ror r24 |
| 1556 094e BA95 dec r27 |
| 1557 0950 E1F7 brne 1b |
| 1558 0952 9093 0000 sts (MesswertRoll)+1,r25 |
| 1559 0956 8093 0000 sts MesswertRoll,r24 |
| 1560 095a 3093 0000 sts (RohMesswertNick)+1,r19 |
| 1561 095e 2093 0000 sts RohMesswertNick,r18 |
| 1562 0962 9093 0000 sts (RohMesswertRoll)+1,r25 |
| 1563 0966 8093 0000 sts RohMesswertRoll,r24 |
| 1564 096a 8091 0000 lds r24,Mittelwert_AccNick |
| 1565 096e 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 1566 0972 AC01 movw r20,r24 |
| 1567 0974 440F lsl r20 |
| 1568 0976 551F rol r21 |
| 1569 0978 480F add r20,r24 |
| 1570 097a 591F adc r21,r25 |
| 1571 097c 2091 0000 lds r18,AdWertAccNick |
| 1572 0980 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1573 0984 C901 movw r24,r18 |
| 1574 0986 880F lsl r24 |
| 1575 0988 991F rol r25 |
| 1576 098a 880F lsl r24 |
| 1577 098c 991F rol r25 |
| 1578 098e 820F add r24,r18 |
| 1579 0990 931F adc r25,r19 |
| 1580 0992 820F add r24,r18 |
| 1581 0994 931F adc r25,r19 |
| 1582 0996 480F add r20,r24 |
| 1583 0998 591F adc r21,r25 |
| 1584 099a 57FF sbrs r21,7 |
| 1585 099c 02C0 rjmp .L66 |
| 1586 099e 4D5F subi r20,lo8(-(3)) |
| 1587 09a0 5F4F sbci r21,hi8(-(3)) |
| 1588 .L66: |
| 1589 09a2 5595 asr r21 |
| 1590 09a4 4795 ror r20 |
| 1591 09a6 5595 asr r21 |
| 1592 09a8 4795 ror r20 |
| 1593 09aa 5093 0000 sts (Mittelwert_AccNick)+1,r21 |
| 1594 09ae 4093 0000 sts Mittelwert_AccNick,r20 |
| 1595 09b2 8091 0000 lds r24,Mittelwert_AccRoll |
| 1596 09b6 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 1597 09ba AC01 movw r20,r24 |
| 1598 09bc 440F lsl r20 |
| 1599 09be 551F rol r21 |
| 1600 09c0 480F add r20,r24 |
| 1601 09c2 591F adc r21,r25 |
| 1602 09c4 2091 0000 lds r18,AdWertAccRoll |
| 1603 09c8 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1604 09cc C901 movw r24,r18 |
| 1605 09ce 880F lsl r24 |
| 1606 09d0 991F rol r25 |
| 1607 09d2 880F lsl r24 |
| 1608 09d4 991F rol r25 |
| 1609 09d6 820F add r24,r18 |
| 1610 09d8 931F adc r25,r19 |
| 1611 09da 820F add r24,r18 |
| 1612 09dc 931F adc r25,r19 |
| 1613 09de 480F add r20,r24 |
| 1614 09e0 591F adc r21,r25 |
| 1615 09e2 57FF sbrs r21,7 |
| 1616 09e4 02C0 rjmp .L67 |
| 1617 09e6 4D5F subi r20,lo8(-(3)) |
| 1618 09e8 5F4F sbci r21,hi8(-(3)) |
| 1619 .L67: |
| 1620 09ea 5595 asr r21 |
| 1621 09ec 4795 ror r20 |
| 1622 09ee 5595 asr r21 |
| 1623 09f0 4795 ror r20 |
| 1624 09f2 5093 0000 sts (Mittelwert_AccRoll)+1,r21 |
| 1625 09f6 4093 0000 sts Mittelwert_AccRoll,r20 |
| 1626 09fa 2091 0000 lds r18,AdWertAccNick |
| 1627 09fe 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1628 0a02 C901 movw r24,r18 |
| 1629 0a04 880F lsl r24 |
| 1630 0a06 991F rol r25 |
| 1631 0a08 880F lsl r24 |
| 1632 0a0a 991F rol r25 |
| 1633 0a0c 820F add r24,r18 |
| 1634 0a0e 931F adc r25,r19 |
| 1635 0a10 820F add r24,r18 |
| 1636 0a12 931F adc r25,r19 |
| 1637 0a14 9C01 movw r18,r24 |
| 1638 0a16 4427 clr r20 |
| 1639 0a18 37FD sbrc r19,7 |
| 1640 0a1a 4095 com r20 |
| 1641 0a1c 542F mov r21,r20 |
| 1642 0a1e 8091 0000 lds r24,IntegralAccNick |
| 1643 0a22 9091 0000 lds r25,(IntegralAccNick)+1 |
| 1644 0a26 A091 0000 lds r26,(IntegralAccNick)+2 |
| 1645 0a2a B091 0000 lds r27,(IntegralAccNick)+3 |
| 1646 0a2e 820F add r24,r18 |
| 1647 0a30 931F adc r25,r19 |
| 1648 0a32 A41F adc r26,r20 |
| 1649 0a34 B51F adc r27,r21 |
| 1650 0a36 8093 0000 sts IntegralAccNick,r24 |
| 1651 0a3a 9093 0000 sts (IntegralAccNick)+1,r25 |
| 1652 0a3e A093 0000 sts (IntegralAccNick)+2,r26 |
| 1653 0a42 B093 0000 sts (IntegralAccNick)+3,r27 |
| 1654 0a46 2091 0000 lds r18,AdWertAccRoll |
| 1655 0a4a 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1656 0a4e C901 movw r24,r18 |
| 1657 0a50 880F lsl r24 |
| 1658 0a52 991F rol r25 |
| 1659 0a54 880F lsl r24 |
| 1660 0a56 991F rol r25 |
| 1661 0a58 820F add r24,r18 |
| 1662 0a5a 931F adc r25,r19 |
| 1663 0a5c 820F add r24,r18 |
| 1664 0a5e 931F adc r25,r19 |
| 1665 0a60 9C01 movw r18,r24 |
| 1666 0a62 4427 clr r20 |
| 1667 0a64 37FD sbrc r19,7 |
| 1668 0a66 4095 com r20 |
| 1669 0a68 542F mov r21,r20 |
| 1670 0a6a 8091 0000 lds r24,IntegralAccRoll |
| 1671 0a6e 9091 0000 lds r25,(IntegralAccRoll)+1 |
| 1672 0a72 A091 0000 lds r26,(IntegralAccRoll)+2 |
| 1673 0a76 B091 0000 lds r27,(IntegralAccRoll)+3 |
| 1674 0a7a 820F add r24,r18 |
| 1675 0a7c 931F adc r25,r19 |
| 1676 0a7e A41F adc r26,r20 |
| 1677 0a80 B51F adc r27,r21 |
| 1678 0a82 8093 0000 sts IntegralAccRoll,r24 |
| 1679 0a86 9093 0000 sts (IntegralAccRoll)+1,r25 |
| 1680 0a8a A093 0000 sts (IntegralAccRoll)+2,r26 |
| 1681 0a8e B093 0000 sts (IntegralAccRoll)+3,r27 |
| 1682 0a92 8091 0000 lds r24,NaviAccNick |
| 1683 0a96 9091 0000 lds r25,(NaviAccNick)+1 |
| 1684 0a9a 2091 0000 lds r18,AdWertAccNick |
| 1685 0a9e 3091 0000 lds r19,(AdWertAccNick)+1 |
| 1686 0aa2 820F add r24,r18 |
| 1687 0aa4 931F adc r25,r19 |
| 1688 0aa6 9093 0000 sts (NaviAccNick)+1,r25 |
| 1689 0aaa 8093 0000 sts NaviAccNick,r24 |
| 1690 0aae 8091 0000 lds r24,NaviAccRoll |
| 1691 0ab2 9091 0000 lds r25,(NaviAccRoll)+1 |
| 1692 0ab6 2091 0000 lds r18,AdWertAccRoll |
| 1693 0aba 3091 0000 lds r19,(AdWertAccRoll)+1 |
| 1694 0abe 820F add r24,r18 |
| 1695 0ac0 931F adc r25,r19 |
| 1696 0ac2 9093 0000 sts (NaviAccRoll)+1,r25 |
| 1697 0ac6 8093 0000 sts NaviAccRoll,r24 |
| 1698 0aca 8091 0000 lds r24,NaviCntAcc |
| 1699 0ace 9091 0000 lds r25,(NaviCntAcc)+1 |
| 1700 0ad2 0196 adiw r24,1 |
| 1701 0ad4 9093 0000 sts (NaviCntAcc)+1,r25 |
| 1702 0ad8 8093 0000 sts NaviCntAcc,r24 |
| 1703 0adc 8091 0000 lds r24,Aktuell_az |
| 1704 0ae0 9091 0000 lds r25,(Aktuell_az)+1 |
| 1705 0ae4 2091 0000 lds r18,NeutralAccZ |
| 1706 0ae8 3091 0000 lds r19,(NeutralAccZ)+1 |
| 1707 0aec 821B sub r24,r18 |
| 1708 0aee 930B sbc r25,r19 |
| 1709 0af0 9C01 movw r18,r24 |
| 1710 0af2 4427 clr r20 |
| 1711 0af4 37FD sbrc r19,7 |
| 1712 0af6 4095 com r20 |
| 1713 0af8 542F mov r21,r20 |
| 1714 0afa 8091 0000 lds r24,IntegralAccZ |
| 1715 0afe 9091 0000 lds r25,(IntegralAccZ)+1 |
| 1716 0b02 A091 0000 lds r26,(IntegralAccZ)+2 |
| 1717 0b06 B091 0000 lds r27,(IntegralAccZ)+3 |
| 1718 0b0a 820F add r24,r18 |
| 1719 0b0c 931F adc r25,r19 |
| 1720 0b0e A41F adc r26,r20 |
| 1721 0b10 B51F adc r27,r21 |
| 1722 0b12 8093 0000 sts IntegralAccZ,r24 |
| 1723 0b16 9093 0000 sts (IntegralAccZ)+1,r25 |
| 1724 0b1a A093 0000 sts (IntegralAccZ)+2,r26 |
| 1725 0b1e B093 0000 sts (IntegralAccZ)+3,r27 |
| 1726 0b22 8FEC ldi r24,lo8(-49) |
| 1727 0b24 8093 7A00 sts 122,r24 |
| 1728 0b28 1092 0000 sts AdReady,__zero_reg__ |
| 1729 0b2c 2091 0000 lds r18,Mess_IntegralRoll |
| 1730 0b30 3091 0000 lds r19,(Mess_IntegralRoll)+1 |
| 1731 0b34 4091 0000 lds r20,(Mess_IntegralRoll)+2 |
| 1732 0b38 5091 0000 lds r21,(Mess_IntegralRoll)+3 |
| 1733 0b3c 2987 std Y+9,r18 |
| 1734 0b3e 3A87 std Y+10,r19 |
| 1735 0b40 4B87 std Y+11,r20 |
| 1736 0b42 5C87 std Y+12,r21 |
| 1737 0b44 2954 subi r18,lo8(93001) |
| 1738 0b46 3B46 sbci r19,hi8(93001) |
| 1739 0b48 4140 sbci r20,hlo8(93001) |
| 1740 0b4a 5040 sbci r21,hhi8(93001) |
| 1741 0b4c 2CF0 brlt .L68 |
| 1742 0b4e 28E4 ldi r18,lo8(93000) |
| 1743 0b50 3BE6 ldi r19,hi8(93000) |
| 1744 0b52 41E0 ldi r20,hlo8(93000) |
| 1745 0b54 50E0 ldi r21,hhi8(93000) |
| 1746 0b56 0DC0 rjmp .L148 |
| 1747 .L68: |
| 1748 0b58 8985 ldd r24,Y+9 |
| 1749 0b5a 9A85 ldd r25,Y+10 |
| 1750 0b5c AB85 ldd r26,Y+11 |
| 1751 0b5e BC85 ldd r27,Y+12 |
| 1752 0b60 885B subi r24,lo8(-93000) |
| 1753 0b62 9449 sbci r25,hi8(-93000) |
| 1754 0b64 AE4F sbci r26,hlo8(-93000) |
| 1755 0b66 BF4F sbci r27,hhi8(-93000) |
| 1756 0b68 4CF4 brge .L70 |
| 1757 0b6a 28EB ldi r18,lo8(-93000) |
| 1758 0b6c 34E9 ldi r19,hi8(-93000) |
| 1759 0b6e 4EEF ldi r20,hlo8(-93000) |
| 1760 0b70 5FEF ldi r21,hhi8(-93000) |
| 1761 .L148: |
| 1762 0b72 2D83 std Y+5,r18 |
| 1763 0b74 3E83 std Y+6,r19 |
| 1764 0b76 4F83 std Y+7,r20 |
| 1765 0b78 5887 std Y+8,r21 |
| 1766 0b7a 08C0 rjmp .L69 |
| 1767 .L70: |
| 1768 0b7c 8985 ldd r24,Y+9 |
| 1769 0b7e 9A85 ldd r25,Y+10 |
| 1770 0b80 AB85 ldd r26,Y+11 |
| 1771 0b82 BC85 ldd r27,Y+12 |
| 1772 0b84 8D83 std Y+5,r24 |
| 1773 0b86 9E83 std Y+6,r25 |
| 1774 0b88 AF83 std Y+7,r26 |
| 1775 0b8a B887 std Y+8,r27 |
| 1776 .L69: |
| 1777 0b8c 2091 0000 lds r18,Mess_IntegralNick |
| 1778 0b90 3091 0000 lds r19,(Mess_IntegralNick)+1 |
| 1779 0b94 4091 0000 lds r20,(Mess_IntegralNick)+2 |
| 1780 0b98 5091 0000 lds r21,(Mess_IntegralNick)+3 |
| 1781 0b9c 2D87 std Y+13,r18 |
| 1782 0b9e 3E87 std Y+14,r19 |
| 1783 0ba0 4F87 std Y+15,r20 |
| 1784 0ba2 588B std Y+16,r21 |
| 1785 0ba4 2954 subi r18,lo8(93001) |
| 1786 0ba6 3B46 sbci r19,hi8(93001) |
| 1787 0ba8 4140 sbci r20,hlo8(93001) |
| 1788 0baa 5040 sbci r21,hhi8(93001) |
| 1789 0bac 2CF0 brlt .L72 |
| 1790 0bae 28E4 ldi r18,lo8(93000) |
| 1791 0bb0 3BE6 ldi r19,hi8(93000) |
| 1792 0bb2 41E0 ldi r20,hlo8(93000) |
| 1793 0bb4 50E0 ldi r21,hhi8(93000) |
| 1794 0bb6 0DC0 rjmp .L149 |
| 1795 .L72: |
| 1796 0bb8 8D85 ldd r24,Y+13 |
| 1797 0bba 9E85 ldd r25,Y+14 |
| 1798 0bbc AF85 ldd r26,Y+15 |
| 1799 0bbe B889 ldd r27,Y+16 |
| 1800 0bc0 885B subi r24,lo8(-93000) |
| 1801 0bc2 9449 sbci r25,hi8(-93000) |
| 1802 0bc4 AE4F sbci r26,hlo8(-93000) |
| 1803 0bc6 BF4F sbci r27,hhi8(-93000) |
| 1804 0bc8 4CF4 brge .L74 |
| 1805 0bca 28EB ldi r18,lo8(-93000) |
| 1806 0bcc 34E9 ldi r19,hi8(-93000) |
| 1807 0bce 4EEF ldi r20,hlo8(-93000) |
| 1808 0bd0 5FEF ldi r21,hhi8(-93000) |
| 1809 .L149: |
| 1810 0bd2 2983 std Y+1,r18 |
| 1811 0bd4 3A83 std Y+2,r19 |
| 1812 0bd6 4B83 std Y+3,r20 |
| 1813 0bd8 5C83 std Y+4,r21 |
| 1814 0bda 08C0 rjmp .L73 |
| 1815 .L74: |
| 1816 0bdc 8D85 ldd r24,Y+13 |
| 1817 0bde 9E85 ldd r25,Y+14 |
| 1818 0be0 AF85 ldd r26,Y+15 |
| 1819 0be2 B889 ldd r27,Y+16 |
| 1820 0be4 8983 std Y+1,r24 |
| 1821 0be6 9A83 std Y+2,r25 |
| 1822 0be8 AB83 std Y+3,r26 |
| 1823 0bea BC83 std Y+4,r27 |
| 1824 .L73: |
| 1825 0bec A091 0000 lds r26,MesswertGier |
| 1826 0bf0 B091 0000 lds r27,(MesswertGier)+1 |
| 1827 0bf4 BB8B std Y+19,r27 |
| 1828 0bf6 AA8B std Y+18,r26 |
| 1829 0bf8 FD01 movw r30,r26 |
| 1830 0bfa CF01 movw r24,r30 |
| 1831 0bfc AA27 clr r26 |
| 1832 0bfe 97FD sbrc r25,7 |
| 1833 0c00 A095 com r26 |
| 1834 0c02 BA2F mov r27,r26 |
| 1835 0c04 A090 0000 lds r10,Mess_Integral_Gier |
| 1836 0c08 B090 0000 lds r11,(Mess_Integral_Gier)+1 |
| 1837 0c0c C090 0000 lds r12,(Mess_Integral_Gier)+2 |
| 1838 0c10 D090 0000 lds r13,(Mess_Integral_Gier)+3 |
| 1839 0c14 A80E add r10,r24 |
| 1840 0c16 B91E adc r11,r25 |
| 1841 0c18 CA1E adc r12,r26 |
| 1842 0c1a DB1E adc r13,r27 |
| 1843 0c1c A092 0000 sts Mess_Integral_Gier,r10 |
| 1844 0c20 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 1845 0c24 C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 1846 0c28 D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 1847 0c2c E090 0000 lds r14,ErsatzKompass |
| 1848 0c30 F090 0000 lds r15,(ErsatzKompass)+1 |
| 1849 0c34 0091 0000 lds r16,(ErsatzKompass)+2 |
| 1850 0c38 1091 0000 lds r17,(ErsatzKompass)+3 |
| 1851 0c3c E80E add r14,r24 |
| 1852 0c3e F91E adc r15,r25 |
| 1853 0c40 0A1F adc r16,r26 |
| 1854 0c42 1B1F adc r17,r27 |
| 1855 0c44 E092 0000 sts ErsatzKompass,r14 |
| 1856 0c48 F092 0000 sts (ErsatzKompass)+1,r15 |
| 1857 0c4c 0093 0000 sts (ErsatzKompass)+2,r16 |
| 1858 0c50 1093 0000 sts (ErsatzKompass)+3,r17 |
| 1859 0c54 F091 0000 lds r31,Looping_Nick |
| 1860 0c58 F98B std Y+17,r31 |
| 1861 0c5a FF23 tst r31 |
| 1862 0c5c 09F0 breq .+2 |
| 1863 0c5e 98C1 rjmp .L76 |
| 1864 0c60 8091 0000 lds r24,Looping_Roll |
| 1865 0c64 8823 tst r24 |
| 1866 0c66 09F0 breq .+2 |
| 1867 0c68 93C1 rjmp .L76 |
| 1868 0c6a 8091 0000 lds r24,EE_Parameter+13 |
| 1869 0c6e 86FF sbrs r24,6 |
| 1870 0c70 8FC1 rjmp .L76 |
| 1871 0c72 8091 0000 lds r24,MesswertRoll |
| 1872 0c76 9091 0000 lds r25,(MesswertRoll)+1 |
| 1873 0c7a AA27 clr r26 |
| 1874 0c7c 97FD sbrc r25,7 |
| 1875 0c7e A095 com r26 |
| 1876 0c80 BA2F mov r27,r26 |
| 1877 0c82 BC01 movw r22,r24 |
| 1878 0c84 CD01 movw r24,r26 |
| 1879 0c86 2981 ldd r18,Y+1 |
| 1880 0c88 3A81 ldd r19,Y+2 |
| 1881 0c8a 4B81 ldd r20,Y+3 |
| 1882 0c8c 5C81 ldd r21,Y+4 |
| 1883 0c8e 0E94 0000 call __mulsi3 |
| 1884 0c92 9B01 movw r18,r22 |
| 1885 0c94 AC01 movw r20,r24 |
| 1886 0c96 97FF sbrs r25,7 |
| 1887 0c98 04C0 rjmp .L77 |
| 1888 0c9a 2150 subi r18,lo8(-(2047)) |
| 1889 0c9c 384F sbci r19,hi8(-(2047)) |
| 1890 0c9e 4F4F sbci r20,hlo8(-(2047)) |
| 1891 0ca0 5F4F sbci r21,hhi8(-(2047)) |
| 1892 .L77: |
| 1893 0ca2 BBE0 ldi r27,11 |
| 1894 0ca4 5595 1: asr r21 |
| 1895 0ca6 4795 ror r20 |
| 1896 0ca8 3795 ror r19 |
| 1897 0caa 2795 ror r18 |
| 1898 0cac BA95 dec r27 |
| 1899 0cae D1F7 brne 1b |
| 1900 0cb0 8091 0000 lds r24,Parameter_AchsKopplung2 |
| 1901 0cb4 682E mov r6,r24 |
| 1902 0cb6 7724 clr r7 |
| 1903 0cb8 8824 clr r8 |
| 1904 0cba 9924 clr r9 |
| 1905 0cbc CA01 movw r24,r20 |
| 1906 0cbe B901 movw r22,r18 |
| 1907 0cc0 A401 movw r20,r8 |
| 1908 0cc2 9301 movw r18,r6 |
| 1909 0cc4 0E94 0000 call __mulsi3 |
| 1910 0cc8 DC01 movw r26,r24 |
| 1911 0cca CB01 movw r24,r22 |
| 1912 0ccc 8093 0000 sts tmpl3.33,r24 |
| 1913 0cd0 9093 0000 sts (tmpl3.33)+1,r25 |
| 1914 0cd4 A093 0000 sts (tmpl3.33)+2,r26 |
| 1915 0cd8 B093 0000 sts (tmpl3.33)+3,r27 |
| 1916 0cdc B7FF sbrs r27,7 |
| 1917 0cde 04C0 rjmp .L78 |
| 1918 0ce0 8150 subi r24,lo8(-(4095)) |
| 1919 0ce2 904F sbci r25,hi8(-(4095)) |
| 1920 0ce4 AF4F sbci r26,hlo8(-(4095)) |
| 1921 0ce6 BF4F sbci r27,hhi8(-(4095)) |
| 1922 .L78: |
| 1923 0ce8 1C01 movw r2,r24 |
| 1924 0cea 2D01 movw r4,r26 |
| 1925 0cec ACE0 ldi r26,12 |
| 1926 0cee 5594 1: asr r5 |
| 1927 0cf0 4794 ror r4 |
| 1928 0cf2 3794 ror r3 |
| 1929 0cf4 2794 ror r2 |
| 1930 0cf6 AA95 dec r26 |
| 1931 0cf8 D1F7 brne 1b |
| 1932 0cfa 2092 0000 sts tmpl3.33,r2 |
| 1933 0cfe 3092 0000 sts (tmpl3.33)+1,r3 |
| 1934 0d02 4092 0000 sts (tmpl3.33)+2,r4 |
| 1935 0d06 5092 0000 sts (tmpl3.33)+3,r5 |
| 1936 0d0a 8091 0000 lds r24,MesswertNick |
| 1937 0d0e 9091 0000 lds r25,(MesswertNick)+1 |
| 1938 0d12 AA27 clr r26 |
| 1939 0d14 97FD sbrc r25,7 |
| 1940 0d16 A095 com r26 |
| 1941 0d18 BA2F mov r27,r26 |
| 1942 0d1a BC01 movw r22,r24 |
| 1943 0d1c CD01 movw r24,r26 |
| 1944 0d1e 2D81 ldd r18,Y+5 |
| 1945 0d20 3E81 ldd r19,Y+6 |
| 1946 0d22 4F81 ldd r20,Y+7 |
| 1947 0d24 5885 ldd r21,Y+8 |
| 1948 0d26 0E94 0000 call __mulsi3 |
| 1949 0d2a 97FF sbrs r25,7 |
| 1950 0d2c 04C0 rjmp .L79 |
| 1951 0d2e 6150 subi r22,lo8(-(2047)) |
| 1952 0d30 784F sbci r23,hi8(-(2047)) |
| 1953 0d32 8F4F sbci r24,hlo8(-(2047)) |
| 1954 0d34 9F4F sbci r25,hhi8(-(2047)) |
| 1955 .L79: |
| 1956 0d36 FBE0 ldi r31,11 |
| 1957 0d38 9595 1: asr r25 |
| 1958 0d3a 8795 ror r24 |
| 1959 0d3c 7795 ror r23 |
| 1960 0d3e 6795 ror r22 |
| 1961 0d40 FA95 dec r31 |
| 1962 0d42 D1F7 brne 1b |
| 1963 0d44 A401 movw r20,r8 |
| 1964 0d46 9301 movw r18,r6 |
| 1965 0d48 0E94 0000 call __mulsi3 |
| 1966 0d4c DC01 movw r26,r24 |
| 1967 0d4e CB01 movw r24,r22 |
| 1968 0d50 8093 0000 sts tmpl4.34,r24 |
| 1969 0d54 9093 0000 sts (tmpl4.34)+1,r25 |
| 1970 0d58 A093 0000 sts (tmpl4.34)+2,r26 |
| 1971 0d5c B093 0000 sts (tmpl4.34)+3,r27 |
| 1972 0d60 B7FF sbrs r27,7 |
| 1973 0d62 04C0 rjmp .L80 |
| 1974 0d64 8150 subi r24,lo8(-(4095)) |
| 1975 0d66 904F sbci r25,hi8(-(4095)) |
| 1976 0d68 AF4F sbci r26,hlo8(-(4095)) |
| 1977 0d6a BF4F sbci r27,hhi8(-(4095)) |
| 1978 .L80: |
| 1979 0d6c 9C01 movw r18,r24 |
| 1980 0d6e AD01 movw r20,r26 |
| 1981 0d70 ECE0 ldi r30,12 |
| 1982 0d72 5595 1: asr r21 |
| 1983 0d74 4795 ror r20 |
| 1984 0d76 3795 ror r19 |
| 1985 0d78 2795 ror r18 |
| 1986 0d7a EA95 dec r30 |
| 1987 0d7c D1F7 brne 1b |
| 1988 0d7e 2093 0000 sts tmpl4.34,r18 |
| 1989 0d82 3093 0000 sts (tmpl4.34)+1,r19 |
| 1990 0d86 4093 0000 sts (tmpl4.34)+2,r20 |
| 1991 0d8a 5093 0000 sts (tmpl4.34)+3,r21 |
| 1992 0d8e 8091 0000 lds r24,tmpl3.33 |
| 1993 0d92 9091 0000 lds r25,(tmpl3.33)+1 |
| 1994 0d96 9093 0000 sts (KopplungsteilNickRoll)+1,r25 |
| 1995 0d9a 8093 0000 sts KopplungsteilNickRoll,r24 |
| 1996 0d9e 8091 0000 lds r24,tmpl4.34 |
| 1997 0da2 9091 0000 lds r25,(tmpl4.34)+1 |
| 1998 0da6 9093 0000 sts (KopplungsteilRollNick)+1,r25 |
| 1999 0daa 8093 0000 sts KopplungsteilRollNick,r24 |
| 2000 0dae 2219 sub r18,r2 |
| 2001 0db0 3309 sbc r19,r3 |
| 2002 0db2 4409 sbc r20,r4 |
| 2003 0db4 5509 sbc r21,r5 |
| 2004 0db6 2093 0000 sts tmpl4.34,r18 |
| 2005 0dba 3093 0000 sts (tmpl4.34)+1,r19 |
| 2006 0dbe 4093 0000 sts (tmpl4.34)+2,r20 |
| 2007 0dc2 5093 0000 sts (tmpl4.34)+3,r21 |
| 2008 0dc6 E20E add r14,r18 |
| 2009 0dc8 F31E adc r15,r19 |
| 2010 0dca 041F adc r16,r20 |
| 2011 0dcc 151F adc r17,r21 |
| 2012 0dce E092 0000 sts ErsatzKompass,r14 |
| 2013 0dd2 F092 0000 sts (ErsatzKompass)+1,r15 |
| 2014 0dd6 0093 0000 sts (ErsatzKompass)+2,r16 |
| 2015 0dda 1093 0000 sts (ErsatzKompass)+3,r17 |
| 2016 0dde 8091 0000 lds r24,Parameter_CouplingYawCorrection |
| 2017 0de2 8823 tst r24 |
| 2018 0de4 B1F4 brne .L81 |
| 2019 0de6 57FF sbrs r21,7 |
| 2020 0de8 04C0 rjmp .L82 |
| 2021 0dea 2F5F subi r18,lo8(-(1)) |
| 2022 0dec 3F4F sbci r19,hi8(-(1)) |
| 2023 0dee 4F4F sbci r20,hlo8(-(1)) |
| 2024 0df0 5F4F sbci r21,hhi8(-(1)) |
| 2025 .L82: |
| 2026 0df2 5595 asr r21 |
| 2027 0df4 4795 ror r20 |
| 2028 0df6 3795 ror r19 |
| 2029 0df8 2795 ror r18 |
| 2030 0dfa A21A sub r10,r18 |
| 2031 0dfc B30A sbc r11,r19 |
| 2032 0dfe C40A sbc r12,r20 |
| 2033 0e00 D50A sbc r13,r21 |
| 2034 0e02 A092 0000 sts Mess_Integral_Gier,r10 |
| 2035 0e06 B092 0000 sts (Mess_Integral_Gier)+1,r11 |
| 2036 0e0a C092 0000 sts (Mess_Integral_Gier)+2,r12 |
| 2037 0e0e D092 0000 sts (Mess_Integral_Gier)+3,r13 |
| 2038 .L81: |
| 2039 0e12 2A89 ldd r18,Y+18 |
| 2040 0e14 3B89 ldd r19,Y+19 |
| 2041 0e16 7901 movw r14,r18 |
| 2042 0e18 0027 clr r16 |
| 2043 0e1a F7FC sbrc r15,7 |
| 2044 0e1c 0095 com r16 |
| 2045 0e1e 102F mov r17,r16 |
| 2046 0e20 8091 0000 lds r24,tmpl4.34 |
| 2047 0e24 9091 0000 lds r25,(tmpl4.34)+1 |
| 2048 0e28 A091 0000 lds r26,(tmpl4.34)+2 |
| 2049 0e2c B091 0000 lds r27,(tmpl4.34)+3 |
| 2050 0e30 E80E add r14,r24 |
| 2051 0e32 F91E adc r15,r25 |
| 2052 0e34 0A1F adc r16,r26 |
| 2053 0e36 1B1F adc r17,r27 |
| 2054 0e38 C801 movw r24,r16 |
| 2055 0e3a B701 movw r22,r14 |
| 2056 0e3c 2981 ldd r18,Y+1 |
| 2057 0e3e 3A81 ldd r19,Y+2 |
| 2058 0e40 4B81 ldd r20,Y+3 |
| 2059 0e42 5C81 ldd r21,Y+4 |
| 2060 0e44 0E94 0000 call __mulsi3 |
| 2061 0e48 9B01 movw r18,r22 |
| 2062 0e4a AC01 movw r20,r24 |
| 2063 0e4c 97FF sbrs r25,7 |
| 2064 0e4e 04C0 rjmp .L83 |
| 2065 0e50 2150 subi r18,lo8(-(2047)) |
| 2066 0e52 384F sbci r19,hi8(-(2047)) |
| 2067 0e54 4F4F sbci r20,hlo8(-(2047)) |
| 2068 0e56 5F4F sbci r21,hhi8(-(2047)) |
| 2069 .L83: |
| 2070 0e58 6BE0 ldi r22,11 |
| 2071 0e5a 5595 1: asr r21 |
| 2072 0e5c 4795 ror r20 |
| 2073 0e5e 3795 ror r19 |
| 2074 0e60 2795 ror r18 |
| 2075 0e62 6A95 dec r22 |
| 2076 0e64 D1F7 brne 1b |
| 2077 0e66 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 2078 0e6a A82E mov r10,r24 |
| 2079 0e6c BB24 clr r11 |
| 2080 0e6e CC24 clr r12 |
| 2081 0e70 DD24 clr r13 |
| 2082 0e72 CA01 movw r24,r20 |
| 2083 0e74 B901 movw r22,r18 |
| 2084 0e76 A601 movw r20,r12 |
| 2085 0e78 9501 movw r18,r10 |
| 2086 0e7a 0E94 0000 call __mulsi3 |
| 2087 0e7e DC01 movw r26,r24 |
| 2088 0e80 CB01 movw r24,r22 |
| 2089 0e82 8093 0000 sts tmpl.31,r24 |
| 2090 0e86 9093 0000 sts (tmpl.31)+1,r25 |
| 2091 0e8a A093 0000 sts (tmpl.31)+2,r26 |
| 2092 0e8e B093 0000 sts (tmpl.31)+3,r27 |
| 2093 0e92 B7FF sbrs r27,7 |
| 2094 0e94 04C0 rjmp .L84 |
| 2095 0e96 8150 subi r24,lo8(-(4095)) |
| 2096 0e98 904F sbci r25,hi8(-(4095)) |
| 2097 0e9a AF4F sbci r26,hlo8(-(4095)) |
| 2098 0e9c BF4F sbci r27,hhi8(-(4095)) |
| 2099 .L84: |
| 2100 0e9e 3C01 movw r6,r24 |
| 2101 0ea0 4D01 movw r8,r26 |
| 2102 0ea2 3CE0 ldi r19,12 |
| 2103 0ea4 9594 1: asr r9 |
| 2104 0ea6 8794 ror r8 |
| 2105 0ea8 7794 ror r7 |
| 2106 0eaa 6794 ror r6 |
| 2107 0eac 3A95 dec r19 |
| 2108 0eae D1F7 brne 1b |
| 2109 0eb0 6092 0000 sts tmpl.31,r6 |
| 2110 0eb4 7092 0000 sts (tmpl.31)+1,r7 |
| 2111 0eb8 8092 0000 sts (tmpl.31)+2,r8 |
| 2112 0ebc 9092 0000 sts (tmpl.31)+3,r9 |
| 2113 0ec0 C801 movw r24,r16 |
| 2114 0ec2 B701 movw r22,r14 |
| 2115 0ec4 2D81 ldd r18,Y+5 |
| 2116 0ec6 3E81 ldd r19,Y+6 |
| 2117 0ec8 4F81 ldd r20,Y+7 |
| 2118 0eca 5885 ldd r21,Y+8 |
| 2119 0ecc 0E94 0000 call __mulsi3 |
| 2120 0ed0 97FF sbrs r25,7 |
| 2121 0ed2 04C0 rjmp .L85 |
| 2122 0ed4 6150 subi r22,lo8(-(2047)) |
| 2123 0ed6 784F sbci r23,hi8(-(2047)) |
| 2124 0ed8 8F4F sbci r24,hlo8(-(2047)) |
| 2125 0eda 9F4F sbci r25,hhi8(-(2047)) |
| 2126 .L85: |
| 2127 0edc 2BE0 ldi r18,11 |
| 2128 0ede 9595 1: asr r25 |
| 2129 0ee0 8795 ror r24 |
| 2130 0ee2 7795 ror r23 |
| 2131 0ee4 6795 ror r22 |
| 2132 0ee6 2A95 dec r18 |
| 2133 0ee8 D1F7 brne 1b |
| 2134 0eea A601 movw r20,r12 |
| 2135 0eec 9501 movw r18,r10 |
| 2136 0eee 0E94 0000 call __mulsi3 |
| 2137 0ef2 DC01 movw r26,r24 |
| 2138 0ef4 CB01 movw r24,r22 |
| 2139 0ef6 8093 0000 sts tmpl2.32,r24 |
| 2140 0efa 9093 0000 sts (tmpl2.32)+1,r25 |
| 2141 0efe A093 0000 sts (tmpl2.32)+2,r26 |
| 2142 0f02 B093 0000 sts (tmpl2.32)+3,r27 |
| 2143 0f06 B7FF sbrs r27,7 |
| 2144 0f08 04C0 rjmp .L86 |
| 2145 0f0a 8150 subi r24,lo8(-(4095)) |
| 2146 0f0c 904F sbci r25,hi8(-(4095)) |
| 2147 0f0e AF4F sbci r26,hlo8(-(4095)) |
| 2148 0f10 BF4F sbci r27,hhi8(-(4095)) |
| 2149 .L86: |
| 2150 0f12 AC01 movw r20,r24 |
| 2151 0f14 BD01 movw r22,r26 |
| 2152 0f16 8CE0 ldi r24,12 |
| 2153 0f18 7595 1: asr r23 |
| 2154 0f1a 6795 ror r22 |
| 2155 0f1c 5795 ror r21 |
| 2156 0f1e 4795 ror r20 |
| 2157 0f20 8A95 dec r24 |
| 2158 0f22 D1F7 brne 1b |
| 2159 0f24 4093 0000 sts tmpl2.32,r20 |
| 2160 0f28 5093 0000 sts (tmpl2.32)+1,r21 |
| 2161 0f2c 6093 0000 sts (tmpl2.32)+2,r22 |
| 2162 0f30 7093 0000 sts (tmpl2.32)+3,r23 |
| 2163 0f34 2A89 ldd r18,Y+18 |
| 2164 0f36 3B89 ldd r19,Y+19 |
| 2165 0f38 37FF sbrs r19,7 |
| 2166 0f3a 03C0 rjmp .L88 |
| 2167 0f3c 3095 com r19 |
| 2168 0f3e 2195 neg r18 |
| 2169 0f40 3F4F sbci r19,lo8(-1) |
| 2170 .L88: |
| 2171 0f42 2134 cpi r18,65 |
| 2172 0f44 3105 cpc r19,__zero_reg__ |
| 2173 0f46 E4F1 brlt .L93 |
| 2174 0f48 D401 movw r26,r8 |
| 2175 0f4a C301 movw r24,r6 |
| 2176 0f4c 97FE sbrs r9,7 |
| 2177 0f4e 07C0 rjmp .L91 |
| 2178 0f50 B095 com r27 |
| 2179 0f52 A095 com r26 |
| 2180 0f54 9095 com r25 |
| 2181 0f56 8195 neg r24 |
| 2182 0f58 9F4F sbci r25,lo8(-1) |
| 2183 0f5a AF4F sbci r26,lo8(-1) |
| 2184 0f5c BF4F sbci r27,lo8(-1) |
| 2185 .L91: |
| 2186 0f5e 8138 cpi r24,lo8(129) |
| 2187 0f60 9105 cpc r25,__zero_reg__ |
| 2188 0f62 A105 cpc r26,__zero_reg__ |
| 2189 0f64 B105 cpc r27,__zero_reg__ |
| 2190 0f66 84F4 brge .L90 |
| 2191 0f68 DB01 movw r26,r22 |
| 2192 0f6a CA01 movw r24,r20 |
| 2193 0f6c 77FF sbrs r23,7 |
| 2194 0f6e 07C0 rjmp .L92 |
| 2195 0f70 B095 com r27 |
| 2196 0f72 A095 com r26 |
| 2197 0f74 9095 com r25 |
| 2198 0f76 8195 neg r24 |
| 2199 0f78 9F4F sbci r25,lo8(-1) |
| 2200 0f7a AF4F sbci r26,lo8(-1) |
| 2201 0f7c BF4F sbci r27,lo8(-1) |
| 2202 .L92: |
| 2203 0f7e 8138 cpi r24,lo8(129) |
| 2204 0f80 9105 cpc r25,__zero_reg__ |
| 2205 0f82 A105 cpc r26,__zero_reg__ |
| 2206 0f84 B105 cpc r27,__zero_reg__ |
| 2207 0f86 E4F0 brlt .L93 |
| 2208 .L90: |
| 2209 0f88 81E0 ldi r24,lo8(1) |
| 2210 0f8a 8093 0000 sts TrichterFlug,r24 |
| 2211 0f8e 18C0 rjmp .L93 |
| 2212 .L76: |
| 2213 0f90 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__ |
| 2214 0f94 1092 0000 sts KopplungsteilRollNick,__zero_reg__ |
| 2215 0f98 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__ |
| 2216 0f9c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__ |
| 2217 0fa0 1092 0000 sts tmpl2.32,__zero_reg__ |
| 2218 0fa4 1092 0000 sts (tmpl2.32)+1,__zero_reg__ |
| 2219 0fa8 1092 0000 sts (tmpl2.32)+2,__zero_reg__ |
| 2220 0fac 1092 0000 sts (tmpl2.32)+3,__zero_reg__ |
| 2221 0fb0 1092 0000 sts tmpl.31,__zero_reg__ |
| 2222 0fb4 1092 0000 sts (tmpl.31)+1,__zero_reg__ |
| 2223 0fb8 1092 0000 sts (tmpl.31)+2,__zero_reg__ |
| 2224 0fbc 1092 0000 sts (tmpl.31)+3,__zero_reg__ |
| 2225 .L93: |
| 2226 0fc0 8091 0000 lds r24,tmpl2.32 |
| 2227 0fc4 9091 0000 lds r25,(tmpl2.32)+1 |
| 2228 0fc8 A091 0000 lds r26,(tmpl2.32)+2 |
| 2229 0fcc B091 0000 lds r27,(tmpl2.32)+3 |
| 2230 0fd0 BC01 movw r22,r24 |
| 2231 0fd2 CD01 movw r24,r26 |
| 2232 0fd4 24E6 ldi r18,lo8(100) |
| 2233 0fd6 30E0 ldi r19,hi8(100) |
| 2234 0fd8 40E0 ldi r20,hlo8(100) |
| 2235 0fda 50E0 ldi r21,hhi8(100) |
| 2236 0fdc 0E94 0000 call __divmodsi4 |
| 2237 0fe0 E090 0000 lds r14,tmpl.31 |
| 2238 0fe4 F090 0000 lds r15,(tmpl.31)+1 |
| 2239 0fe8 E21A sub r14,r18 |
| 2240 0fea F30A sbc r15,r19 |
| 2241 0fec F092 0000 sts (TrimRoll)+1,r15 |
| 2242 0ff0 E092 0000 sts TrimRoll,r14 |
| 2243 0ff4 8091 0000 lds r24,tmpl.31 |
| 2244 0ff8 9091 0000 lds r25,(tmpl.31)+1 |
| 2245 0ffc A091 0000 lds r26,(tmpl.31)+2 |
| 2246 1000 B091 0000 lds r27,(tmpl.31)+3 |
| 2247 1004 BC01 movw r22,r24 |
| 2248 1006 CD01 movw r24,r26 |
| 2249 1008 24E6 ldi r18,lo8(100) |
| 2250 100a 30E0 ldi r19,hi8(100) |
| 2251 100c 40E0 ldi r20,hlo8(100) |
| 2252 100e 50E0 ldi r21,hhi8(100) |
| 2253 1010 0E94 0000 call __divmodsi4 |
| 2254 1014 DA01 movw r26,r20 |
| 2255 1016 C901 movw r24,r18 |
| 2256 1018 2091 0000 lds r18,tmpl2.32 |
| 2257 101c 3091 0000 lds r19,(tmpl2.32)+1 |
| 2258 1020 8C01 movw r16,r24 |
| 2259 1022 021B sub r16,r18 |
| 2260 1024 130B sbc r17,r19 |
| 2261 1026 1093 0000 sts (TrimNick)+1,r17 |
| 2262 102a 0093 0000 sts TrimNick,r16 |
| 2263 102e 8091 0000 lds r24,GIER_GRAD_FAKTOR |
| 2264 1032 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1 |
| 2265 1036 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2 |
| 2266 103a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3 |
| 2267 103e BC01 movw r22,r24 |
| 2268 1040 CD01 movw r24,r26 |
| 2269 1042 28E6 ldi r18,lo8(360) |
| 2270 1044 31E0 ldi r19,hi8(360) |
| 2271 1046 40E0 ldi r20,hlo8(360) |
| 2272 1048 50E0 ldi r21,hhi8(360) |
| 2273 104a 0E94 0000 call __mulsi3 |
| 2274 104e 2091 0000 lds r18,ErsatzKompass |
| 2275 1052 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2276 1056 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2277 105a 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2278 105e 2617 cp r18,r22 |
| 2279 1060 3707 cpc r19,r23 |
| 2280 1062 4807 cpc r20,r24 |
| 2281 1064 5907 cpc r21,r25 |
| 2282 1066 64F0 brlt .L94 |
| 2283 1068 261B sub r18,r22 |
| 2284 106a 370B sbc r19,r23 |
| 2285 106c 480B sbc r20,r24 |
| 2286 106e 590B sbc r21,r25 |
| 2287 1070 2093 0000 sts ErsatzKompass,r18 |
| 2288 1074 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2289 1078 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2290 107c 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2291 .L94: |
| 2292 1080 2091 0000 lds r18,ErsatzKompass |
| 2293 1084 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2294 1088 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2295 108c 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2296 1090 57FF sbrs r21,7 |
| 2297 1092 0CC0 rjmp .L95 |
| 2298 1094 260F add r18,r22 |
| 2299 1096 371F adc r19,r23 |
| 2300 1098 481F adc r20,r24 |
| 2301 109a 591F adc r21,r25 |
| 2302 109c 2093 0000 sts ErsatzKompass,r18 |
| 2303 10a0 3093 0000 sts (ErsatzKompass)+1,r19 |
| 2304 10a4 4093 0000 sts (ErsatzKompass)+2,r20 |
| 2305 10a8 5093 0000 sts (ErsatzKompass)+3,r21 |
| 2306 .L95: |
| 2307 10ac 6091 0000 lds r22,MesswertRoll |
| 2308 10b0 7091 0000 lds r23,(MesswertRoll)+1 |
| 2309 10b4 6E0D add r22,r14 |
| 2310 10b6 7F1D adc r23,r15 |
| 2311 10b8 9B01 movw r18,r22 |
| 2312 10ba 4427 clr r20 |
| 2313 10bc 37FD sbrc r19,7 |
| 2314 10be 4095 com r20 |
| 2315 10c0 542F mov r21,r20 |
| 2316 10c2 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2317 10c6 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2318 10ca A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2319 10ce B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2320 10d2 820F add r24,r18 |
| 2321 10d4 931F adc r25,r19 |
| 2322 10d6 A41F adc r26,r20 |
| 2323 10d8 B51F adc r27,r21 |
| 2324 10da 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2325 10de 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2326 10e2 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2327 10e6 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2328 10ea 8091 0000 lds r24,LageKorrekturRoll |
| 2329 10ee 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 2330 10f2 681B sub r22,r24 |
| 2331 10f4 790B sbc r23,r25 |
| 2332 10f6 CB01 movw r24,r22 |
| 2333 10f8 AA27 clr r26 |
| 2334 10fa 97FD sbrc r25,7 |
| 2335 10fc A095 com r26 |
| 2336 10fe BA2F mov r27,r26 |
| 2337 1100 2985 ldd r18,Y+9 |
| 2338 1102 3A85 ldd r19,Y+10 |
| 2339 1104 4B85 ldd r20,Y+11 |
| 2340 1106 5C85 ldd r21,Y+12 |
| 2341 1108 820F add r24,r18 |
| 2342 110a 931F adc r25,r19 |
| 2343 110c A41F adc r26,r20 |
| 2344 110e B51F adc r27,r21 |
| 2345 1110 8093 0000 sts Mess_IntegralRoll,r24 |
| 2346 1114 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2347 1118 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2348 111c B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2349 1120 C090 0000 lds r12,Umschlag180Roll |
| 2350 1124 D090 0000 lds r13,(Umschlag180Roll)+1 |
| 2351 1128 E090 0000 lds r14,(Umschlag180Roll)+2 |
| 2352 112c F090 0000 lds r15,(Umschlag180Roll)+3 |
| 2353 1130 C816 cp r12,r24 |
| 2354 1132 D906 cpc r13,r25 |
| 2355 1134 EA06 cpc r14,r26 |
| 2356 1136 FB06 cpc r15,r27 |
| 2357 1138 C4F4 brge .L96 |
| 2358 113a 88EA ldi r24,lo8(25000) |
| 2359 113c 91E6 ldi r25,hi8(25000) |
| 2360 113e A0E0 ldi r26,hlo8(25000) |
| 2361 1140 B0E0 ldi r27,hhi8(25000) |
| 2362 1142 8C19 sub r24,r12 |
| 2363 1144 9D09 sbc r25,r13 |
| 2364 1146 AE09 sbc r26,r14 |
| 2365 1148 BF09 sbc r27,r15 |
| 2366 114a 8093 0000 sts Mess_IntegralRoll,r24 |
| 2367 114e 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2368 1152 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2369 1156 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2370 115a 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2371 115e 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2372 1162 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2373 1166 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2374 .L96: |
| 2375 116a 2227 clr r18 |
| 2376 116c 3327 clr r19 |
| 2377 116e A901 movw r20,r18 |
| 2378 1170 2C19 sub r18,r12 |
| 2379 1172 3D09 sbc r19,r13 |
| 2380 1174 4E09 sbc r20,r14 |
| 2381 1176 5F09 sbc r21,r15 |
| 2382 1178 8091 0000 lds r24,Mess_IntegralRoll |
| 2383 117c 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2384 1180 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2385 1184 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2386 1188 8217 cp r24,r18 |
| 2387 118a 9307 cpc r25,r19 |
| 2388 118c A407 cpc r26,r20 |
| 2389 118e B507 cpc r27,r21 |
| 2390 1190 B4F4 brge .L97 |
| 2391 1192 D701 movw r26,r14 |
| 2392 1194 C601 movw r24,r12 |
| 2393 1196 885A subi r24,lo8(-(-25000)) |
| 2394 1198 9146 sbci r25,hi8(-(-25000)) |
| 2395 119a A040 sbci r26,hlo8(-(-25000)) |
| 2396 119c B040 sbci r27,hhi8(-(-25000)) |
| 2397 119e 8093 0000 sts Mess_IntegralRoll,r24 |
| 2398 11a2 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 2399 11a6 A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 2400 11aa B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 2401 11ae 8093 0000 sts Mess_IntegralRoll2,r24 |
| 2402 11b2 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 2403 11b6 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 2404 11ba B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 2405 .L97: |
| 2406 11be 6091 0000 lds r22,MesswertNick |
| 2407 11c2 7091 0000 lds r23,(MesswertNick)+1 |
| 2408 11c6 600F add r22,r16 |
| 2409 11c8 711F adc r23,r17 |
| 2410 11ca 9B01 movw r18,r22 |
| 2411 11cc 4427 clr r20 |
| 2412 11ce 37FD sbrc r19,7 |
| 2413 11d0 4095 com r20 |
| 2414 11d2 542F mov r21,r20 |
| 2415 11d4 8091 0000 lds r24,Mess_IntegralNick2 |
| 2416 11d8 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2417 11dc A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2418 11e0 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2419 11e4 820F add r24,r18 |
| 2420 11e6 931F adc r25,r19 |
| 2421 11e8 A41F adc r26,r20 |
| 2422 11ea B51F adc r27,r21 |
| 2423 11ec 8093 0000 sts Mess_IntegralNick2,r24 |
| 2424 11f0 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2425 11f4 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2426 11f8 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2427 11fc 8091 0000 lds r24,LageKorrekturNick |
| 2428 1200 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 2429 1204 681B sub r22,r24 |
| 2430 1206 790B sbc r23,r25 |
| 2431 1208 CB01 movw r24,r22 |
| 2432 120a AA27 clr r26 |
| 2433 120c 97FD sbrc r25,7 |
| 2434 120e A095 com r26 |
| 2435 1210 BA2F mov r27,r26 |
| 2436 1212 2D85 ldd r18,Y+13 |
| 2437 1214 3E85 ldd r19,Y+14 |
| 2438 1216 4F85 ldd r20,Y+15 |
| 2439 1218 5889 ldd r21,Y+16 |
| 2440 121a 820F add r24,r18 |
| 2441 121c 931F adc r25,r19 |
| 2442 121e A41F adc r26,r20 |
| 2443 1220 B51F adc r27,r21 |
| 2444 1222 8093 0000 sts Mess_IntegralNick,r24 |
| 2445 1226 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2446 122a A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2447 122e B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2448 1232 E090 0000 lds r14,Umschlag180Nick |
| 2449 1236 F090 0000 lds r15,(Umschlag180Nick)+1 |
| 2450 123a 0091 0000 lds r16,(Umschlag180Nick)+2 |
| 2451 123e 1091 0000 lds r17,(Umschlag180Nick)+3 |
| 2452 1242 E816 cp r14,r24 |
| 2453 1244 F906 cpc r15,r25 |
| 2454 1246 0A07 cpc r16,r26 |
| 2455 1248 1B07 cpc r17,r27 |
| 2456 124a C4F4 brge .L98 |
| 2457 124c 88EA ldi r24,lo8(25000) |
| 2458 124e 91E6 ldi r25,hi8(25000) |
| 2459 1250 A0E0 ldi r26,hlo8(25000) |
| 2460 1252 B0E0 ldi r27,hhi8(25000) |
| 2461 1254 8E19 sub r24,r14 |
| 2462 1256 9F09 sbc r25,r15 |
| 2463 1258 A00B sbc r26,r16 |
| 2464 125a B10B sbc r27,r17 |
| 2465 125c 8093 0000 sts Mess_IntegralNick,r24 |
| 2466 1260 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2467 1264 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2468 1268 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2469 126c 8093 0000 sts Mess_IntegralNick2,r24 |
| 2470 1270 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2471 1274 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2472 1278 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2473 .L98: |
| 2474 127c 2227 clr r18 |
| 2475 127e 3327 clr r19 |
| 2476 1280 A901 movw r20,r18 |
| 2477 1282 2E19 sub r18,r14 |
| 2478 1284 3F09 sbc r19,r15 |
| 2479 1286 400B sbc r20,r16 |
| 2480 1288 510B sbc r21,r17 |
| 2481 128a 8091 0000 lds r24,Mess_IntegralNick |
| 2482 128e 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2483 1292 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2484 1296 B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2485 129a 8217 cp r24,r18 |
| 2486 129c 9307 cpc r25,r19 |
| 2487 129e A407 cpc r26,r20 |
| 2488 12a0 B507 cpc r27,r21 |
| 2489 12a2 B4F4 brge .L99 |
| 2490 12a4 D801 movw r26,r16 |
| 2491 12a6 C701 movw r24,r14 |
| 2492 12a8 885A subi r24,lo8(-(-25000)) |
| 2493 12aa 9146 sbci r25,hi8(-(-25000)) |
| 2494 12ac A040 sbci r26,hlo8(-(-25000)) |
| 2495 12ae B040 sbci r27,hhi8(-(-25000)) |
| 2496 12b0 8093 0000 sts Mess_IntegralNick,r24 |
| 2497 12b4 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 2498 12b8 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 2499 12bc B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 2500 12c0 8093 0000 sts Mess_IntegralNick2,r24 |
| 2501 12c4 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 2502 12c8 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 2503 12cc B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 2504 .L99: |
| 2505 12d0 8091 0000 lds r24,Mess_Integral_Gier |
| 2506 12d4 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 2507 12d8 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 2508 12dc B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 2509 12e0 8093 0000 sts Integral_Gier,r24 |
| 2510 12e4 9093 0000 sts (Integral_Gier)+1,r25 |
| 2511 12e8 A093 0000 sts (Integral_Gier)+2,r26 |
| 2512 12ec B093 0000 sts (Integral_Gier)+3,r27 |
| 2513 12f0 8091 0000 lds r24,Mess_IntegralNick |
| 2514 12f4 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 2515 12f8 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 2516 12fc B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 2517 1300 8093 0000 sts IntegralNick,r24 |
| 2518 1304 9093 0000 sts (IntegralNick)+1,r25 |
| 2519 1308 A093 0000 sts (IntegralNick)+2,r26 |
| 2520 130c B093 0000 sts (IntegralNick)+3,r27 |
| 2521 1310 8091 0000 lds r24,Mess_IntegralRoll |
| 2522 1314 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 2523 1318 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 2524 131c B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 2525 1320 8093 0000 sts IntegralRoll,r24 |
| 2526 1324 9093 0000 sts (IntegralRoll)+1,r25 |
| 2527 1328 A093 0000 sts (IntegralRoll)+2,r26 |
| 2528 132c B093 0000 sts (IntegralRoll)+3,r27 |
| 2529 1330 8091 0000 lds r24,Mess_IntegralNick2 |
| 2530 1334 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 2531 1338 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 2532 133c B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 2533 1340 8093 0000 sts IntegralNick2,r24 |
| 2534 1344 9093 0000 sts (IntegralNick2)+1,r25 |
| 2535 1348 A093 0000 sts (IntegralNick2)+2,r26 |
| 2536 134c B093 0000 sts (IntegralNick2)+3,r27 |
| 2537 1350 8091 0000 lds r24,Mess_IntegralRoll2 |
| 2538 1354 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 2539 1358 A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 2540 135c B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 2541 1360 8093 0000 sts IntegralRoll2,r24 |
| 2542 1364 9093 0000 sts (IntegralRoll2)+1,r25 |
| 2543 1368 A093 0000 sts (IntegralRoll2)+2,r26 |
| 2544 136c B093 0000 sts (IntegralRoll2)+3,r27 |
| 2545 1370 8091 0000 lds r24,HiResNick |
| 2546 1374 9091 0000 lds r25,(HiResNick)+1 |
| 2547 1378 97FD sbrc r25,7 |
| 2548 137a 0796 adiw r24,7 |
| 2549 .L100: |
| 2550 137c 03E0 ldi r16,3 |
| 2551 137e 9595 1: asr r25 |
| 2552 1380 8795 ror r24 |
| 2553 1382 0A95 dec r16 |
| 2554 1384 E1F7 brne 1b |
| 2555 1386 9093 0000 sts (MesswertNick)+1,r25 |
| 2556 138a 8093 0000 sts MesswertNick,r24 |
| 2557 138e 8091 0000 lds r24,HiResRoll |
| 2558 1392 9091 0000 lds r25,(HiResRoll)+1 |
| 2559 1396 97FD sbrc r25,7 |
| 2560 1398 0796 adiw r24,7 |
| 2561 .L101: |
| 2562 139a 13E0 ldi r17,3 |
| 2563 139c 9595 1: asr r25 |
| 2564 139e 8795 ror r24 |
| 2565 13a0 1A95 dec r17 |
| 2566 13a2 E1F7 brne 1b |
| 2567 13a4 9093 0000 sts (MesswertRoll)+1,r25 |
| 2568 13a8 8093 0000 sts MesswertRoll,r24 |
| 2569 13ac 8091 0000 lds r24,AdWertNick |
| 2570 13b0 9091 0000 lds r25,(AdWertNick)+1 |
| 2571 13b4 0F97 sbiw r24,15 |
| 2572 13b6 34F4 brge .L102 |
| 2573 13b8 88E1 ldi r24,lo8(-1000) |
| 2574 13ba 9CEF ldi r25,hi8(-1000) |
| 2575 13bc 9093 0000 sts (MesswertNick)+1,r25 |
| 2576 13c0 8093 0000 sts MesswertNick,r24 |
| 2577 .L102: |
| 2578 13c4 8091 0000 lds r24,AdWertNick |
| 2579 13c8 9091 0000 lds r25,(AdWertNick)+1 |
| 2580 13cc 0797 sbiw r24,7 |
| 2581 13ce 34F4 brge .L103 |
| 2582 13d0 80E3 ldi r24,lo8(-2000) |
| 2583 13d2 98EF ldi r25,hi8(-2000) |
| 2584 13d4 9093 0000 sts (MesswertNick)+1,r25 |
| 2585 13d8 8093 0000 sts MesswertNick,r24 |
| 2586 .L103: |
| 2587 13dc 2091 0000 lds r18,PlatinenVersion |
| 2588 13e0 2A30 cpi r18,lo8(10) |
| 2589 13e2 A9F4 brne .L104 |
| 2590 13e4 8091 0000 lds r24,AdWertNick |
| 2591 13e8 9091 0000 lds r25,(AdWertNick)+1 |
| 2592 13ec 835F subi r24,lo8(1011) |
| 2593 13ee 9340 sbci r25,hi8(1011) |
| 2594 13f0 34F0 brlt .L105 |
| 2595 13f2 88EE ldi r24,lo8(1000) |
| 2596 13f4 93E0 ldi r25,hi8(1000) |
| 2597 13f6 9093 0000 sts (MesswertNick)+1,r25 |
| 2598 13fa 8093 0000 sts MesswertNick,r24 |
| 2599 .L105: |
| 2600 13fe 8091 0000 lds r24,AdWertNick |
| 2601 1402 9091 0000 lds r25,(AdWertNick)+1 |
| 2602 1406 8A5F subi r24,lo8(1018) |
| 2603 1408 9340 sbci r25,hi8(1018) |
| 2604 140a DCF0 brlt .L107 |
| 2605 140c 14C0 rjmp .L150 |
| 2606 .L104: |
| 2607 140e 8091 0000 lds r24,AdWertNick |
| 2608 1412 9091 0000 lds r25,(AdWertNick)+1 |
| 2609 1416 815D subi r24,lo8(2001) |
| 2610 1418 9740 sbci r25,hi8(2001) |
| 2611 141a 34F0 brlt .L108 |
| 2612 141c 88EE ldi r24,lo8(1000) |
| 2613 141e 93E0 ldi r25,hi8(1000) |
| 2614 1420 9093 0000 sts (MesswertNick)+1,r25 |
| 2615 1424 8093 0000 sts MesswertNick,r24 |
| 2616 .L108: |
| 2617 1428 8091 0000 lds r24,AdWertNick |
| 2618 142c 9091 0000 lds r25,(AdWertNick)+1 |
| 2619 1430 805E subi r24,lo8(2016) |
| 2620 1432 9740 sbci r25,hi8(2016) |
| 2621 1434 34F0 brlt .L107 |
| 2622 .L150: |
| 2623 1436 80ED ldi r24,lo8(2000) |
| 2624 1438 97E0 ldi r25,hi8(2000) |
| 2625 143a 9093 0000 sts (MesswertNick)+1,r25 |
| 2626 143e 8093 0000 sts MesswertNick,r24 |
| 2627 .L107: |
| 2628 1442 8091 0000 lds r24,AdWertRoll |
| 2629 1446 9091 0000 lds r25,(AdWertRoll)+1 |
| 2630 144a 0F97 sbiw r24,15 |
| 2631 144c 34F4 brge .L110 |
| 2632 144e 88E1 ldi r24,lo8(-1000) |
| 2633 1450 9CEF ldi r25,hi8(-1000) |
| 2634 1452 9093 0000 sts (MesswertRoll)+1,r25 |
| 2635 1456 8093 0000 sts MesswertRoll,r24 |
| 2636 .L110: |
| 2637 145a 8091 0000 lds r24,AdWertRoll |
| 2638 145e 9091 0000 lds r25,(AdWertRoll)+1 |
| 2639 1462 0797 sbiw r24,7 |
| 2640 1464 34F4 brge .L111 |
| 2641 1466 80E3 ldi r24,lo8(-2000) |
| 2642 1468 98EF ldi r25,hi8(-2000) |
| 2643 146a 9093 0000 sts (MesswertRoll)+1,r25 |
| 2644 146e 8093 0000 sts MesswertRoll,r24 |
| 2645 .L111: |
| 2646 1472 2A30 cpi r18,lo8(10) |
| 2647 1474 A9F4 brne .L112 |
| 2648 1476 8091 0000 lds r24,AdWertRoll |
| 2649 147a 9091 0000 lds r25,(AdWertRoll)+1 |
| 2650 147e 835F subi r24,lo8(1011) |
| 2651 1480 9340 sbci r25,hi8(1011) |
| 2652 1482 34F0 brlt .L113 |
| 2653 1484 88EE ldi r24,lo8(1000) |
| 2654 1486 93E0 ldi r25,hi8(1000) |
| 2655 1488 9093 0000 sts (MesswertRoll)+1,r25 |
| 2656 148c 8093 0000 sts MesswertRoll,r24 |
| 2657 .L113: |
| 2658 1490 8091 0000 lds r24,AdWertRoll |
| 2659 1494 9091 0000 lds r25,(AdWertRoll)+1 |
| 2660 1498 8A5F subi r24,lo8(1018) |
| 2661 149a 9340 sbci r25,hi8(1018) |
| 2662 149c DCF0 brlt .L115 |
| 2663 149e 14C0 rjmp .L151 |
| 2664 .L112: |
| 2665 14a0 8091 0000 lds r24,AdWertRoll |
| 2666 14a4 9091 0000 lds r25,(AdWertRoll)+1 |
| 2667 14a8 815D subi r24,lo8(2001) |
| 2668 14aa 9740 sbci r25,hi8(2001) |
| 2669 14ac 34F0 brlt .L116 |
| 2670 14ae 88EE ldi r24,lo8(1000) |
| 2671 14b0 93E0 ldi r25,hi8(1000) |
| 2672 14b2 9093 0000 sts (MesswertRoll)+1,r25 |
| 2673 14b6 8093 0000 sts MesswertRoll,r24 |
| 2674 .L116: |
| 2675 14ba 8091 0000 lds r24,AdWertRoll |
| 2676 14be 9091 0000 lds r25,(AdWertRoll)+1 |
| 2677 14c2 805E subi r24,lo8(2016) |
| 2678 14c4 9740 sbci r25,hi8(2016) |
| 2679 14c6 34F0 brlt .L115 |
| 2680 .L151: |
| 2681 14c8 80ED ldi r24,lo8(2000) |
| 2682 14ca 97E0 ldi r25,hi8(2000) |
| 2683 14cc 9093 0000 sts (MesswertRoll)+1,r25 |
| 2684 14d0 8093 0000 sts MesswertRoll,r24 |
| 2685 .L115: |
| 2686 14d4 6091 0000 lds r22,Parameter_Gyro_D |
| 2687 14d8 6623 tst r22 |
| 2688 14da 09F4 brne .+2 |
| 2689 14dc AFC0 rjmp .L118 |
| 2690 14de 4091 0000 lds r20,HiResNick |
| 2691 14e2 5091 0000 lds r21,(HiResNick)+1 |
| 2692 14e6 8091 0000 lds r24,oldNick.35 |
| 2693 14ea 9091 0000 lds r25,(oldNick.35)+1 |
| 2694 14ee 481B sub r20,r24 |
| 2695 14f0 590B sbc r21,r25 |
| 2696 14f2 5093 0000 sts (d2Nick.38)+1,r21 |
| 2697 14f6 4093 0000 sts d2Nick.38,r20 |
| 2698 14fa 2091 0000 lds r18,HiResNick |
| 2699 14fe 3091 0000 lds r19,(HiResNick)+1 |
| 2700 1502 280F add r18,r24 |
| 2701 1504 391F adc r19,r25 |
| 2702 1506 37FF sbrs r19,7 |
| 2703 1508 02C0 rjmp .L119 |
| 2704 150a 2F5F subi r18,lo8(-(1)) |
| 2705 150c 3F4F sbci r19,hi8(-(1)) |
| 2706 .L119: |
| 2707 150e 3595 asr r19 |
| 2708 1510 2795 ror r18 |
| 2709 1512 3093 0000 sts (oldNick.35)+1,r19 |
| 2710 1516 2093 0000 sts oldNick.35,r18 |
| 2711 151a 4138 cpi r20,129 |
| 2712 151c 5105 cpc r21,__zero_reg__ |
| 2713 151e 1CF0 brlt .L120 |
| 2714 1520 80E8 ldi r24,lo8(128) |
| 2715 1522 90E0 ldi r25,hi8(128) |
| 2716 1524 05C0 rjmp .L152 |
| 2717 .L120: |
| 2718 1526 4058 subi r20,lo8(-128) |
| 2719 1528 5F4F sbci r21,hi8(-128) |
| 2720 152a 34F4 brge .L121 |
| 2721 152c 80E8 ldi r24,lo8(-128) |
| 2722 152e 9FEF ldi r25,hi8(-128) |
| 2723 .L152: |
| 2724 1530 9093 0000 sts (d2Nick.38)+1,r25 |
| 2725 1534 8093 0000 sts d2Nick.38,r24 |
| 2726 .L121: |
| 2727 1538 4091 0000 lds r20,HiResRoll |
| 2728 153c 5091 0000 lds r21,(HiResRoll)+1 |
| 2729 1540 8091 0000 lds r24,oldRoll.36 |
| 2730 1544 9091 0000 lds r25,(oldRoll.36)+1 |
| 2731 1548 481B sub r20,r24 |
| 2732 154a 590B sbc r21,r25 |
| 2733 154c 5093 0000 sts (d2Roll.37)+1,r21 |
| 2734 1550 4093 0000 sts d2Roll.37,r20 |
| 2735 1554 2091 0000 lds r18,HiResRoll |
| 2736 1558 3091 0000 lds r19,(HiResRoll)+1 |
| 2737 155c 280F add r18,r24 |
| 2738 155e 391F adc r19,r25 |
| 2739 1560 37FF sbrs r19,7 |
| 2740 1562 02C0 rjmp .L123 |
| 2741 1564 2F5F subi r18,lo8(-(1)) |
| 2742 1566 3F4F sbci r19,hi8(-(1)) |
| 2743 .L123: |
| 2744 1568 3595 asr r19 |
| 2745 156a 2795 ror r18 |
| 2746 156c 3093 0000 sts (oldRoll.36)+1,r19 |
| 2747 1570 2093 0000 sts oldRoll.36,r18 |
| 2748 1574 4138 cpi r20,129 |
| 2749 1576 5105 cpc r21,__zero_reg__ |
| 2750 1578 1CF0 brlt .L124 |
| 2751 157a 80E8 ldi r24,lo8(128) |
| 2752 157c 90E0 ldi r25,hi8(128) |
| 2753 157e 05C0 rjmp .L153 |
| 2754 .L124: |
| 2755 1580 4058 subi r20,lo8(-128) |
| 2756 1582 5F4F sbci r21,hi8(-128) |
| 2757 1584 34F4 brge .L125 |
| 2758 1586 80E8 ldi r24,lo8(-128) |
| 2759 1588 9FEF ldi r25,hi8(-128) |
| 2760 .L153: |
| 2761 158a 9093 0000 sts (d2Roll.37)+1,r25 |
| 2762 158e 8093 0000 sts d2Roll.37,r24 |
| 2763 .L125: |
| 2764 1592 462F mov r20,r22 |
| 2765 1594 5527 clr r21 |
| 2766 1596 8091 0000 lds r24,d2Nick.38 |
| 2767 159a 9091 0000 lds r25,(d2Nick.38)+1 |
| 2768 159e 849F mul r24,r20 |
| 2769 15a0 B001 movw r22,r0 |
| 2770 15a2 859F mul r24,r21 |
| 2771 15a4 700D add r23,r0 |
| 2772 15a6 949F mul r25,r20 |
| 2773 15a8 700D add r23,r0 |
| 2774 15aa 1124 clr r1 |
| 2775 15ac 9B01 movw r18,r22 |
| 2776 15ae 77FF sbrs r23,7 |
| 2777 15b0 02C0 rjmp .L127 |
| 2778 15b2 215F subi r18,lo8(-(15)) |
| 2779 15b4 3F4F sbci r19,hi8(-(15)) |
| 2780 .L127: |
| 2781 15b6 F4E0 ldi r31,4 |
| 2782 15b8 3595 1: asr r19 |
| 2783 15ba 2795 ror r18 |
| 2784 15bc FA95 dec r31 |
| 2785 15be E1F7 brne 1b |
| 2786 15c0 8091 0000 lds r24,MesswertNick |
| 2787 15c4 9091 0000 lds r25,(MesswertNick)+1 |
| 2788 15c8 820F add r24,r18 |
| 2789 15ca 931F adc r25,r19 |
| 2790 15cc 9093 0000 sts (MesswertNick)+1,r25 |
| 2791 15d0 8093 0000 sts MesswertNick,r24 |
| 2792 15d4 8091 0000 lds r24,d2Roll.37 |
| 2793 15d8 9091 0000 lds r25,(d2Roll.37)+1 |
| 2794 15dc 849F mul r24,r20 |
| 2795 15de D001 movw r26,r0 |
| 2796 15e0 859F mul r24,r21 |
| 2797 15e2 B00D add r27,r0 |
| 2798 15e4 949F mul r25,r20 |
| 2799 15e6 B00D add r27,r0 |
| 2800 15e8 1124 clr r1 |
| 2801 15ea AD01 movw r20,r26 |
| 2802 15ec 9D01 movw r18,r26 |
| 2803 15ee B7FF sbrs r27,7 |
| 2804 15f0 02C0 rjmp .L128 |
| 2805 15f2 215F subi r18,lo8(-(15)) |
| 2806 15f4 3F4F sbci r19,hi8(-(15)) |
| 2807 .L128: |
| 2808 15f6 E4E0 ldi r30,4 |
| 2809 15f8 3595 1: asr r19 |
| 2810 15fa 2795 ror r18 |
| 2811 15fc EA95 dec r30 |
| 2812 15fe E1F7 brne 1b |
| 2813 1600 8091 0000 lds r24,MesswertRoll |
| 2814 1604 9091 0000 lds r25,(MesswertRoll)+1 |
| 2815 1608 820F add r24,r18 |
| 2816 160a 931F adc r25,r19 |
| 2817 160c 9093 0000 sts (MesswertRoll)+1,r25 |
| 2818 1610 8093 0000 sts MesswertRoll,r24 |
| 2819 1614 8091 0000 lds r24,HiResNick |
| 2820 1618 9091 0000 lds r25,(HiResNick)+1 |
| 2821 161c 860F add r24,r22 |
| 2822 161e 971F adc r25,r23 |
| 2823 1620 9093 0000 sts (HiResNick)+1,r25 |
| 2824 1624 8093 0000 sts HiResNick,r24 |
| 2825 1628 8091 0000 lds r24,HiResRoll |
| 2826 162c 9091 0000 lds r25,(HiResRoll)+1 |
| 2827 1630 840F add r24,r20 |
| 2828 1632 951F adc r25,r21 |
| 2829 1634 9093 0000 sts (HiResRoll)+1,r25 |
| 2830 1638 8093 0000 sts HiResRoll,r24 |
| 2831 .L118: |
| 2832 163c 0091 0000 lds r16,RohMesswertRoll |
| 2833 1640 1091 0000 lds r17,(RohMesswertRoll)+1 |
| 2834 1644 8091 0000 lds r24,KopplungsteilNickRoll |
| 2835 1648 9091 0000 lds r25,(KopplungsteilNickRoll)+1 |
| 2836 164c 1016 cp __zero_reg__,r16 |
| 2837 164e 1106 cpc __zero_reg__,r17 |
| 2838 1650 5CF5 brge .L129 |
| 2839 1652 9C01 movw r18,r24 |
| 2840 1654 97FF sbrs r25,7 |
| 2841 1656 04C0 rjmp .L130 |
| 2842 1658 2227 clr r18 |
| 2843 165a 3327 clr r19 |
| 2844 165c 281B sub r18,r24 |
| 2845 165e 390B sbc r19,r25 |
| 2846 .L130: |
| 2847 1660 C901 movw r24,r18 |
| 2848 1662 AA27 clr r26 |
| 2849 1664 97FD sbrc r25,7 |
| 2850 1666 A095 com r26 |
| 2851 1668 BA2F mov r27,r26 |
| 2852 166a 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2853 166e 3327 clr r19 |
| 2854 1670 4427 clr r20 |
| 2855 1672 5527 clr r21 |
| 2856 1674 BC01 movw r22,r24 |
| 2857 1676 CD01 movw r24,r26 |
| 2858 1678 0E94 0000 call __mulsi3 |
| 2859 167c 9B01 movw r18,r22 |
| 2860 167e AC01 movw r20,r24 |
| 2861 1680 97FF sbrs r25,7 |
| 2862 1682 04C0 rjmp .L131 |
| 2863 1684 215C subi r18,lo8(-(63)) |
| 2864 1686 3F4F sbci r19,hi8(-(63)) |
| 2865 1688 4F4F sbci r20,hlo8(-(63)) |
| 2866 168a 5F4F sbci r21,hhi8(-(63)) |
| 2867 .L131: |
| 2868 168c 76E0 ldi r23,6 |
| 2869 168e 5595 1: asr r21 |
| 2870 1690 4795 ror r20 |
| 2871 1692 3795 ror r19 |
| 2872 1694 2795 ror r18 |
| 2873 1696 7A95 dec r23 |
| 2874 1698 D1F7 brne 1b |
| 2875 169a 8091 0000 lds r24,TrimRoll |
| 2876 169e 9091 0000 lds r25,(TrimRoll)+1 |
| 2877 16a2 820F add r24,r18 |
| 2878 16a4 931F adc r25,r19 |
| 2879 16a6 27C0 rjmp .L154 |
| 2880 .L129: |
| 2881 16a8 97FF sbrs r25,7 |
| 2882 16aa 03C0 rjmp .L133 |
| 2883 16ac 9095 com r25 |
| 2884 16ae 8195 neg r24 |
| 2885 16b0 9F4F sbci r25,lo8(-1) |
| 2886 .L133: |
| 2887 16b2 AA27 clr r26 |
| 2888 16b4 97FD sbrc r25,7 |
| 2889 16b6 A095 com r26 |
| 2890 16b8 BA2F mov r27,r26 |
| 2891 16ba 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2892 16be 3327 clr r19 |
| 2893 16c0 4427 clr r20 |
| 2894 16c2 5527 clr r21 |
| 2895 16c4 BC01 movw r22,r24 |
| 2896 16c6 CD01 movw r24,r26 |
| 2897 16c8 0E94 0000 call __mulsi3 |
| 2898 16cc 9B01 movw r18,r22 |
| 2899 16ce AC01 movw r20,r24 |
| 2900 16d0 97FF sbrs r25,7 |
| 2901 16d2 04C0 rjmp .L134 |
| 2902 16d4 215C subi r18,lo8(-(63)) |
| 2903 16d6 3F4F sbci r19,hi8(-(63)) |
| 2904 16d8 4F4F sbci r20,hlo8(-(63)) |
| 2905 16da 5F4F sbci r21,hhi8(-(63)) |
| 2906 .L134: |
| 2907 16dc 66E0 ldi r22,6 |
| 2908 16de 5595 1: asr r21 |
| 2909 16e0 4795 ror r20 |
| 2910 16e2 3795 ror r19 |
| 2911 16e4 2795 ror r18 |
| 2912 16e6 6A95 dec r22 |
| 2913 16e8 D1F7 brne 1b |
| 2914 16ea 8091 0000 lds r24,TrimRoll |
| 2915 16ee 9091 0000 lds r25,(TrimRoll)+1 |
| 2916 16f2 821B sub r24,r18 |
| 2917 16f4 930B sbc r25,r19 |
| 2918 .L154: |
| 2919 16f6 9093 0000 sts (TrimRoll)+1,r25 |
| 2920 16fa 8093 0000 sts TrimRoll,r24 |
| 2921 16fe E090 0000 lds r14,RohMesswertNick |
| 2922 1702 F090 0000 lds r15,(RohMesswertNick)+1 |
| 2923 1706 8091 0000 lds r24,KopplungsteilRollNick |
| 2924 170a 9091 0000 lds r25,(KopplungsteilRollNick)+1 |
| 2925 170e 1E14 cp __zero_reg__,r14 |
| 2926 1710 1F04 cpc __zero_reg__,r15 |
| 2927 1712 5CF5 brge .L135 |
| 2928 1714 9C01 movw r18,r24 |
| 2929 1716 97FF sbrs r25,7 |
| 2930 1718 04C0 rjmp .L136 |
| 2931 171a 2227 clr r18 |
| 2932 171c 3327 clr r19 |
| 2933 171e 281B sub r18,r24 |
| 2934 1720 390B sbc r19,r25 |
| 2935 .L136: |
| 2936 1722 C901 movw r24,r18 |
| 2937 1724 AA27 clr r26 |
| 2938 1726 97FD sbrc r25,7 |
| 2939 1728 A095 com r26 |
| 2940 172a BA2F mov r27,r26 |
| 2941 172c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2942 1730 3327 clr r19 |
| 2943 1732 4427 clr r20 |
| 2944 1734 5527 clr r21 |
| 2945 1736 BC01 movw r22,r24 |
| 2946 1738 CD01 movw r24,r26 |
| 2947 173a 0E94 0000 call __mulsi3 |
| 2948 173e 9B01 movw r18,r22 |
| 2949 1740 AC01 movw r20,r24 |
| 2950 1742 97FF sbrs r25,7 |
| 2951 1744 04C0 rjmp .L137 |
| 2952 1746 215C subi r18,lo8(-(63)) |
| 2953 1748 3F4F sbci r19,hi8(-(63)) |
| 2954 174a 4F4F sbci r20,hlo8(-(63)) |
| 2955 174c 5F4F sbci r21,hhi8(-(63)) |
| 2956 .L137: |
| 2957 174e 96E0 ldi r25,6 |
| 2958 1750 5595 1: asr r21 |
| 2959 1752 4795 ror r20 |
| 2960 1754 3795 ror r19 |
| 2961 1756 2795 ror r18 |
| 2962 1758 9A95 dec r25 |
| 2963 175a D1F7 brne 1b |
| 2964 175c 8091 0000 lds r24,TrimNick |
| 2965 1760 9091 0000 lds r25,(TrimNick)+1 |
| 2966 1764 820F add r24,r18 |
| 2967 1766 931F adc r25,r19 |
| 2968 1768 27C0 rjmp .L155 |
| 2969 .L135: |
| 2970 176a 97FF sbrs r25,7 |
| 2971 176c 03C0 rjmp .L139 |
| 2972 176e 9095 com r25 |
| 2973 1770 8195 neg r24 |
| 2974 1772 9F4F sbci r25,lo8(-1) |
| 2975 .L139: |
| 2976 1774 AA27 clr r26 |
| 2977 1776 97FD sbrc r25,7 |
| 2978 1778 A095 com r26 |
| 2979 177a BA2F mov r27,r26 |
| 2980 177c 2091 0000 lds r18,Parameter_CouplingYawCorrection |
| 2981 1780 3327 clr r19 |
| 2982 1782 4427 clr r20 |
| 2983 1784 5527 clr r21 |
| 2984 1786 BC01 movw r22,r24 |
| 2985 1788 CD01 movw r24,r26 |
| 2986 178a 0E94 0000 call __mulsi3 |
| 2987 178e 9B01 movw r18,r22 |
| 2988 1790 AC01 movw r20,r24 |
| 2989 1792 97FF sbrs r25,7 |
| 2990 1794 04C0 rjmp .L140 |
| 2991 1796 215C subi r18,lo8(-(63)) |
| 2992 1798 3F4F sbci r19,hi8(-(63)) |
| 2993 179a 4F4F sbci r20,hlo8(-(63)) |
| 2994 179c 5F4F sbci r21,hhi8(-(63)) |
| 2995 .L140: |
| 2996 179e 86E0 ldi r24,6 |
| 2997 17a0 5595 1: asr r21 |
| 2998 17a2 4795 ror r20 |
| 2999 17a4 3795 ror r19 |
| 3000 17a6 2795 ror r18 |
| 3001 17a8 8A95 dec r24 |
| 3002 17aa D1F7 brne 1b |
| 3003 17ac 8091 0000 lds r24,TrimNick |
| 3004 17b0 9091 0000 lds r25,(TrimNick)+1 |
| 3005 17b4 821B sub r24,r18 |
| 3006 17b6 930B sbc r25,r19 |
| 3007 .L155: |
| 3008 17b8 9093 0000 sts (TrimNick)+1,r25 |
| 3009 17bc 8093 0000 sts TrimNick,r24 |
| 3010 17c0 8091 0000 lds r24,EE_Parameter+13 |
| 3011 17c4 87FF sbrs r24,7 |
| 3012 17c6 44C0 rjmp .L63 |
| 3013 17c8 B989 ldd r27,Y+17 |
| 3014 17ca BB23 tst r27 |
| 3015 17cc 09F0 breq .+2 |
| 3016 17ce 40C0 rjmp .L63 |
| 3017 17d0 8091 0000 lds r24,Looping_Roll |
| 3018 17d4 8823 tst r24 |
| 3019 17d6 E1F5 brne .L63 |
| 3020 17d8 E1E0 ldi r30,lo8(257) |
| 3021 17da EE16 cp r14,r30 |
| 3022 17dc E1E0 ldi r30,hi8(257) |
| 3023 17de FE06 cpc r15,r30 |
| 3024 17e0 4CF0 brlt .L142 |
| 3025 17e2 8091 0000 lds r24,MesswertNick |
| 3026 17e6 9091 0000 lds r25,(MesswertNick)+1 |
| 3027 17ea 8E0D add r24,r14 |
| 3028 17ec 9F1D adc r25,r15 |
| 3029 17ee 8050 subi r24,lo8(-(-256)) |
| 3030 17f0 9140 sbci r25,hi8(-(-256)) |
| 3031 17f2 0DC0 rjmp .L156 |
| 3032 .L142: |
| 3033 17f4 F0E0 ldi r31,lo8(-256) |
| 3034 17f6 EF16 cp r14,r31 |
| 3035 17f8 FFEF ldi r31,hi8(-256) |
| 3036 17fa FF06 cpc r15,r31 |
| 3037 17fc 64F4 brge .L143 |
| 3038 17fe 8091 0000 lds r24,MesswertNick |
| 3039 1802 9091 0000 lds r25,(MesswertNick)+1 |
| 3040 1806 8E0D add r24,r14 |
| 3041 1808 9F1D adc r25,r15 |
| 3042 180a 8050 subi r24,lo8(-(256)) |
| 3043 180c 9F4F sbci r25,hi8(-(256)) |
| 3044 .L156: |
| 3045 180e 9093 0000 sts (MesswertNick)+1,r25 |
| 3046 1812 8093 0000 sts MesswertNick,r24 |
| 3047 .L143: |
| 3048 1816 21E0 ldi r18,hi8(257) |
| 3049 1818 0130 cpi r16,lo8(257) |
| 3050 181a 1207 cpc r17,r18 |
| 3051 181c 4CF0 brlt .L145 |
| 3052 181e 8091 0000 lds r24,MesswertRoll |
| 3053 1822 9091 0000 lds r25,(MesswertRoll)+1 |
| 3054 1826 800F add r24,r16 |
| 3055 1828 911F adc r25,r17 |
| 3056 182a 8050 subi r24,lo8(-(-256)) |
| 3057 182c 9140 sbci r25,hi8(-(-256)) |
| 3058 182e 0CC0 rjmp .L157 |
| 3059 .L145: |
| 3060 1830 3FEF ldi r19,hi8(-256) |
| 3061 1832 0030 cpi r16,lo8(-256) |
| 3062 1834 1307 cpc r17,r19 |
| 3063 1836 64F4 brge .L63 |
| 3064 1838 8091 0000 lds r24,MesswertRoll |
| 3065 183c 9091 0000 lds r25,(MesswertRoll)+1 |
| 3066 1840 800F add r24,r16 |
| 3067 1842 911F adc r25,r17 |
| 3068 1844 8050 subi r24,lo8(-(256)) |
| 3069 1846 9F4F sbci r25,hi8(-(256)) |
| 3070 .L157: |
| 3071 1848 9093 0000 sts (MesswertRoll)+1,r25 |
| 3072 184c 8093 0000 sts MesswertRoll,r24 |
| 3073 .L63: |
| 3074 /* epilogue: frame size=19 */ |
| 3075 1850 E2E1 ldi r30,18 |
| 3076 1852 CD5E subi r28,-19 |
| 3077 1854 0C94 0000 jmp __epilogue_restores__+0 |
| 3078 /* epilogue end (size=4) */ |
| 3079 /* function Mittelwert size 2000 (1990) */ |
| 3081 .global SendMotorData |
| 3083 SendMotorData: |
| 3084 /* prologue: frame size=0 */ |
| 3085 /* prologue end (size=0) */ |
| 3086 1858 8091 0000 lds r24,MotorenEin |
| 3087 185c 8823 tst r24 |
| 3088 185e 01F5 brne .L159 |
| 3089 1860 8091 0000 lds r24,FC_StatusFlags |
| 3090 1864 8C7F andi r24,lo8(-4) |
| 3091 1866 8093 0000 sts FC_StatusFlags,r24 |
| 3092 186a A0E0 ldi r26,lo8(MotorTest) |
| 3093 186c B0E0 ldi r27,hi8(MotorTest) |
| 3094 186e E0E0 ldi r30,lo8(Motor) |
| 3095 1870 F0E0 ldi r31,hi8(Motor) |
| 3096 1872 9BE0 ldi r25,lo8(11) |
| 3097 .L164: |
| 3098 1874 8091 0000 lds r24,PC_MotortestActive |
| 3099 1878 8823 tst r24 |
| 3100 187a 09F4 brne .L163 |
| 3101 187c 8C93 st X,r24 |
| 3102 .L163: |
| 3103 187e 8D91 ld r24,X+ |
| 3104 1880 8183 std Z+1,r24 |
| 3105 1882 1282 std Z+2,__zero_reg__ |
| 3106 1884 9150 subi r25,lo8(-(-1)) |
| 3107 1886 3896 adiw r30,8 |
| 3108 1888 97FF sbrs r25,7 |
| 3109 188a F4CF rjmp .L164 |
| 3110 188c 8091 0000 lds r24,PC_MotortestActive |
| 3111 1890 8823 tst r24 |
| 3112 1892 59F0 breq .L166 |
| 3113 1894 8091 0000 lds r24,PC_MotortestActive |
| 3114 1898 8150 subi r24,lo8(-(-1)) |
| 3115 189a 8093 0000 sts PC_MotortestActive,r24 |
| 3116 189e 05C0 rjmp .L166 |
| 3117 .L159: |
| 3118 18a0 8091 0000 lds r24,FC_StatusFlags |
| 3119 18a4 8160 ori r24,lo8(1) |
| 3120 18a6 8093 0000 sts FC_StatusFlags,r24 |
| 3121 .L166: |
| 3122 18aa 8091 0000 lds r24,I2C_TransferActive |
| 3123 18ae 8823 tst r24 |
| 3124 18b0 19F0 breq .L167 |
| 3125 18b2 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 3126 18b6 0895 ret |
| 3127 .L167: |
| 3128 18b8 8093 0000 sts motor_write,r24 |
| 3129 18bc 8093 0000 sts twi_state,r24 |
| 3130 18c0 8091 0000 lds r24,BLFlags |
| 3131 18c4 8E7F andi r24,lo8(-2) |
| 3132 18c6 8093 0000 sts BLFlags,r24 |
| 3133 18ca 85EA ldi r24,lo8(-91) |
| 3134 18cc 8093 BC00 sts 188,r24 |
| 3135 18d0 0895 ret |
| 3136 /* epilogue: frame size=0 */ |
| 3137 /* epilogue: noreturn */ |
| 3138 /* epilogue end (size=0) */ |
| 3139 /* function SendMotorData size 61 (61) */ |
| 3141 .global ParameterZuordnung |
| 3143 ParameterZuordnung: |
| 3144 /* prologue: frame size=0 */ |
| 3145 18d2 CF93 push r28 |
| 3146 18d4 DF93 push r29 |
| 3147 /* prologue end (size=2) */ |
| 3148 18d6 A0E0 ldi r26,lo8(Poti) |
| 3149 18d8 B0E0 ldi r27,hi8(Poti) |
| 3150 18da C0E0 ldi r28,lo8(EE_Parameter+5) |
| 3151 18dc D0E0 ldi r29,hi8(EE_Parameter+5) |
| 3152 18de 57E0 ldi r21,lo8(7) |
| 3153 .L182: |
| 3154 18e0 8991 ld r24,Y+ |
| 3155 18e2 E82F mov r30,r24 |
| 3156 18e4 FF27 clr r31 |
| 3157 18e6 EE0F add r30,r30 |
| 3158 18e8 FF1F adc r31,r31 |
| 3159 18ea E050 subi r30,lo8(-(PPM_in)) |
| 3160 18ec F040 sbci r31,hi8(-(PPM_in)) |
| 3161 18ee 0190 ld __tmp_reg__,Z+ |
| 3162 18f0 F081 ld r31,Z |
| 3163 18f2 E02D mov r30,__tmp_reg__ |
| 3164 18f4 E259 subi r30,lo8(-(110)) |
| 3165 18f6 FF4F sbci r31,hi8(-(110)) |
| 3166 18f8 EF3F cpi r30,255 |
| 3167 18fa F105 cpc r31,__zero_reg__ |
| 3168 18fc 21F0 breq .L175 |
| 3169 18fe 1CF0 brlt .L175 |
| 3170 1900 EFEF ldi r30,lo8(255) |
| 3171 1902 F0E0 ldi r31,hi8(255) |
| 3172 1904 04C0 rjmp .L176 |
| 3173 .L175: |
| 3174 1906 F7FF sbrs r31,7 |
| 3175 1908 02C0 rjmp .L176 |
| 3176 190a E0E0 ldi r30,lo8(0) |
| 3177 190c F0E0 ldi r31,hi8(0) |
| 3178 .L176: |
| 3179 190e 4C91 ld r20,X |
| 3180 1910 242F mov r18,r20 |
| 3181 1912 3327 clr r19 |
| 3182 1914 E217 cp r30,r18 |
| 3183 1916 F307 cpc r31,r19 |
| 3184 1918 A9F0 breq .L174 |
| 3185 191a CF01 movw r24,r30 |
| 3186 191c 821B sub r24,r18 |
| 3187 191e 930B sbc r25,r19 |
| 3188 1920 97FD sbrc r25,7 |
| 3189 1922 0396 adiw r24,3 |
| 3190 .L179: |
| 3191 1924 9595 asr r25 |
| 3192 1926 8795 ror r24 |
| 3193 1928 9595 asr r25 |
| 3194 192a 8795 ror r24 |
| 3195 192c 242F mov r18,r20 |
| 3196 192e 280F add r18,r24 |
| 3197 1930 2C93 st X,r18 |
| 3198 1932 822F mov r24,r18 |
| 3199 1934 9927 clr r25 |
| 3200 1936 E817 cp r30,r24 |
| 3201 1938 F907 cpc r31,r25 |
| 3202 193a 14F4 brge .L180 |
| 3203 193c 2150 subi r18,lo8(-(-1)) |
| 3204 193e 01C0 rjmp .L276 |
| 3205 .L180: |
| 3206 1940 2F5F subi r18,lo8(-(1)) |
| 3207 .L276: |
| 3208 1942 2C93 st X,r18 |
| 3209 .L174: |
| 3210 1944 5150 subi r21,lo8(-(-1)) |
| 3211 1946 1196 adiw r26,1 |
| 3212 1948 57FF sbrs r21,7 |
| 3213 194a CACF rjmp .L182 |
| 3214 194c 8091 0000 lds r24,EE_Parameter+15 |
| 3215 1950 883F cpi r24,lo8(-8) |
| 3216 1952 38F0 brlo .L277 |
| 3217 1954 EFEF ldi r30,lo8(255) |
| 3218 1956 F0E0 ldi r31,hi8(255) |
| 3219 1958 E81B sub r30,r24 |
| 3220 195a F109 sbc r31,__zero_reg__ |
| 3221 195c E050 subi r30,lo8(-(Poti)) |
| 3222 195e F040 sbci r31,hi8(-(Poti)) |
| 3223 1960 8081 ld r24,Z |
| 3224 .L277: |
| 3225 1962 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3226 1966 8091 0000 lds r24,Parameter_Luftdruck_D |
| 3227 196a 8823 tst r24 |
| 3228 196c 29F0 breq .L186 |
| 3229 196e 8436 cpi r24,lo8(100) |
| 3230 1970 18F0 brlo .L186 |
| 3231 1972 84E6 ldi r24,lo8(100) |
| 3232 1974 8093 0000 sts Parameter_Luftdruck_D,r24 |
| 3233 .L186: |
| 3234 1978 8091 0000 lds r24,EE_Parameter+17 |
| 3235 197c 883F cpi r24,lo8(-8) |
| 3236 197e 38F0 brlo .L278 |
| 3237 1980 EFEF ldi r30,lo8(255) |
| 3238 1982 F0E0 ldi r31,hi8(255) |
| 3239 1984 E81B sub r30,r24 |
| 3240 1986 F109 sbc r31,__zero_reg__ |
| 3241 1988 E050 subi r30,lo8(-(Poti)) |
| 3242 198a F040 sbci r31,hi8(-(Poti)) |
| 3243 198c 8081 ld r24,Z |
| 3244 .L278: |
| 3245 198e 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3246 1992 8091 0000 lds r24,Parameter_Hoehe_P |
| 3247 1996 8823 tst r24 |
| 3248 1998 29F0 breq .L191 |
| 3249 199a 8436 cpi r24,lo8(100) |
| 3250 199c 18F0 brlo .L191 |
| 3251 199e 84E6 ldi r24,lo8(100) |
| 3252 19a0 8093 0000 sts Parameter_Hoehe_P,r24 |
| 3253 .L191: |
| 3254 19a4 8091 0000 lds r24,EE_Parameter+30 |
| 3255 19a8 883F cpi r24,lo8(-8) |
| 3256 19aa 38F0 brlo .L279 |
| 3257 19ac EFEF ldi r30,lo8(255) |
| 3258 19ae F0E0 ldi r31,hi8(255) |
| 3259 19b0 E81B sub r30,r24 |
| 3260 19b2 F109 sbc r31,__zero_reg__ |
| 3261 19b4 E050 subi r30,lo8(-(Poti)) |
| 3262 19b6 F040 sbci r31,hi8(-(Poti)) |
| 3263 19b8 8081 ld r24,Z |
| 3264 .L279: |
| 3265 19ba 8093 0000 sts Parameter_Gyro_P,r24 |
| 3266 19be 8091 0000 lds r24,Parameter_Gyro_P |
| 3267 19c2 8B30 cpi r24,lo8(11) |
| 3268 19c4 10F4 brsh .L195 |
| 3269 19c6 8AE0 ldi r24,lo8(10) |
| 3270 19c8 02C0 rjmp .L280 |
| 3271 .L195: |
| 3272 19ca 8F3F cpi r24,lo8(-1) |
| 3273 19cc 11F4 brne .L196 |
| 3274 .L280: |
| 3275 19ce 8093 0000 sts Parameter_Gyro_P,r24 |
| 3276 .L196: |
| 3277 19d2 8091 0000 lds r24,EE_Parameter+75 |
| 3278 19d6 883F cpi r24,lo8(-8) |
| 3279 19d8 38F0 brlo .L281 |
| 3280 19da EFEF ldi r30,lo8(255) |
| 3281 19dc F0E0 ldi r31,hi8(255) |
| 3282 19de E81B sub r30,r24 |
| 3283 19e0 F109 sbc r31,__zero_reg__ |
| 3284 19e2 E050 subi r30,lo8(-(Poti)) |
| 3285 19e4 F040 sbci r31,hi8(-(Poti)) |
| 3286 19e6 8081 ld r24,Z |
| 3287 .L281: |
| 3288 19e8 8093 0000 sts Parameter_J16Timing,r24 |
| 3289 19ec 8091 0000 lds r24,Parameter_J16Timing |
| 3290 19f0 8230 cpi r24,lo8(2) |
| 3291 19f2 10F4 brsh .L200 |
| 3292 19f4 81E0 ldi r24,lo8(1) |
| 3293 19f6 02C0 rjmp .L282 |
| 3294 .L200: |
| 3295 19f8 8F3F cpi r24,lo8(-1) |
| 3296 19fa 11F4 brne .L201 |
| 3297 .L282: |
| 3298 19fc 8093 0000 sts Parameter_J16Timing,r24 |
| 3299 .L201: |
| 3300 1a00 8091 0000 lds r24,EE_Parameter+77 |
| 3301 1a04 883F cpi r24,lo8(-8) |
| 3302 1a06 38F0 brlo .L283 |
| 3303 1a08 EFEF ldi r30,lo8(255) |
| 3304 1a0a F0E0 ldi r31,hi8(255) |
| 3305 1a0c E81B sub r30,r24 |
| 3306 1a0e F109 sbc r31,__zero_reg__ |
| 3307 1a10 E050 subi r30,lo8(-(Poti)) |
| 3308 1a12 F040 sbci r31,hi8(-(Poti)) |
| 3309 1a14 8081 ld r24,Z |
| 3310 .L283: |
| 3311 1a16 8093 0000 sts Parameter_J17Timing,r24 |
| 3312 1a1a 8091 0000 lds r24,Parameter_J17Timing |
| 3313 1a1e 8230 cpi r24,lo8(2) |
| 3314 1a20 10F4 brsh .L205 |
| 3315 1a22 81E0 ldi r24,lo8(1) |
| 3316 1a24 02C0 rjmp .L284 |
| 3317 .L205: |
| 3318 1a26 8F3F cpi r24,lo8(-1) |
| 3319 1a28 11F4 brne .L206 |
| 3320 .L284: |
| 3321 1a2a 8093 0000 sts Parameter_J17Timing,r24 |
| 3322 .L206: |
| 3323 1a2e 8091 0000 lds r24,EE_Parameter+56 |
| 3324 1a32 883F cpi r24,lo8(-8) |
| 3325 1a34 38F0 brlo .L285 |
| 3326 1a36 EFEF ldi r30,lo8(255) |
| 3327 1a38 F0E0 ldi r31,hi8(255) |
| 3328 1a3a E81B sub r30,r24 |
| 3329 1a3c F109 sbc r31,__zero_reg__ |
| 3330 1a3e E050 subi r30,lo8(-(Poti)) |
| 3331 1a40 F040 sbci r31,hi8(-(Poti)) |
| 3332 1a42 8081 ld r24,Z |
| 3333 .L285: |
| 3334 1a44 8093 0000 sts Parameter_Servo3,r24 |
| 3335 1a48 8091 0000 lds r24,EE_Parameter+57 |
| 3336 1a4c 883F cpi r24,lo8(-8) |
| 3337 1a4e 38F0 brlo .L286 |
| 3338 1a50 EFEF ldi r30,lo8(255) |
| 3339 1a52 F0E0 ldi r31,hi8(255) |
| 3340 1a54 E81B sub r30,r24 |
| 3341 1a56 F109 sbc r31,__zero_reg__ |
| 3342 1a58 E050 subi r30,lo8(-(Poti)) |
| 3343 1a5a F040 sbci r31,hi8(-(Poti)) |
| 3344 1a5c 8081 ld r24,Z |
| 3345 .L286: |
| 3346 1a5e 8093 0000 sts Parameter_Servo4,r24 |
| 3347 1a62 8091 0000 lds r24,EE_Parameter+58 |
| 3348 1a66 883F cpi r24,lo8(-8) |
| 3349 1a68 38F0 brlo .L287 |
| 3350 1a6a EFEF ldi r30,lo8(255) |
| 3351 1a6c F0E0 ldi r31,hi8(255) |
| 3352 1a6e E81B sub r30,r24 |
| 3353 1a70 F109 sbc r31,__zero_reg__ |
| 3354 1a72 E050 subi r30,lo8(-(Poti)) |
| 3355 1a74 F040 sbci r31,hi8(-(Poti)) |
| 3356 1a76 8081 ld r24,Z |
| 3357 .L287: |
| 3358 1a78 8093 0000 sts Parameter_Servo5,r24 |
| 3359 1a7c 9091 0000 lds r25,EE_Parameter+16 |
| 3360 1a80 983F cpi r25,lo8(-8) |
| 3361 1a82 18F4 brsh .L214 |
| 3362 1a84 9093 0000 sts Parameter_MaxHoehe,r25 |
| 3363 1a88 09C0 rjmp .L215 |
| 3364 .L214: |
| 3365 1a8a EFEF ldi r30,lo8(255) |
| 3366 1a8c F0E0 ldi r31,hi8(255) |
| 3367 1a8e E91B sub r30,r25 |
| 3368 1a90 F109 sbc r31,__zero_reg__ |
| 3369 1a92 E050 subi r30,lo8(-(Poti)) |
| 3370 1a94 F040 sbci r31,hi8(-(Poti)) |
| 3371 1a96 8081 ld r24,Z |
| 3372 1a98 8093 0000 sts Parameter_MaxHoehe,r24 |
| 3373 .L215: |
| 3374 1a9c 983F cpi r25,lo8(-8) |
| 3375 1a9e 18F4 brsh .L216 |
| 3376 1aa0 9093 0000 sts Parameter_MaxHoehe,r25 |
| 3377 1aa4 09C0 rjmp .L217 |
| 3378 .L216: |
| 3379 1aa6 EFEF ldi r30,lo8(255) |
| 3380 1aa8 F0E0 ldi r31,hi8(255) |
| 3381 1aaa E91B sub r30,r25 |
| 3382 1aac F109 sbc r31,__zero_reg__ |
| 3383 1aae E050 subi r30,lo8(-(Poti)) |
| 3384 1ab0 F040 sbci r31,hi8(-(Poti)) |
| 3385 1ab2 8081 ld r24,Z |
| 3386 1ab4 8093 0000 sts Parameter_MaxHoehe,r24 |
| 3387 .L217: |
| 3388 1ab8 8091 0000 lds r24,EE_Parameter+19 |
| 3389 1abc 883F cpi r24,lo8(-8) |
| 3390 1abe 38F0 brlo .L288 |
| 3391 1ac0 EFEF ldi r30,lo8(255) |
| 3392 1ac2 F0E0 ldi r31,hi8(255) |
| 3393 1ac4 E81B sub r30,r24 |
| 3394 1ac6 F109 sbc r31,__zero_reg__ |
| 3395 1ac8 E050 subi r30,lo8(-(Poti)) |
| 3396 1aca F040 sbci r31,hi8(-(Poti)) |
| 3397 1acc 8081 ld r24,Z |
| 3398 .L288: |
| 3399 1ace 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24 |
| 3400 1ad2 8091 0000 lds r24,EE_Parameter+21 |
| 3401 1ad6 883F cpi r24,lo8(-8) |
| 3402 1ad8 38F0 brlo .L289 |
| 3403 1ada EFEF ldi r30,lo8(255) |
| 3404 1adc F0E0 ldi r31,hi8(255) |
| 3405 1ade E81B sub r30,r24 |
| 3406 1ae0 F109 sbc r31,__zero_reg__ |
| 3407 1ae2 E050 subi r30,lo8(-(Poti)) |
| 3408 1ae4 F040 sbci r31,hi8(-(Poti)) |
| 3409 1ae6 8081 ld r24,Z |
| 3410 .L289: |
| 3411 1ae8 8093 0000 sts Parameter_Hoehe_GPS_Z,r24 |
| 3412 1aec 8091 0000 lds r24,EE_Parameter+29 |
| 3413 1af0 883F cpi r24,lo8(-8) |
| 3414 1af2 38F0 brlo .L290 |
| 3415 1af4 EFEF ldi r30,lo8(255) |
| 3416 1af6 F0E0 ldi r31,hi8(255) |
| 3417 1af8 E81B sub r30,r24 |
| 3418 1afa F109 sbc r31,__zero_reg__ |
| 3419 1afc E050 subi r30,lo8(-(Poti)) |
| 3420 1afe F040 sbci r31,hi8(-(Poti)) |
| 3421 1b00 8081 ld r24,Z |
| 3422 .L290: |
| 3423 1b02 8093 0000 sts Parameter_KompassWirkung,r24 |
| 3424 1b06 8091 0000 lds r24,EE_Parameter+31 |
| 3425 1b0a 883F cpi r24,lo8(-8) |
| 3426 1b0c 38F0 brlo .L291 |
| 3427 1b0e EFEF ldi r30,lo8(255) |
| 3428 1b10 F0E0 ldi r31,hi8(255) |
| 3429 1b12 E81B sub r30,r24 |
| 3430 1b14 F109 sbc r31,__zero_reg__ |
| 3431 1b16 E050 subi r30,lo8(-(Poti)) |
| 3432 1b18 F040 sbci r31,hi8(-(Poti)) |
| 3433 1b1a 8081 ld r24,Z |
| 3434 .L291: |
| 3435 1b1c 8093 0000 sts Parameter_Gyro_I,r24 |
| 3436 1b20 8091 0000 lds r24,EE_Parameter+32 |
| 3437 1b24 883F cpi r24,lo8(-8) |
| 3438 1b26 38F0 brlo .L292 |
| 3439 1b28 EFEF ldi r30,lo8(255) |
| 3440 1b2a F0E0 ldi r31,hi8(255) |
| 3441 1b2c E81B sub r30,r24 |
| 3442 1b2e F109 sbc r31,__zero_reg__ |
| 3443 1b30 E050 subi r30,lo8(-(Poti)) |
| 3444 1b32 F040 sbci r31,hi8(-(Poti)) |
| 3445 1b34 8081 ld r24,Z |
| 3446 .L292: |
| 3447 1b36 8093 0000 sts Parameter_Gyro_D,r24 |
| 3448 1b3a 8091 0000 lds r24,EE_Parameter+33 |
| 3449 1b3e 883F cpi r24,lo8(-8) |
| 3450 1b40 38F0 brlo .L293 |
| 3451 1b42 EFEF ldi r30,lo8(255) |
| 3452 1b44 F0E0 ldi r31,hi8(255) |
| 3453 1b46 E81B sub r30,r24 |
| 3454 1b48 F109 sbc r31,__zero_reg__ |
| 3455 1b4a E050 subi r30,lo8(-(Poti)) |
| 3456 1b4c F040 sbci r31,hi8(-(Poti)) |
| 3457 1b4e 8081 ld r24,Z |
| 3458 .L293: |
| 3459 1b50 8093 0000 sts Parameter_Gyro_Gier_P,r24 |
| 3460 1b54 8091 0000 lds r24,EE_Parameter+34 |
| 3461 1b58 883F cpi r24,lo8(-8) |
| 3462 1b5a 38F0 brlo .L294 |
| 3463 1b5c EFEF ldi r30,lo8(255) |
| 3464 1b5e F0E0 ldi r31,hi8(255) |
| 3465 1b60 E81B sub r30,r24 |
| 3466 1b62 F109 sbc r31,__zero_reg__ |
| 3467 1b64 E050 subi r30,lo8(-(Poti)) |
| 3468 1b66 F040 sbci r31,hi8(-(Poti)) |
| 3469 1b68 8081 ld r24,Z |
| 3470 .L294: |
| 3471 1b6a 8093 0000 sts Parameter_Gyro_Gier_I,r24 |
| 3472 1b6e 8091 0000 lds r24,EE_Parameter+40 |
| 3473 1b72 883F cpi r24,lo8(-8) |
| 3474 1b74 38F0 brlo .L295 |
| 3475 1b76 EFEF ldi r30,lo8(255) |
| 3476 1b78 F0E0 ldi r31,hi8(255) |
| 3477 1b7a E81B sub r30,r24 |
| 3478 1b7c F109 sbc r31,__zero_reg__ |
| 3479 1b7e E050 subi r30,lo8(-(Poti)) |
| 3480 1b80 F040 sbci r31,hi8(-(Poti)) |
| 3481 1b82 8081 ld r24,Z |
| 3482 .L295: |
| 3483 1b84 8093 0000 sts Parameter_I_Faktor,r24 |
| 3484 1b88 8091 0000 lds r24,EE_Parameter+41 |
| 3485 1b8c 883F cpi r24,lo8(-8) |
| 3486 1b8e 38F0 brlo .L296 |
| 3487 1b90 EFEF ldi r30,lo8(255) |
| 3488 1b92 F0E0 ldi r31,hi8(255) |
| 3489 1b94 E81B sub r30,r24 |
| 3490 1b96 F109 sbc r31,__zero_reg__ |
| 3491 1b98 E050 subi r30,lo8(-(Poti)) |
| 3492 1b9a F040 sbci r31,hi8(-(Poti)) |
| 3493 1b9c 8081 ld r24,Z |
| 3494 .L296: |
| 3495 1b9e 8093 0000 sts Parameter_UserParam1,r24 |
| 3496 1ba2 8091 0000 lds r24,EE_Parameter+42 |
| 3497 1ba6 883F cpi r24,lo8(-8) |
| 3498 1ba8 38F0 brlo .L297 |
| 3499 1baa EFEF ldi r30,lo8(255) |
| 3500 1bac F0E0 ldi r31,hi8(255) |
| 3501 1bae E81B sub r30,r24 |
| 3502 1bb0 F109 sbc r31,__zero_reg__ |
| 3503 1bb2 E050 subi r30,lo8(-(Poti)) |
| 3504 1bb4 F040 sbci r31,hi8(-(Poti)) |
| 3505 1bb6 8081 ld r24,Z |
| 3506 .L297: |
| 3507 1bb8 8093 0000 sts Parameter_UserParam2,r24 |
| 3508 1bbc 8091 0000 lds r24,EE_Parameter+43 |
| 3509 1bc0 883F cpi r24,lo8(-8) |
| 3510 1bc2 38F0 brlo .L298 |
| 3511 1bc4 EFEF ldi r30,lo8(255) |
| 3512 1bc6 F0E0 ldi r31,hi8(255) |
| 3513 1bc8 E81B sub r30,r24 |
| 3514 1bca F109 sbc r31,__zero_reg__ |
| 3515 1bcc E050 subi r30,lo8(-(Poti)) |
| 3516 1bce F040 sbci r31,hi8(-(Poti)) |
| 3517 1bd0 8081 ld r24,Z |
| 3518 .L298: |
| 3519 1bd2 8093 0000 sts Parameter_UserParam3,r24 |
| 3520 1bd6 8091 0000 lds r24,EE_Parameter+44 |
| 3521 1bda 883F cpi r24,lo8(-8) |
| 3522 1bdc 38F0 brlo .L299 |
| 3523 1bde EFEF ldi r30,lo8(255) |
| 3524 1be0 F0E0 ldi r31,hi8(255) |
| 3525 1be2 E81B sub r30,r24 |
| 3526 1be4 F109 sbc r31,__zero_reg__ |
| 3527 1be6 E050 subi r30,lo8(-(Poti)) |
| 3528 1be8 F040 sbci r31,hi8(-(Poti)) |
| 3529 1bea 8081 ld r24,Z |
| 3530 .L299: |
| 3531 1bec 8093 0000 sts Parameter_UserParam4,r24 |
| 3532 1bf0 8091 0000 lds r24,EE_Parameter+70 |
| 3533 1bf4 883F cpi r24,lo8(-8) |
| 3534 1bf6 38F0 brlo .L300 |
| 3535 1bf8 EFEF ldi r30,lo8(255) |
| 3536 1bfa F0E0 ldi r31,hi8(255) |
| 3537 1bfc E81B sub r30,r24 |
| 3538 1bfe F109 sbc r31,__zero_reg__ |
| 3539 1c00 E050 subi r30,lo8(-(Poti)) |
| 3540 1c02 F040 sbci r31,hi8(-(Poti)) |
| 3541 1c04 8081 ld r24,Z |
| 3542 .L300: |
| 3543 1c06 8093 0000 sts Parameter_UserParam5,r24 |
| 3544 1c0a 8091 0000 lds r24,EE_Parameter+71 |
| 3545 1c0e 883F cpi r24,lo8(-8) |
| 3546 1c10 38F0 brlo .L301 |
| 3547 1c12 EFEF ldi r30,lo8(255) |
| 3548 1c14 F0E0 ldi r31,hi8(255) |
| 3549 1c16 E81B sub r30,r24 |
| 3550 1c18 F109 sbc r31,__zero_reg__ |
| 3551 1c1a E050 subi r30,lo8(-(Poti)) |
| 3552 1c1c F040 sbci r31,hi8(-(Poti)) |
| 3553 1c1e 8081 ld r24,Z |
| 3554 .L301: |
| 3555 1c20 8093 0000 sts Parameter_UserParam6,r24 |
| 3556 1c24 8091 0000 lds r24,EE_Parameter+72 |
| 3557 1c28 883F cpi r24,lo8(-8) |
| 3558 1c2a 38F0 brlo .L302 |
| 3559 1c2c EFEF ldi r30,lo8(255) |
| 3560 1c2e F0E0 ldi r31,hi8(255) |
| 3561 1c30 E81B sub r30,r24 |
| 3562 1c32 F109 sbc r31,__zero_reg__ |
| 3563 1c34 E050 subi r30,lo8(-(Poti)) |
| 3564 1c36 F040 sbci r31,hi8(-(Poti)) |
| 3565 1c38 8081 ld r24,Z |
| 3566 .L302: |
| 3567 1c3a 8093 0000 sts Parameter_UserParam7,r24 |
| 3568 1c3e 8091 0000 lds r24,EE_Parameter+73 |
| 3569 1c42 883F cpi r24,lo8(-8) |
| 3570 1c44 38F0 brlo .L303 |
| 3571 1c46 EFEF ldi r30,lo8(255) |
| 3572 1c48 F0E0 ldi r31,hi8(255) |
| 3573 1c4a E81B sub r30,r24 |
| 3574 1c4c F109 sbc r31,__zero_reg__ |
| 3575 1c4e E050 subi r30,lo8(-(Poti)) |
| 3576 1c50 F040 sbci r31,hi8(-(Poti)) |
| 3577 1c52 8081 ld r24,Z |
| 3578 .L303: |
| 3579 1c54 8093 0000 sts Parameter_UserParam8,r24 |
| 3580 1c58 8091 0000 lds r24,EE_Parameter+45 |
| 3581 1c5c 883F cpi r24,lo8(-8) |
| 3582 1c5e 38F0 brlo .L304 |
| 3583 1c60 EFEF ldi r30,lo8(255) |
| 3584 1c62 F0E0 ldi r31,hi8(255) |
| 3585 1c64 E81B sub r30,r24 |
| 3586 1c66 F109 sbc r31,__zero_reg__ |
| 3587 1c68 E050 subi r30,lo8(-(Poti)) |
| 3588 1c6a F040 sbci r31,hi8(-(Poti)) |
| 3589 1c6c 8081 ld r24,Z |
| 3590 .L304: |
| 3591 1c6e 8093 0000 sts Parameter_ServoNickControl,r24 |
| 3592 1c72 8091 0000 lds r24,EE_Parameter+49 |
| 3593 1c76 883F cpi r24,lo8(-8) |
| 3594 1c78 38F0 brlo .L305 |
| 3595 1c7a EFEF ldi r30,lo8(255) |
| 3596 1c7c F0E0 ldi r31,hi8(255) |
| 3597 1c7e E81B sub r30,r24 |
| 3598 1c80 F109 sbc r31,__zero_reg__ |
| 3599 1c82 E050 subi r30,lo8(-(Poti)) |
| 3600 1c84 F040 sbci r31,hi8(-(Poti)) |
| 3601 1c86 8081 ld r24,Z |
| 3602 .L305: |
| 3603 1c88 8093 0000 sts Parameter_ServoRollControl,r24 |
| 3604 1c8c 8091 0000 lds r24,EE_Parameter+59 |
| 3605 1c90 883F cpi r24,lo8(-8) |
| 3606 1c92 38F0 brlo .L306 |
| 3607 1c94 EFEF ldi r30,lo8(255) |
| 3608 1c96 F0E0 ldi r31,hi8(255) |
| 3609 1c98 E81B sub r30,r24 |
| 3610 1c9a F109 sbc r31,__zero_reg__ |
| 3611 1c9c E050 subi r30,lo8(-(Poti)) |
| 3612 1c9e F040 sbci r31,hi8(-(Poti)) |
| 3613 1ca0 8081 ld r24,Z |
| 3614 .L306: |
| 3615 1ca2 8093 0000 sts Parameter_LoopGasLimit,r24 |
| 3616 1ca6 8091 0000 lds r24,EE_Parameter+62 |
| 3617 1caa 883F cpi r24,lo8(-8) |
| 3618 1cac 38F0 brlo .L307 |
| 3619 1cae EFEF ldi r30,lo8(255) |
| 3620 1cb0 F0E0 ldi r31,hi8(255) |
| 3621 1cb2 E81B sub r30,r24 |
| 3622 1cb4 F109 sbc r31,__zero_reg__ |
| 3623 1cb6 E050 subi r30,lo8(-(Poti)) |
| 3624 1cb8 F040 sbci r31,hi8(-(Poti)) |
| 3625 1cba 8081 ld r24,Z |
| 3626 .L307: |
| 3627 1cbc 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3628 1cc0 8091 0000 lds r24,EE_Parameter+63 |
| 3629 1cc4 883F cpi r24,lo8(-8) |
| 3630 1cc6 38F0 brlo .L308 |
| 3631 1cc8 EFEF ldi r30,lo8(255) |
| 3632 1cca F0E0 ldi r31,hi8(255) |
| 3633 1ccc E81B sub r30,r24 |
| 3634 1cce F109 sbc r31,__zero_reg__ |
| 3635 1cd0 E050 subi r30,lo8(-(Poti)) |
| 3636 1cd2 F040 sbci r31,hi8(-(Poti)) |
| 3637 1cd4 8081 ld r24,Z |
| 3638 .L308: |
| 3639 1cd6 8093 0000 sts Parameter_AchsKopplung2,r24 |
| 3640 1cda 8091 0000 lds r24,EE_Parameter+64 |
| 3641 1cde 883F cpi r24,lo8(-8) |
| 3642 1ce0 38F0 brlo .L309 |
| 3643 1ce2 EFEF ldi r30,lo8(255) |
| 3644 1ce4 F0E0 ldi r31,hi8(255) |
| 3645 1ce6 E81B sub r30,r24 |
| 3646 1ce8 F109 sbc r31,__zero_reg__ |
| 3647 1cea E050 subi r30,lo8(-(Poti)) |
| 3648 1cec F040 sbci r31,hi8(-(Poti)) |
| 3649 1cee 8081 ld r24,Z |
| 3650 .L309: |
| 3651 1cf0 8093 0000 sts Parameter_CouplingYawCorrection,r24 |
| 3652 1cf4 8091 0000 lds r24,EE_Parameter+69 |
| 3653 1cf8 883F cpi r24,lo8(-8) |
| 3654 1cfa 38F0 brlo .L310 |
| 3655 1cfc EFEF ldi r30,lo8(255) |
| 3656 1cfe F0E0 ldi r31,hi8(255) |
| 3657 1d00 E81B sub r30,r24 |
| 3658 1d02 F109 sbc r31,__zero_reg__ |
| 3659 1d04 E050 subi r30,lo8(-(Poti)) |
| 3660 1d06 F040 sbci r31,hi8(-(Poti)) |
| 3661 1d08 8081 ld r24,Z |
| 3662 .L310: |
| 3663 1d0a 8093 0000 sts Parameter_DynamicStability,r24 |
| 3664 1d0e 8091 0000 lds r24,EE_Parameter+96 |
| 3665 1d12 883F cpi r24,lo8(-8) |
| 3666 1d14 38F0 brlo .L311 |
| 3667 1d16 EFEF ldi r30,lo8(255) |
| 3668 1d18 F0E0 ldi r31,hi8(255) |
| 3669 1d1a E81B sub r30,r24 |
| 3670 1d1c F109 sbc r31,__zero_reg__ |
| 3671 1d1e E050 subi r30,lo8(-(Poti)) |
| 3672 1d20 F040 sbci r31,hi8(-(Poti)) |
| 3673 1d22 8081 ld r24,Z |
| 3674 .L311: |
| 3675 1d24 8093 0000 sts Parameter_ExternalControl,r24 |
| 3676 1d28 8091 0000 lds r24,Parameter_I_Faktor |
| 3677 1d2c 282F mov r18,r24 |
| 3678 1d2e 3327 clr r19 |
| 3679 1d30 2F5F subi r18,lo8(-(1)) |
| 3680 1d32 3F4F sbci r19,hi8(-(1)) |
| 3681 1d34 8CE3 ldi r24,lo8(10300) |
| 3682 1d36 98E2 ldi r25,hi8(10300) |
| 3683 1d38 B901 movw r22,r18 |
| 3684 1d3a 0E94 0000 call __divmodhi4 |
| 3685 1d3e 7093 0000 sts (Ki)+1,r23 |
| 3686 1d42 6093 0000 sts Ki,r22 |
| 3687 1d46 8091 0000 lds r24,EE_Parameter+27 |
| 3688 1d4a 8093 0000 sts MAX_GAS,r24 |
| 3689 1d4e 8091 0000 lds r24,EE_Parameter+26 |
| 3690 1d52 8093 0000 sts MIN_GAS,r24 |
| 3691 1d56 9091 0000 lds r25,EE_Parameter+98 |
| 3692 1d5a 9333 cpi r25,lo8(51) |
| 3693 1d5c 20F1 brlo .L266 |
| 3694 1d5e 81E0 ldi r24,lo8(1) |
| 3695 1d60 8093 0000 sts CareFree,r24 |
| 3696 1d64 983F cpi r25,lo8(-8) |
| 3697 1d66 58F0 brlo .L267 |
| 3698 1d68 EFEF ldi r30,lo8(255) |
| 3699 1d6a F0E0 ldi r31,hi8(255) |
| 3700 1d6c E91B sub r30,r25 |
| 3701 1d6e F109 sbc r31,__zero_reg__ |
| 3702 1d70 E050 subi r30,lo8(-(Poti)) |
| 3703 1d72 F040 sbci r31,hi8(-(Poti)) |
| 3704 1d74 8081 ld r24,Z |
| 3705 1d76 8233 cpi r24,lo8(50) |
| 3706 1d78 10F4 brsh .L267 |
| 3707 1d7a 1092 0000 sts CareFree,__zero_reg__ |
| 3708 .L267: |
| 3709 1d7e 8091 0000 lds r24,FromNaviCtrl+7 |
| 3710 1d82 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3711 1d86 97FF sbrs r25,7 |
| 3712 1d88 08C0 rjmp .L268 |
| 3713 1d8a 8091 0000 lds r24,CareFree |
| 3714 1d8e 8823 tst r24 |
| 3715 1d90 21F0 breq .L268 |
| 3716 1d92 8091 0000 lds r24,VersionInfo+5 |
| 3717 1d96 8068 ori r24,lo8(-128) |
| 3718 1d98 03C0 rjmp .L312 |
| 3719 .L268: |
| 3720 1d9a 8091 0000 lds r24,VersionInfo+5 |
| 3721 1d9e 8F77 andi r24,lo8(127) |
| 3722 .L312: |
| 3723 1da0 8093 0000 sts VersionInfo+5,r24 |
| 3724 1da4 02C0 rjmp .L270 |
| 3725 .L266: |
| 3726 1da6 1092 0000 sts CareFree,__zero_reg__ |
| 3727 .L270: |
| 3728 1daa 8091 0000 lds r24,FromNaviCtrl+7 |
| 3729 1dae 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 3730 1db2 97FF sbrs r25,7 |
| 3731 1db4 1DC0 rjmp .L271 |
| 3732 1db6 8091 0000 lds r24,MotorenEin |
| 3733 1dba 8823 tst r24 |
| 3734 1dbc C9F0 breq .L271 |
| 3735 1dbe 8091 0000 lds r24,CareFree |
| 3736 1dc2 8823 tst r24 |
| 3737 1dc4 A9F0 breq .L271 |
| 3738 1dc6 8091 0000 lds r24,BeepMuster |
| 3739 1dca 9091 0000 lds r25,(BeepMuster)+1 |
| 3740 1dce 8F5F subi r24,lo8(-1) |
| 3741 1dd0 9F4F sbci r25,hi8(-1) |
| 3742 1dd2 71F4 brne .L271 |
| 3743 1dd4 88E9 ldi r24,lo8(15000) |
| 3744 1dd6 9AE3 ldi r25,hi8(15000) |
| 3745 1dd8 9093 0000 sts (beeptime)+1,r25 |
| 3746 1ddc 8093 0000 sts beeptime,r24 |
| 3747 1de0 80E0 ldi r24,lo8(-23552) |
| 3748 1de2 94EA ldi r25,hi8(-23552) |
| 3749 1de4 9093 0000 sts (BeepMuster)+1,r25 |
| 3750 1de8 8093 0000 sts BeepMuster,r24 |
| 3751 1dec 1092 0000 sts CareFree,__zero_reg__ |
| 3752 .L271: |
| 3753 1df0 8091 0000 lds r24,CareFree |
| 3754 1df4 8823 tst r24 |
| 3755 1df6 39F0 breq .L171 |
| 3756 1df8 8091 0000 lds r24,Parameter_AchsKopplung1 |
| 3757 1dfc 823D cpi r24,lo8(-46) |
| 3758 1dfe 18F4 brsh .L171 |
| 3759 1e00 825E subi r24,lo8(-(30)) |
| 3760 1e02 8093 0000 sts Parameter_AchsKopplung1,r24 |
| 3761 .L171: |
| 3762 /* epilogue: frame size=0 */ |
| 3763 1e06 DF91 pop r29 |
| 3764 1e08 CF91 pop r28 |
| 3765 1e0a 0895 ret |
| 3766 /* epilogue end (size=3) */ |
| 3767 /* function ParameterZuordnung size 671 (666) */ |
| 3769 .lcomm sollGier.0,4 |
| 3770 .lcomm tmp_long.1,4 |
| 3771 .lcomm tmp_long2.2,4 |
| 3772 .lcomm IntegralFehlerNick.3,4 |
| 3773 .lcomm IntegralFehlerRoll.4,4 |
| 3774 .lcomm RcLostTimer.5,2 |
| 3775 .lcomm delay_neutral.6,1 |
| 3776 .lcomm delay_einschalten.7,1 |
| 3777 .lcomm delay_ausschalten.8,1 |
| 3778 .lcomm calibration_done.9,1 |
| 3779 .lcomm NeueKompassRichtungMerken.10,1 |
| 3780 .lcomm ausgleichNick.11,4 |
| 3781 .lcomm ausgleichRoll.12,4 |
| 3782 .lcomm stick_nick.13,2 |
| 3783 .lcomm stick_roll.14,2 |
| 3784 .lcomm cnt.15,2 |
| 3785 .lcomm last_n_p.16,1 |
| 3786 .lcomm last_n_n.17,1 |
| 3787 .lcomm last_r_p.18,1 |
| 3788 .lcomm last_r_n.19,1 |
| 3789 .lcomm MittelIntegralNick_Alt.20,4 |
| 3790 .lcomm MittelIntegralRoll_Alt.21,4 |
| 3791 .lcomm HeightTrimming.22,2 |
| 3792 .lcomm FilterHCGas.23,2 |
| 3793 .data |
| 3796 StickGasHover.24: |
| 3797 004a 7800 .word 120 |
| 3798 .lcomm HoverGasMin.25,2 |
| 3801 HoverGasMax.26: |
| 3802 004c FF03 .word 1023 |
| 3803 .lcomm HoverGasFilter.27,4 |
| 3806 delay.28: |
| 3807 004e 64 .byte 100 |
| 3808 .lcomm BaroAtUpperLimit.29,1 |
| 3809 .lcomm BaroAtLowerLimit.30,1 |
| 3810 .text |
| 3811 .global MotorRegler |
| 3813 MotorRegler: |
| 3814 /* prologue: frame size=24 */ |
| 3815 1e0c A8E1 ldi r26,lo8(24) |
| 3816 1e0e B0E0 ldi r27,hi8(24) |
| 3817 1e10 E0E0 ldi r30,pm_lo8(1f) |
| 3818 1e12 F0E0 ldi r31,pm_hi8(1f) |
| 3819 1e14 0C94 0000 jmp __prologue_saves__+0 |
| 3820 1: |
| 3821 /* prologue end (size=6) */ |
| 3822 1e18 0E94 0000 call Mittelwert |
| 3823 1e1c 3091 0000 lds r19,PlatinenVersion |
| 3824 1e20 3C30 cpi r19,lo8(12) |
| 3825 1e22 10F4 brsh .L314 |
| 3826 1e24 299A sbi 37-0x20,1 |
| 3827 1e26 01C0 rjmp .L315 |
| 3828 .L314: |
| 3829 1e28 2998 cbi 37-0x20,1 |
| 3830 .L315: |
| 3831 1e2a E090 0000 lds r14,StickGas |
| 3832 1e2e F090 0000 lds r15,(StickGas)+1 |
| 3833 1e32 FA82 std Y+2,r15 |
| 3834 1e34 E982 std Y+1,r14 |
| 3835 1e36 8091 0000 lds r24,MIN_GAS |
| 3836 1e3a 9927 clr r25 |
| 3837 1e3c 0A96 adiw r24,10 |
| 3838 1e3e E816 cp r14,r24 |
| 3839 1e40 F906 cpc r15,r25 |
| 3840 1e42 14F4 brge .L316 |
| 3841 1e44 9A83 std Y+2,r25 |
| 3842 1e46 8983 std Y+1,r24 |
| 3843 .L316: |
| 3844 1e48 8091 0000 lds r24,SenderOkay |
| 3845 1e4c 8436 cpi r24,lo8(100) |
| 3846 1e4e 08F0 brlo .+2 |
| 3847 1e50 5CC0 rjmp .L317 |
| 3848 1e52 8091 0000 lds r24,RcLostTimer.5 |
| 3849 1e56 9091 0000 lds r25,(RcLostTimer.5)+1 |
| 3850 1e5a 0097 sbiw r24,0 |
| 3851 1e5c 31F0 breq .L318 |
| 3852 1e5e 0197 sbiw r24,1 |
| 3853 1e60 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 3854 1e64 8093 0000 sts RcLostTimer.5,r24 |
| 3855 1e68 07C0 rjmp .L319 |
| 3856 .L318: |
| 3857 1e6a 1092 0000 sts MotorenEin,__zero_reg__ |
| 3858 1e6e 8091 0000 lds r24,FC_StatusFlags |
| 3859 1e72 8F7E andi r24,lo8(-17) |
| 3860 1e74 8093 0000 sts FC_StatusFlags,r24 |
| 3861 .L319: |
| 3862 1e78 3A30 cpi r19,lo8(10) |
| 3863 1e7a 11F0 breq .L321 |
| 3864 1e7c 3431 cpi r19,lo8(20) |
| 3865 1e7e 10F0 brlo .L320 |
| 3866 .L321: |
| 3867 1e80 289A sbi 37-0x20,0 |
| 3868 1e82 01C0 rjmp .L322 |
| 3869 .L320: |
| 3870 1e84 2898 cbi 37-0x20,0 |
| 3871 .L322: |
| 3872 1e86 8091 0000 lds r24,modell_fliegt |
| 3873 1e8a 9091 0000 lds r25,(modell_fliegt)+1 |
| 3874 1e8e 895E subi r24,lo8(1001) |
| 3875 1e90 9340 sbci r25,hi8(1001) |
| 3876 1e92 C0F1 brlo .L323 |
| 3877 1e94 8091 0000 lds r24,EE_Parameter+37 |
| 3878 1e98 282F mov r18,r24 |
| 3879 1e9a 3327 clr r19 |
| 3880 1e9c 3A83 std Y+2,r19 |
| 3881 1e9e 2983 std Y+1,r18 |
| 3882 1ea0 8091 0000 lds r24,FC_StatusFlags |
| 3883 1ea4 8061 ori r24,lo8(16) |
| 3884 1ea6 8093 0000 sts FC_StatusFlags,r24 |
| 3885 1eaa 8091 0000 lds r24,EE_Parameter+1 |
| 3886 1eae A82F mov r26,r24 |
| 3887 1eb0 BB27 clr r27 |
| 3888 1eb2 AA0F add r26,r26 |
| 3889 1eb4 BB1F adc r27,r27 |
| 3890 1eb6 FD01 movw r30,r26 |
| 3891 1eb8 E050 subi r30,lo8(-(PPM_diff)) |
| 3892 1eba F040 sbci r31,hi8(-(PPM_diff)) |
| 3893 1ebc 1182 std Z+1,__zero_reg__ |
| 3894 1ebe 1082 st Z,__zero_reg__ |
| 3895 1ec0 8091 0000 lds r24,EE_Parameter+2 |
| 3896 1ec4 282F mov r18,r24 |
| 3897 1ec6 3327 clr r19 |
| 3898 1ec8 220F add r18,r18 |
| 3899 1eca 331F adc r19,r19 |
| 3900 1ecc C901 movw r24,r18 |
| 3901 1ece 8050 subi r24,lo8(-(PPM_diff)) |
| 3902 1ed0 9040 sbci r25,hi8(-(PPM_diff)) |
| 3903 1ed2 FC01 movw r30,r24 |
| 3904 1ed4 1182 std Z+1,__zero_reg__ |
| 3905 1ed6 1082 st Z,__zero_reg__ |
| 3906 1ed8 A050 subi r26,lo8(-(PPM_in)) |
| 3907 1eda B040 sbci r27,hi8(-(PPM_in)) |
| 3908 1edc 1196 adiw r26,1 |
| 3909 1ede 1C92 st X,__zero_reg__ |
| 3910 1ee0 1E92 st -X,__zero_reg__ |
| 3911 1ee2 2050 subi r18,lo8(-(PPM_in)) |
| 3912 1ee4 3040 sbci r19,hi8(-(PPM_in)) |
| 3913 1ee6 D901 movw r26,r18 |
| 3914 1ee8 1196 adiw r26,1 |
| 3915 1eea 1C92 st X,__zero_reg__ |
| 3916 1eec 1E92 st -X,__zero_reg__ |
| 3917 1eee 8091 0000 lds r24,EE_Parameter+4 |
| 3918 1ef2 E82F mov r30,r24 |
| 3919 1ef4 FF27 clr r31 |
| 3920 1ef6 EE0F add r30,r30 |
| 3921 1ef8 FF1F adc r31,r31 |
| 3922 1efa E050 subi r30,lo8(-(PPM_in)) |
| 3923 1efc F040 sbci r31,hi8(-(PPM_in)) |
| 3924 1efe 1182 std Z+1,__zero_reg__ |
| 3925 1f00 1082 st Z,__zero_reg__ |
| 3926 1f02 C9C2 rjmp .L325 |
| 3927 .L323: |
| 3928 1f04 1092 0000 sts MotorenEin,__zero_reg__ |
| 3929 1f08 C6C2 rjmp .L325 |
| 3930 .L317: |
| 3931 1f0a 8091 0000 lds r24,SenderOkay |
| 3932 1f0e 8D38 cpi r24,lo8(-115) |
| 3933 1f10 08F4 brsh .+2 |
| 3934 1f12 C1C2 rjmp .L325 |
| 3935 1f14 8091 0000 lds r24,FC_StatusFlags |
| 3936 1f18 8F7E andi r24,lo8(-17) |
| 3937 1f1a 8093 0000 sts FC_StatusFlags,r24 |
| 3938 1f1e 9091 0000 lds r25,EE_Parameter+38 |
| 3939 1f22 82E3 ldi r24,lo8(50) |
| 3940 1f24 989F mul r25,r24 |
| 3941 1f26 C001 movw r24,r0 |
| 3942 1f28 1124 clr r1 |
| 3943 1f2a 9093 0000 sts (RcLostTimer.5)+1,r25 |
| 3944 1f2e 8093 0000 sts RcLostTimer.5,r24 |
| 3945 1f32 E981 ldd r30,Y+1 |
| 3946 1f34 FA81 ldd r31,Y+2 |
| 3947 1f36 B997 sbiw r30,41 |
| 3948 1f38 8CF0 brlt .L327 |
| 3949 1f3a 8091 0000 lds r24,MotorenEin |
| 3950 1f3e 8823 tst r24 |
| 3951 1f40 69F0 breq .L327 |
| 3952 1f42 8091 0000 lds r24,modell_fliegt |
| 3953 1f46 9091 0000 lds r25,(modell_fliegt)+1 |
| 3954 1f4a FFEF ldi r31,hi8(-1) |
| 3955 1f4c 8F3F cpi r24,lo8(-1) |
| 3956 1f4e 9F07 cpc r25,r31 |
| 3957 1f50 29F0 breq .L327 |
| 3958 1f52 0196 adiw r24,1 |
| 3959 1f54 9093 0000 sts (modell_fliegt)+1,r25 |
| 3960 1f58 8093 0000 sts modell_fliegt,r24 |
| 3961 .L327: |
| 3962 1f5c 8091 0000 lds r24,modell_fliegt |
| 3963 1f60 9091 0000 lds r25,(modell_fliegt)+1 |
| 3964 1f64 8F3F cpi r24,255 |
| 3965 1f66 9105 cpc r25,__zero_reg__ |
| 3966 1f68 09F0 breq .+2 |
| 3967 1f6a 38F5 brsh .L329 |
| 3968 1f6c 1092 0000 sts SummeNick,__zero_reg__ |
| 3969 1f70 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 3970 1f74 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 3971 1f78 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 3972 1f7c 1092 0000 sts SummeRoll,__zero_reg__ |
| 3973 1f80 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 3974 1f84 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 3975 1f88 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 3976 1f8c 1092 0000 sts sollGier.0,__zero_reg__ |
| 3977 1f90 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 3978 1f94 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 3979 1f98 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 3980 1f9c 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 3981 1fa0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 3982 1fa4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 3983 1fa8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 3984 1fac 8A3F cpi r24,250 |
| 3985 1fae 9105 cpc r25,__zero_reg__ |
| 3986 1fb0 49F4 brne .L331 |
| 3987 1fb2 81E0 ldi r24,lo8(1) |
| 3988 1fb4 8093 0000 sts NeueKompassRichtungMerken.10,r24 |
| 3989 1fb8 05C0 rjmp .L331 |
| 3990 .L329: |
| 3991 1fba 8091 0000 lds r24,FC_StatusFlags |
| 3992 1fbe 8260 ori r24,lo8(2) |
| 3993 1fc0 8093 0000 sts FC_StatusFlags,r24 |
| 3994 .L331: |
| 3995 1fc4 8091 0000 lds r24,EE_Parameter+3 |
| 3996 1fc8 E82F mov r30,r24 |
| 3997 1fca FF27 clr r31 |
| 3998 1fcc EE0F add r30,r30 |
| 3999 1fce FF1F adc r31,r31 |
| 4000 1fd0 E050 subi r30,lo8(-(PPM_in)) |
| 4001 1fd2 F040 sbci r31,hi8(-(PPM_in)) |
| 4002 1fd4 8081 ld r24,Z |
| 4003 1fd6 9181 ldd r25,Z+1 |
| 4004 1fd8 8135 cpi r24,81 |
| 4005 1fda 9105 cpc r25,__zero_reg__ |
| 4006 1fdc 0CF4 brge .+2 |
| 4007 1fde 41C1 rjmp .L332 |
| 4008 1fe0 2091 0000 lds r18,MotorenEin |
| 4009 1fe4 2223 tst r18 |
| 4010 1fe6 09F0 breq .+2 |
| 4011 1fe8 3CC1 rjmp .L332 |
| 4012 1fea 8091 0000 lds r24,EE_Parameter+4 |
| 4013 1fee E82F mov r30,r24 |
| 4014 1ff0 FF27 clr r31 |
| 4015 1ff2 EE0F add r30,r30 |
| 4016 1ff4 FF1F adc r31,r31 |
| 4017 1ff6 E050 subi r30,lo8(-(PPM_in)) |
| 4018 1ff8 F040 sbci r31,hi8(-(PPM_in)) |
| 4019 1ffa 8081 ld r24,Z |
| 4020 1ffc 9181 ldd r25,Z+1 |
| 4021 1ffe 8C34 cpi r24,76 |
| 4022 2000 9105 cpc r25,__zero_reg__ |
| 4023 2002 0CF4 brge .+2 |
| 4024 2004 06C1 rjmp .L333 |
| 4025 2006 8091 0000 lds r24,delay_neutral.6 |
| 4026 200a 8F5F subi r24,lo8(-(1)) |
| 4027 200c 8093 0000 sts delay_neutral.6,r24 |
| 4028 2010 893C cpi r24,lo8(-55) |
| 4029 2012 08F4 brsh .+2 |
| 4030 2014 26C1 rjmp .L332 |
| 4031 2016 3C30 cpi r19,lo8(12) |
| 4032 2018 10F4 brsh .L335 |
| 4033 201a 2998 cbi 37-0x20,1 |
| 4034 201c 01C0 rjmp .L336 |
| 4035 .L335: |
| 4036 201e 299A sbi 37-0x20,1 |
| 4037 .L336: |
| 4038 2020 1092 0000 sts MotorenEin,__zero_reg__ |
| 4039 2024 1092 0000 sts delay_neutral.6,__zero_reg__ |
| 4040 2028 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4041 202c 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4042 2030 3091 0000 lds r19,EE_Parameter+1 |
| 4043 2034 E32F mov r30,r19 |
| 4044 2036 FF27 clr r31 |
| 4045 2038 EE0F add r30,r30 |
| 4046 203a FF1F adc r31,r31 |
| 4047 203c E050 subi r30,lo8(-(PPM_in)) |
| 4048 203e F040 sbci r31,hi8(-(PPM_in)) |
| 4049 2040 8081 ld r24,Z |
| 4050 2042 9181 ldd r25,Z+1 |
| 4051 2044 8734 cpi r24,71 |
| 4052 2046 9105 cpc r25,__zero_reg__ |
| 4053 2048 B4F4 brge .L338 |
| 4054 204a 8091 0000 lds r24,EE_Parameter+2 |
| 4055 204e E82F mov r30,r24 |
| 4056 2050 FF27 clr r31 |
| 4057 2052 EE0F add r30,r30 |
| 4058 2054 FF1F adc r31,r31 |
| 4059 2056 E050 subi r30,lo8(-(PPM_in)) |
| 4060 2058 F040 sbci r31,hi8(-(PPM_in)) |
| 4061 205a 8081 ld r24,Z |
| 4062 205c 9181 ldd r25,Z+1 |
| 4063 205e 0190 ld __tmp_reg__,Z+ |
| 4064 2060 F081 ld r31,Z |
| 4065 2062 E02D mov r30,__tmp_reg__ |
| 4066 2064 F7FF sbrs r31,7 |
| 4067 2066 03C0 rjmp .L339 |
| 4068 2068 F095 com r31 |
| 4069 206a E195 neg r30 |
| 4070 206c FF4F sbci r31,lo8(-1) |
| 4071 .L339: |
| 4072 206e E734 cpi r30,71 |
| 4073 2070 F105 cpc r31,__zero_reg__ |
| 4074 2072 0CF4 brge .+2 |
| 4075 2074 78C0 rjmp .L337 |
| 4076 .L338: |
| 4077 2076 41E0 ldi r20,lo8(1) |
| 4078 2078 2091 0000 lds r18,EE_Parameter+2 |
| 4079 207c A22F mov r26,r18 |
| 4080 207e BB27 clr r27 |
| 4081 2080 AA0F add r26,r26 |
| 4082 2082 BB1F adc r27,r27 |
| 4083 2084 A050 subi r26,lo8(-(PPM_in)) |
| 4084 2086 B040 sbci r27,hi8(-(PPM_in)) |
| 4085 2088 8D91 ld r24,X+ |
| 4086 208a 9C91 ld r25,X |
| 4087 208c 1197 sbiw r26,1 |
| 4088 208e 8734 cpi r24,71 |
| 4089 2090 9105 cpc r25,__zero_reg__ |
| 4090 2092 44F0 brlt .L340 |
| 4091 2094 E32F mov r30,r19 |
| 4092 2096 FF27 clr r31 |
| 4093 2098 EE0F add r30,r30 |
| 4094 209a FF1F adc r31,r31 |
| 4095 209c E050 subi r30,lo8(-(PPM_in)) |
| 4096 209e F040 sbci r31,hi8(-(PPM_in)) |
| 4097 20a0 8081 ld r24,Z |
| 4098 20a2 9181 ldd r25,Z+1 |
| 4099 .L340: |
| 4100 20a4 8D91 ld r24,X+ |
| 4101 20a6 9C91 ld r25,X |
| 4102 20a8 8734 cpi r24,71 |
| 4103 20aa 9105 cpc r25,__zero_reg__ |
| 4104 20ac 74F0 brlt .L341 |
| 4105 20ae 8091 0000 lds r24,EE_Parameter+1 |
| 4106 20b2 E82F mov r30,r24 |
| 4107 20b4 FF27 clr r31 |
| 4108 20b6 EE0F add r30,r30 |
| 4109 20b8 FF1F adc r31,r31 |
| 4110 20ba E050 subi r30,lo8(-(PPM_in)) |
| 4111 20bc F040 sbci r31,hi8(-(PPM_in)) |
| 4112 20be 8081 ld r24,Z |
| 4113 20c0 9181 ldd r25,Z+1 |
| 4114 20c2 8734 cpi r24,71 |
| 4115 20c4 9105 cpc r25,__zero_reg__ |
| 4116 20c6 0CF0 brlt .L341 |
| 4117 20c8 42E0 ldi r20,lo8(2) |
| 4118 .L341: |
| 4119 20ca E22F mov r30,r18 |
| 4120 20cc FF27 clr r31 |
| 4121 20ce EE0F add r30,r30 |
| 4122 20d0 FF1F adc r31,r31 |
| 4123 20d2 E050 subi r30,lo8(-(PPM_in)) |
| 4124 20d4 F040 sbci r31,hi8(-(PPM_in)) |
| 4125 20d6 8081 ld r24,Z |
| 4126 20d8 9181 ldd r25,Z+1 |
| 4127 20da 8634 cpi r24,70 |
| 4128 20dc 9105 cpc r25,__zero_reg__ |
| 4129 20de 74F4 brge .L342 |
| 4130 20e0 8091 0000 lds r24,EE_Parameter+1 |
| 4131 20e4 E82F mov r30,r24 |
| 4132 20e6 FF27 clr r31 |
| 4133 20e8 EE0F add r30,r30 |
| 4134 20ea FF1F adc r31,r31 |
| 4135 20ec E050 subi r30,lo8(-(PPM_in)) |
| 4136 20ee F040 sbci r31,hi8(-(PPM_in)) |
| 4137 20f0 8081 ld r24,Z |
| 4138 20f2 9181 ldd r25,Z+1 |
| 4139 20f4 8734 cpi r24,71 |
| 4140 20f6 9105 cpc r25,__zero_reg__ |
| 4141 20f8 0CF0 brlt .L342 |
| 4142 20fa 43E0 ldi r20,lo8(3) |
| 4143 .L342: |
| 4144 20fc E22F mov r30,r18 |
| 4145 20fe FF27 clr r31 |
| 4146 2100 EE0F add r30,r30 |
| 4147 2102 FF1F adc r31,r31 |
| 4148 2104 E050 subi r30,lo8(-(PPM_in)) |
| 4149 2106 F040 sbci r31,hi8(-(PPM_in)) |
| 4150 2108 8081 ld r24,Z |
| 4151 210a 9181 ldd r25,Z+1 |
| 4152 210c 8A5B subi r24,lo8(-70) |
| 4153 210e 9F4F sbci r25,hi8(-70) |
| 4154 2110 74F4 brge .L343 |
| 4155 2112 8091 0000 lds r24,EE_Parameter+1 |
| 4156 2116 E82F mov r30,r24 |
| 4157 2118 FF27 clr r31 |
| 4158 211a EE0F add r30,r30 |
| 4159 211c FF1F adc r31,r31 |
| 4160 211e E050 subi r30,lo8(-(PPM_in)) |
| 4161 2120 F040 sbci r31,hi8(-(PPM_in)) |
| 4162 2122 8081 ld r24,Z |
| 4163 2124 9181 ldd r25,Z+1 |
| 4164 2126 8734 cpi r24,71 |
| 4165 2128 9105 cpc r25,__zero_reg__ |
| 4166 212a 0CF0 brlt .L343 |
| 4167 212c 44E0 ldi r20,lo8(4) |
| 4168 .L343: |
| 4169 212e E22F mov r30,r18 |
| 4170 2130 FF27 clr r31 |
| 4171 2132 EE0F add r30,r30 |
| 4172 2134 FF1F adc r31,r31 |
| 4173 2136 E050 subi r30,lo8(-(PPM_in)) |
| 4174 2138 F040 sbci r31,hi8(-(PPM_in)) |
| 4175 213a 8081 ld r24,Z |
| 4176 213c 9181 ldd r25,Z+1 |
| 4177 213e 8A5B subi r24,lo8(-70) |
| 4178 2140 9F4F sbci r25,hi8(-70) |
| 4179 2142 74F4 brge .L344 |
| 4180 2144 8091 0000 lds r24,EE_Parameter+1 |
| 4181 2148 E82F mov r30,r24 |
| 4182 214a FF27 clr r31 |
| 4183 214c EE0F add r30,r30 |
| 4184 214e FF1F adc r31,r31 |
| 4185 2150 E050 subi r30,lo8(-(PPM_in)) |
| 4186 2152 F040 sbci r31,hi8(-(PPM_in)) |
| 4187 2154 8081 ld r24,Z |
| 4188 2156 9181 ldd r25,Z+1 |
| 4189 2158 8634 cpi r24,70 |
| 4190 215a 9105 cpc r25,__zero_reg__ |
| 4191 215c 0CF4 brge .L344 |
| 4192 215e 45E0 ldi r20,lo8(5) |
| 4193 .L344: |
| 4194 2160 842F mov r24,r20 |
| 4195 2162 0E94 0000 call SetActiveParamSet |
| 4196 .L337: |
| 4197 2166 8091 0000 lds r24,EE_Parameter+2 |
| 4198 216a E82F mov r30,r24 |
| 4199 216c FF27 clr r31 |
| 4200 216e EE0F add r30,r30 |
| 4201 2170 FF1F adc r31,r31 |
| 4202 2172 E050 subi r30,lo8(-(PPM_in)) |
| 4203 2174 F040 sbci r31,hi8(-(PPM_in)) |
| 4204 2176 8081 ld r24,Z |
| 4205 2178 9181 ldd r25,Z+1 |
| 4206 217a 0190 ld __tmp_reg__,Z+ |
| 4207 217c F081 ld r31,Z |
| 4208 217e E02D mov r30,__tmp_reg__ |
| 4209 2180 F7FF sbrs r31,7 |
| 4210 2182 03C0 rjmp .L346 |
| 4211 2184 F095 com r31 |
| 4212 2186 E195 neg r30 |
| 4213 2188 FF4F sbci r31,lo8(-1) |
| 4214 .L346: |
| 4215 218a 7E97 sbiw r30,30 |
| 4216 218c BCF4 brge .L345 |
| 4217 218e 8091 0000 lds r24,EE_Parameter+1 |
| 4218 2192 E82F mov r30,r24 |
| 4219 2194 FF27 clr r31 |
| 4220 2196 EE0F add r30,r30 |
| 4221 2198 FF1F adc r31,r31 |
| 4222 219a E050 subi r30,lo8(-(PPM_in)) |
| 4223 219c F040 sbci r31,hi8(-(PPM_in)) |
| 4224 219e 8081 ld r24,Z |
| 4225 21a0 9181 ldd r25,Z+1 |
| 4226 21a2 8A5B subi r24,lo8(-70) |
| 4227 21a4 9F4F sbci r25,hi8(-70) |
| 4228 21a6 54F4 brge .L345 |
| 4229 21a8 81E0 ldi r24,lo8(1) |
| 4230 21aa 8093 0000 sts WinkelOut+6,r24 |
| 4231 21ae 88EE ldi r24,lo8(1000) |
| 4232 21b0 93E0 ldi r25,hi8(1000) |
| 4233 21b2 9093 0000 sts (beeptime)+1,r25 |
| 4234 21b6 8093 0000 sts beeptime,r24 |
| 4235 21ba 53C0 rjmp .L332 |
| 4236 .L345: |
| 4237 21bc 0E94 0000 call GetActiveParamSet |
| 4238 21c0 0E94 0000 call ParamSet_ReadFromEEProm |
| 4239 21c4 80E0 ldi r24,lo8(0) |
| 4240 21c6 0E94 0000 call LipoDetection |
| 4241 21ca 8091 0000 lds r24,EE_Parameter+39 |
| 4242 21ce 0E94 0000 call LIBFC_ReceiverInit |
| 4243 21d2 8091 0000 lds r24,EE_Parameter+13 |
| 4244 21d6 80FF sbrs r24,0 |
| 4245 21d8 10C0 rjmp .L348 |
| 4246 21da 8091 0000 lds r24,MessLuftdruck |
| 4247 21de 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4248 21e2 875B subi r24,lo8(951) |
| 4249 21e4 9340 sbci r25,hi8(951) |
| 4250 21e6 38F4 brsh .L350 |
| 4251 21e8 8091 0000 lds r24,MessLuftdruck |
| 4252 21ec 9091 0000 lds r25,(MessLuftdruck)+1 |
| 4253 21f0 8E5E subi r24,lo8(750) |
| 4254 21f2 9240 sbci r25,hi8(750) |
| 4255 21f4 10F4 brsh .L348 |
| 4256 .L350: |
| 4257 21f6 0E94 0000 call SucheLuftruckOffset |
| 4258 .L348: |
| 4259 21fa 1092 0000 sts ServoActive,__zero_reg__ |
| 4260 21fe 80E0 ldi r24,lo8(0) |
| 4261 2200 0E94 0000 call SetNeutral |
| 4262 2204 81E0 ldi r24,lo8(1) |
| 4263 2206 8093 0000 sts calibration_done.9,r24 |
| 4264 220a 8093 0000 sts ServoActive,r24 |
| 4265 220e 579A sbi 42-0x20,7 |
| 4266 2210 1FC0 rjmp .L790 |
| 4267 .L333: |
| 4268 2212 8081 ld r24,Z |
| 4269 2214 9181 ldd r25,Z+1 |
| 4270 2216 855B subi r24,lo8(-75) |
| 4271 2218 9F4F sbci r25,hi8(-75) |
| 4272 221a 0CF5 brge .L352 |
| 4273 221c 8091 0000 lds r24,delay_neutral.6 |
| 4274 2220 8F5F subi r24,lo8(-(1)) |
| 4275 2222 8093 0000 sts delay_neutral.6,r24 |
| 4276 2226 893C cpi r24,lo8(-55) |
| 4277 2228 E0F0 brlo .L332 |
| 4278 222a 3C30 cpi r19,lo8(12) |
| 4279 222c 10F4 brsh .L354 |
| 4280 222e 2998 cbi 37-0x20,1 |
| 4281 2230 01C0 rjmp .L355 |
| 4282 .L354: |
| 4283 2232 299A sbi 37-0x20,1 |
| 4284 .L355: |
| 4285 2234 1092 0000 sts MotorenEin,__zero_reg__ |
| 4286 2238 1092 0000 sts delay_neutral.6,__zero_reg__ |
| 4287 223c 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4288 2240 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4289 2244 81E0 ldi r24,lo8(1) |
| 4290 2246 0E94 0000 call SetNeutral |
| 4291 224a 81E0 ldi r24,lo8(1) |
| 4292 224c 8093 0000 sts calibration_done.9,r24 |
| 4293 .L790: |
| 4294 2250 0E94 0000 call GetActiveParamSet |
| 4295 2254 68E7 ldi r22,lo8(120) |
| 4296 2256 70E0 ldi r23,hi8(120) |
| 4297 2258 0E94 0000 call Piep |
| 4298 225c 02C0 rjmp .L332 |
| 4299 .L352: |
| 4300 225e 2093 0000 sts delay_neutral.6,r18 |
| 4301 .L332: |
| 4302 2262 8091 0000 lds r24,EE_Parameter+3 |
| 4303 2266 E82F mov r30,r24 |
| 4304 2268 FF27 clr r31 |
| 4305 226a EE0F add r30,r30 |
| 4306 226c FF1F adc r31,r31 |
| 4307 226e E050 subi r30,lo8(-(PPM_in)) |
| 4308 2270 F040 sbci r31,hi8(-(PPM_in)) |
| 4309 2272 8081 ld r24,Z |
| 4310 2274 9181 ldd r25,Z+1 |
| 4311 2276 8B5A subi r24,lo8(-85) |
| 4312 2278 9F4F sbci r25,hi8(-85) |
| 4313 227a 0CF0 brlt .+2 |
| 4314 227c 0CC1 rjmp .L325 |
| 4315 227e 3091 0000 lds r19,MotorenEin |
| 4316 2282 E091 0000 lds r30,EE_Parameter+4 |
| 4317 2286 3323 tst r19 |
| 4318 2288 09F0 breq .+2 |
| 4319 228a DAC0 rjmp .L358 |
| 4320 228c FF27 clr r31 |
| 4321 228e EE0F add r30,r30 |
| 4322 2290 FF1F adc r31,r31 |
| 4323 2292 E050 subi r30,lo8(-(PPM_in)) |
| 4324 2294 F040 sbci r31,hi8(-(PPM_in)) |
| 4325 2296 8081 ld r24,Z |
| 4326 2298 9181 ldd r25,Z+1 |
| 4327 229a 855B subi r24,lo8(-75) |
| 4328 229c 9F4F sbci r25,hi8(-75) |
| 4329 229e 0CF0 brlt .+2 |
| 4330 22a0 CCC0 rjmp .L359 |
| 4331 22a2 2091 0000 lds r18,EE_Parameter+99 |
| 4332 22a6 E22F mov r30,r18 |
| 4333 22a8 FF27 clr r31 |
| 4334 22aa EE0F add r30,r30 |
| 4335 22ac FF1F adc r31,r31 |
| 4336 22ae E050 subi r30,lo8(-(PPM_in)) |
| 4337 22b0 F040 sbci r31,hi8(-(PPM_in)) |
| 4338 22b2 8081 ld r24,Z |
| 4339 22b4 9181 ldd r25,Z+1 |
| 4340 22b6 855B subi r24,lo8(-75) |
| 4341 22b8 9F4F sbci r25,hi8(-75) |
| 4342 22ba 1CF0 brlt .L360 |
| 4343 22bc 2223 tst r18 |
| 4344 22be 09F0 breq .+2 |
| 4345 22c0 BCC0 rjmp .L359 |
| 4346 .L360: |
| 4347 22c2 8091 0000 lds r24,delay_einschalten.7 |
| 4348 22c6 8F5F subi r24,lo8(-(1)) |
| 4349 22c8 8093 0000 sts delay_einschalten.7,r24 |
| 4350 22cc 893C cpi r24,lo8(-55) |
| 4351 22ce 08F4 brsh .+2 |
| 4352 22d0 E2C0 rjmp .L325 |
| 4353 22d2 3093 0000 sts delay_einschalten.7,r19 |
| 4354 22d6 8091 0000 lds r24,VersionInfo+5 |
| 4355 22da 8823 tst r24 |
| 4356 22dc 09F0 breq .+2 |
| 4357 22de A6C0 rjmp .L362 |
| 4358 22e0 8091 0000 lds r24,calibration_done.9 |
| 4359 22e4 8823 tst r24 |
| 4360 22e6 09F4 brne .+2 |
| 4361 22e8 A1C0 rjmp .L362 |
| 4362 22ea 81E0 ldi r24,lo8(1) |
| 4363 22ec 90E0 ldi r25,hi8(1) |
| 4364 22ee 9093 0000 sts (modell_fliegt)+1,r25 |
| 4365 22f2 8093 0000 sts modell_fliegt,r24 |
| 4366 22f6 81E0 ldi r24,lo8(1) |
| 4367 22f8 8093 0000 sts MotorenEin,r24 |
| 4368 22fc 1092 0000 sts sollGier.0,__zero_reg__ |
| 4369 2300 1092 0000 sts (sollGier.0)+1,__zero_reg__ |
| 4370 2304 1092 0000 sts (sollGier.0)+2,__zero_reg__ |
| 4371 2308 1092 0000 sts (sollGier.0)+3,__zero_reg__ |
| 4372 230c 1092 0000 sts Mess_Integral_Gier,__zero_reg__ |
| 4373 2310 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__ |
| 4374 2314 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__ |
| 4375 2318 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__ |
| 4376 231c 1092 0000 sts Mess_Integral_Gier2,__zero_reg__ |
| 4377 2320 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__ |
| 4378 2324 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__ |
| 4379 2328 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__ |
| 4380 232c 8091 0000 lds r24,EE_Parameter+28 |
| 4381 2330 E82E mov r14,r24 |
| 4382 2332 FF24 clr r15 |
| 4383 2334 0027 clr r16 |
| 4384 2336 1127 clr r17 |
| 4385 2338 8091 0000 lds r24,Mittelwert_AccNick |
| 4386 233c 9091 0000 lds r25,(Mittelwert_AccNick)+1 |
| 4387 2340 9C01 movw r18,r24 |
| 4388 2342 4427 clr r20 |
| 4389 2344 37FD sbrc r19,7 |
| 4390 2346 4095 com r20 |
| 4391 2348 542F mov r21,r20 |
| 4392 234a C801 movw r24,r16 |
| 4393 234c B701 movw r22,r14 |
| 4394 234e 0E94 0000 call __mulsi3 |
| 4395 2352 DC01 movw r26,r24 |
| 4396 2354 CB01 movw r24,r22 |
| 4397 2356 8093 0000 sts Mess_IntegralNick,r24 |
| 4398 235a 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 4399 235e A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 4400 2362 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 4401 2366 8091 0000 lds r24,Mittelwert_AccRoll |
| 4402 236a 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 4403 236e 9C01 movw r18,r24 |
| 4404 2370 4427 clr r20 |
| 4405 2372 37FD sbrc r19,7 |
| 4406 2374 4095 com r20 |
| 4407 2376 542F mov r21,r20 |
| 4408 2378 C801 movw r24,r16 |
| 4409 237a B701 movw r22,r14 |
| 4410 237c 0E94 0000 call __mulsi3 |
| 4411 2380 DC01 movw r26,r24 |
| 4412 2382 CB01 movw r24,r22 |
| 4413 2384 8093 0000 sts Mess_IntegralRoll,r24 |
| 4414 2388 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 4415 238c A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 4416 2390 B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 4417 2394 8091 0000 lds r24,IntegralNick |
| 4418 2398 9091 0000 lds r25,(IntegralNick)+1 |
| 4419 239c A091 0000 lds r26,(IntegralNick)+2 |
| 4420 23a0 B091 0000 lds r27,(IntegralNick)+3 |
| 4421 23a4 8093 0000 sts Mess_IntegralNick2,r24 |
| 4422 23a8 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 4423 23ac A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 4424 23b0 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 4425 23b4 8091 0000 lds r24,IntegralRoll |
| 4426 23b8 9091 0000 lds r25,(IntegralRoll)+1 |
| 4427 23bc A091 0000 lds r26,(IntegralRoll)+2 |
| 4428 23c0 B091 0000 lds r27,(IntegralRoll)+3 |
| 4429 23c4 8093 0000 sts Mess_IntegralRoll2,r24 |
| 4430 23c8 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 4431 23cc A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 4432 23d0 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 4433 23d4 1092 0000 sts SummeNick,__zero_reg__ |
| 4434 23d8 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 4435 23dc 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 4436 23e0 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 4437 23e4 1092 0000 sts SummeRoll,__zero_reg__ |
| 4438 23e8 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 4439 23ec 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 4440 23f0 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 4441 23f4 8091 0000 lds r24,FC_StatusFlags |
| 4442 23f8 8860 ori r24,lo8(8) |
| 4443 23fa 8093 0000 sts FC_StatusFlags,r24 |
| 4444 23fe 9091 0000 lds r25,EE_Parameter+97 |
| 4445 2402 8FE0 ldi r24,lo8(15) |
| 4446 2404 989F mul r25,r24 |
| 4447 2406 9001 movw r18,r0 |
| 4448 2408 1124 clr r1 |
| 4449 240a 8091 0000 lds r24,KompassValue |
| 4450 240e 9091 0000 lds r25,(KompassValue)+1 |
| 4451 2412 820F add r24,r18 |
| 4452 2414 931F adc r25,r19 |
| 4453 2416 68E6 ldi r22,lo8(360) |
| 4454 2418 71E0 ldi r23,hi8(360) |
| 4455 241a 0E94 0000 call __divmodhi4 |
| 4456 241e 97FD sbrc r25,7 |
| 4457 2420 0196 adiw r24,1 |
| 4458 .L363: |
| 4459 2422 9595 asr r25 |
| 4460 2424 8795 ror r24 |
| 4461 2426 8093 0000 sts ControlHeading,r24 |
| 4462 242a 35C0 rjmp .L325 |
| 4463 .L362: |
| 4464 242c 8CED ldi r24,lo8(1500) |
| 4465 242e 95E0 ldi r25,hi8(1500) |
| 4466 2430 9093 0000 sts (beeptime)+1,r25 |
| 4467 2434 8093 0000 sts beeptime,r24 |
| 4468 2438 2EC0 rjmp .L325 |
| 4469 .L359: |
| 4470 243a 1092 0000 sts delay_einschalten.7,__zero_reg__ |
| 4471 243e 2BC0 rjmp .L325 |
| 4472 .L358: |
| 4473 2440 FF27 clr r31 |
| 4474 2442 EE0F add r30,r30 |
| 4475 2444 FF1F adc r31,r31 |
| 4476 2446 E050 subi r30,lo8(-(PPM_in)) |
| 4477 2448 F040 sbci r31,hi8(-(PPM_in)) |
| 4478 244a 8081 ld r24,Z |
| 4479 244c 9181 ldd r25,Z+1 |
| 4480 244e 8C34 cpi r24,76 |
| 4481 2450 9105 cpc r25,__zero_reg__ |
| 4482 2452 FCF0 brlt .L367 |
| 4483 2454 2091 0000 lds r18,EE_Parameter+99 |
| 4484 2458 E22F mov r30,r18 |
| 4485 245a FF27 clr r31 |
| 4486 245c EE0F add r30,r30 |
| 4487 245e FF1F adc r31,r31 |
| 4488 2460 E050 subi r30,lo8(-(PPM_in)) |
| 4489 2462 F040 sbci r31,hi8(-(PPM_in)) |
| 4490 2464 8081 ld r24,Z |
| 4491 2466 9181 ldd r25,Z+1 |
| 4492 2468 855B subi r24,lo8(-75) |
| 4493 246a 9F4F sbci r25,hi8(-75) |
| 4494 246c 14F0 brlt .L368 |
| 4495 246e 2223 tst r18 |
| 4496 2470 81F4 brne .L367 |
| 4497 .L368: |
| 4498 2472 8091 0000 lds r24,delay_ausschalten.8 |
| 4499 2476 8F5F subi r24,lo8(-(1)) |
| 4500 2478 8093 0000 sts delay_ausschalten.8,r24 |
| 4501 247c 893C cpi r24,lo8(-55) |
| 4502 247e 58F0 brlo .L325 |
| 4503 2480 1092 0000 sts MotorenEin,__zero_reg__ |
| 4504 2484 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4505 2488 1092 0000 sts (modell_fliegt)+1,__zero_reg__ |
| 4506 248c 1092 0000 sts modell_fliegt,__zero_reg__ |
| 4507 2490 02C0 rjmp .L325 |
| 4508 .L367: |
| 4509 2492 1092 0000 sts delay_ausschalten.8,__zero_reg__ |
| 4510 .L325: |
| 4511 2496 8091 0000 lds r24,NewPpmData |
| 4512 249a 8150 subi r24,lo8(-(-1)) |
| 4513 249c 8093 0000 sts NewPpmData,r24 |
| 4514 24a0 8091 0000 lds r24,NewPpmData |
| 4515 24a4 8F3F cpi r24,lo8(-1) |
| 4516 24a6 21F0 breq .L372 |
| 4517 24a8 8091 0000 lds r24,FC_StatusFlags |
| 4518 24ac 84FF sbrs r24,4 |
| 4519 24ae 72C3 rjmp .L371 |
| 4520 .L372: |
| 4521 24b0 0E94 0000 call ParameterZuordnung |
| 4522 24b4 8091 0000 lds r24,stick_nick.13 |
| 4523 24b8 9091 0000 lds r25,(stick_nick.13)+1 |
| 4524 24bc 9C01 movw r18,r24 |
| 4525 24be 220F lsl r18 |
| 4526 24c0 331F rol r19 |
| 4527 24c2 280F add r18,r24 |
| 4528 24c4 391F adc r19,r25 |
| 4529 24c6 C090 0000 lds r12,EE_Parameter+1 |
| 4530 24ca AC2D mov r26,r12 |
| 4531 24cc BB27 clr r27 |
| 4532 24ce AA0F add r26,r26 |
| 4533 24d0 BB1F adc r27,r27 |
| 4534 24d2 FD01 movw r30,r26 |
| 4535 24d4 E050 subi r30,lo8(-(PPM_in)) |
| 4536 24d6 F040 sbci r31,hi8(-(PPM_in)) |
| 4537 24d8 B090 0000 lds r11,EE_Parameter+23 |
| 4538 24dc 4B2D mov r20,r11 |
| 4539 24de 5527 clr r21 |
| 4540 24e0 8081 ld r24,Z |
| 4541 24e2 9181 ldd r25,Z+1 |
| 4542 24e4 849F mul r24,r20 |
| 4543 24e6 F001 movw r30,r0 |
| 4544 24e8 859F mul r24,r21 |
| 4545 24ea F00D add r31,r0 |
| 4546 24ec 949F mul r25,r20 |
| 4547 24ee F00D add r31,r0 |
| 4548 24f0 1124 clr r1 |
| 4549 24f2 2E0F add r18,r30 |
| 4550 24f4 3F1F adc r19,r31 |
| 4551 24f6 37FF sbrs r19,7 |
| 4552 24f8 02C0 rjmp .L373 |
| 4553 24fa 2D5F subi r18,lo8(-(3)) |
| 4554 24fc 3F4F sbci r19,hi8(-(3)) |
| 4555 .L373: |
| 4556 24fe B901 movw r22,r18 |
| 4557 2500 7595 asr r23 |
| 4558 2502 6795 ror r22 |
| 4559 2504 7595 asr r23 |
| 4560 2506 6795 ror r22 |
| 4561 2508 A050 subi r26,lo8(-(PPM_diff)) |
| 4562 250a B040 sbci r27,hi8(-(PPM_diff)) |
| 4563 250c 8091 0000 lds r24,EE_Parameter+24 |
| 4564 2510 082F mov r16,r24 |
| 4565 2512 1127 clr r17 |
| 4566 2514 8D91 ld r24,X+ |
| 4567 2516 9C91 ld r25,X |
| 4568 2518 809F mul r24,r16 |
| 4569 251a 7001 movw r14,r0 |
| 4570 251c 819F mul r24,r17 |
| 4571 251e F00C add r15,r0 |
| 4572 2520 909F mul r25,r16 |
| 4573 2522 F00C add r15,r0 |
| 4574 2524 1124 clr r1 |
| 4575 2526 6E0D add r22,r14 |
| 4576 2528 7F1D adc r23,r15 |
| 4577 252a 7093 0000 sts (stick_nick.13)+1,r23 |
| 4578 252e 6093 0000 sts stick_nick.13,r22 |
| 4579 2532 8091 0000 lds r24,stick_roll.14 |
| 4580 2536 9091 0000 lds r25,(stick_roll.14)+1 |
| 4581 253a 9C01 movw r18,r24 |
| 4582 253c 220F lsl r18 |
| 4583 253e 331F rol r19 |
| 4584 2540 280F add r18,r24 |
| 4585 2542 391F adc r19,r25 |
| 4586 2544 D090 0000 lds r13,EE_Parameter+2 |
| 4587 2548 AD2D mov r26,r13 |
| 4588 254a BB27 clr r27 |
| 4589 254c AA0F add r26,r26 |
| 4590 254e BB1F adc r27,r27 |
| 4591 2550 FD01 movw r30,r26 |
| 4592 2552 E050 subi r30,lo8(-(PPM_in)) |
| 4593 2554 F040 sbci r31,hi8(-(PPM_in)) |
| 4594 2556 8081 ld r24,Z |
| 4595 2558 9181 ldd r25,Z+1 |
| 4596 255a 849F mul r24,r20 |
| 4597 255c F001 movw r30,r0 |
| 4598 255e 859F mul r24,r21 |
| 4599 2560 F00D add r31,r0 |
| 4600 2562 949F mul r25,r20 |
| 4601 2564 F00D add r31,r0 |
| 4602 2566 1124 clr r1 |
| 4603 2568 2E0F add r18,r30 |
| 4604 256a 3F1F adc r19,r31 |
| 4605 256c 37FF sbrs r19,7 |
| 4606 256e 02C0 rjmp .L374 |
| 4607 2570 2D5F subi r18,lo8(-(3)) |
| 4608 2572 3F4F sbci r19,hi8(-(3)) |
| 4609 .L374: |
| 4610 2574 A901 movw r20,r18 |
| 4611 2576 5595 asr r21 |
| 4612 2578 4795 ror r20 |
| 4613 257a 5595 asr r21 |
| 4614 257c 4795 ror r20 |
| 4615 257e A050 subi r26,lo8(-(PPM_diff)) |
| 4616 2580 B040 sbci r27,hi8(-(PPM_diff)) |
| 4617 2582 8D91 ld r24,X+ |
| 4618 2584 9C91 ld r25,X |
| 4619 2586 809F mul r24,r16 |
| 4620 2588 7001 movw r14,r0 |
| 4621 258a 819F mul r24,r17 |
| 4622 258c F00C add r15,r0 |
| 4623 258e 909F mul r25,r16 |
| 4624 2590 F00C add r15,r0 |
| 4625 2592 1124 clr r1 |
| 4626 2594 4E0D add r20,r14 |
| 4627 2596 5F1D adc r21,r15 |
| 4628 2598 5093 0000 sts (stick_roll.14)+1,r21 |
| 4629 259c 4093 0000 sts stick_roll.14,r20 |
| 4630 25a0 8091 0000 lds r24,CareFree |
| 4631 25a4 8823 tst r24 |
| 4632 25a6 09F4 brne .+2 |
| 4633 25a8 48C0 rjmp .L375 |
| 4634 25aa CB01 movw r24,r22 |
| 4635 25ac 77FD sbrc r23,7 |
| 4636 25ae 0396 adiw r24,3 |
| 4637 .L376: |
| 4638 25b0 DC01 movw r26,r24 |
| 4639 25b2 B595 asr r27 |
| 4640 25b4 A795 ror r26 |
| 4641 25b6 B595 asr r27 |
| 4642 25b8 A795 ror r26 |
| 4643 25ba CA01 movw r24,r20 |
| 4644 25bc 57FD sbrc r21,7 |
| 4645 25be 0396 adiw r24,3 |
| 4646 .L377: |
| 4647 25c0 FC01 movw r30,r24 |
| 4648 25c2 F595 asr r31 |
| 4649 25c4 E795 ror r30 |
| 4650 25c6 F595 asr r31 |
| 4651 25c8 E795 ror r30 |
| 4652 25ca 8091 0000 lds r24,FromNC_Rotate_C |
| 4653 25ce 682F mov r22,r24 |
| 4654 25d0 7727 clr r23 |
| 4655 25d2 67FD sbrc r22,7 |
| 4656 25d4 7095 com r23 |
| 4657 25d6 6A9F mul r22,r26 |
| 4658 25d8 9001 movw r18,r0 |
| 4659 25da 6B9F mul r22,r27 |
| 4660 25dc 300D add r19,r0 |
| 4661 25de 7A9F mul r23,r26 |
| 4662 25e0 300D add r19,r0 |
| 4663 25e2 1124 clr r1 |
| 4664 25e4 8091 0000 lds r24,FromNC_Rotate_S |
| 4665 25e8 482F mov r20,r24 |
| 4666 25ea 5527 clr r21 |
| 4667 25ec 47FD sbrc r20,7 |
| 4668 25ee 5095 com r21 |
| 4669 25f0 4E9F mul r20,r30 |
| 4670 25f2 C001 movw r24,r0 |
| 4671 25f4 4F9F mul r20,r31 |
| 4672 25f6 900D add r25,r0 |
| 4673 25f8 5E9F mul r21,r30 |
| 4674 25fa 900D add r25,r0 |
| 4675 25fc 1124 clr r1 |
| 4676 25fe 280F add r18,r24 |
| 4677 2600 391F adc r19,r25 |
| 4678 2602 37FF sbrs r19,7 |
| 4679 2604 02C0 rjmp .L378 |
| 4680 2606 295F subi r18,lo8(-(7)) |
| 4681 2608 3F4F sbci r19,hi8(-(7)) |
| 4682 .L378: |
| 4683 260a 03E0 ldi r16,3 |
| 4684 260c 3595 1: asr r19 |
| 4685 260e 2795 ror r18 |
| 4686 2610 0A95 dec r16 |
| 4687 2612 E1F7 brne 1b |
| 4688 2614 3093 0000 sts (StickNick)+1,r19 |
| 4689 2618 2093 0000 sts StickNick,r18 |
| 4690 261c 6E9F mul r22,r30 |
| 4691 261e 9001 movw r18,r0 |
| 4692 2620 6F9F mul r22,r31 |
| 4693 2622 300D add r19,r0 |
| 4694 2624 7E9F mul r23,r30 |
| 4695 2626 300D add r19,r0 |
| 4696 2628 1124 clr r1 |
| 4697 262a 4A9F mul r20,r26 |
| 4698 262c C001 movw r24,r0 |
| 4699 262e 4B9F mul r20,r27 |
| 4700 2630 900D add r25,r0 |
| 4701 2632 5A9F mul r21,r26 |
| 4702 2634 900D add r25,r0 |
| 4703 2636 1124 clr r1 |
| 4704 2638 3FC0 rjmp .L816 |
| 4705 .L375: |
| 4706 263a 8091 0000 lds r24,EE_Parameter+97 |
| 4707 263e E82F mov r30,r24 |
| 4708 2640 FF27 clr r31 |
| 4709 2642 E050 subi r30,lo8(-(sintab)) |
| 4710 2644 F040 sbci r31,hi8(-(sintab)) |
| 4711 2646 8681 ldd r24,Z+6 |
| 4712 2648 8093 0000 sts FromNC_Rotate_C,r24 |
| 4713 264c 9081 ld r25,Z |
| 4714 264e 9093 0000 sts FromNC_Rotate_S,r25 |
| 4715 2652 A82F mov r26,r24 |
| 4716 2654 BB27 clr r27 |
| 4717 2656 A7FD sbrc r26,7 |
| 4718 2658 B095 com r27 |
| 4719 265a A69F mul r26,r22 |
| 4720 265c 9001 movw r18,r0 |
| 4721 265e A79F mul r26,r23 |
| 4722 2660 300D add r19,r0 |
| 4723 2662 B69F mul r27,r22 |
| 4724 2664 300D add r19,r0 |
| 4725 2666 1124 clr r1 |
| 4726 2668 E92F mov r30,r25 |
| 4727 266a FF27 clr r31 |
| 4728 266c E7FD sbrc r30,7 |
| 4729 266e F095 com r31 |
| 4730 2670 E49F mul r30,r20 |
| 4731 2672 C001 movw r24,r0 |
| 4732 2674 E59F mul r30,r21 |
| 4733 2676 900D add r25,r0 |
| 4734 2678 F49F mul r31,r20 |
| 4735 267a 900D add r25,r0 |
| 4736 267c 1124 clr r1 |
| 4737 267e 280F add r18,r24 |
| 4738 2680 391F adc r19,r25 |
| 4739 2682 37FF sbrs r19,7 |
| 4740 2684 02C0 rjmp .L381 |
| 4741 2686 295F subi r18,lo8(-(7)) |
| 4742 2688 3F4F sbci r19,hi8(-(7)) |
| 4743 .L381: |
| 4744 268a 13E0 ldi r17,3 |
| 4745 268c 3595 1: asr r19 |
| 4746 268e 2795 ror r18 |
| 4747 2690 1A95 dec r17 |
| 4748 2692 E1F7 brne 1b |
| 4749 2694 3093 0000 sts (StickNick)+1,r19 |
| 4750 2698 2093 0000 sts StickNick,r18 |
| 4751 269c A49F mul r26,r20 |
| 4752 269e 9001 movw r18,r0 |
| 4753 26a0 A59F mul r26,r21 |
| 4754 26a2 300D add r19,r0 |
| 4755 26a4 B49F mul r27,r20 |
| 4756 26a6 300D add r19,r0 |
| 4757 26a8 1124 clr r1 |
| 4758 26aa E69F mul r30,r22 |
| 4759 26ac C001 movw r24,r0 |
| 4760 26ae E79F mul r30,r23 |
| 4761 26b0 900D add r25,r0 |
| 4762 26b2 F69F mul r31,r22 |
| 4763 26b4 900D add r25,r0 |
| 4764 26b6 1124 clr r1 |
| 4765 .L816: |
| 4766 26b8 281B sub r18,r24 |
| 4767 26ba 390B sbc r19,r25 |
| 4768 26bc 37FF sbrs r19,7 |
| 4769 26be 02C0 rjmp .L382 |
| 4770 26c0 295F subi r18,lo8(-(7)) |
| 4771 26c2 3F4F sbci r19,hi8(-(7)) |
| 4772 .L382: |
| 4773 26c4 F3E0 ldi r31,3 |
| 4774 26c6 3595 1: asr r19 |
| 4775 26c8 2795 ror r18 |
| 4776 26ca FA95 dec r31 |
| 4777 26cc E1F7 brne 1b |
| 4778 26ce 3093 0000 sts (StickRoll)+1,r19 |
| 4779 26d2 2093 0000 sts StickRoll,r18 |
| 4780 26d6 8091 0000 lds r24,EE_Parameter+4 |
| 4781 26da E82F mov r30,r24 |
| 4782 26dc FF27 clr r31 |
| 4783 26de EE0F add r30,r30 |
| 4784 26e0 FF1F adc r31,r31 |
| 4785 26e2 E050 subi r30,lo8(-(PPM_in)) |
| 4786 26e4 F040 sbci r31,hi8(-(PPM_in)) |
| 4787 26e6 8081 ld r24,Z |
| 4788 26e8 9181 ldd r25,Z+1 |
| 4789 26ea 9095 com r25 |
| 4790 26ec 8195 neg r24 |
| 4791 26ee 9F4F sbci r25,lo8(-1) |
| 4792 26f0 9093 0000 sts (StickGier)+1,r25 |
| 4793 26f4 8093 0000 sts StickGier,r24 |
| 4794 26f8 8330 cpi r24,3 |
| 4795 26fa 9105 cpc r25,__zero_reg__ |
| 4796 26fc 14F0 brlt .L383 |
| 4797 26fe 0297 sbiw r24,2 |
| 4798 2700 05C0 rjmp .L791 |
| 4799 .L383: |
| 4800 2702 0FEF ldi r16,hi8(-2) |
| 4801 2704 8E3F cpi r24,lo8(-2) |
| 4802 2706 9007 cpc r25,r16 |
| 4803 2708 34F4 brge .L385 |
| 4804 270a 0296 adiw r24,2 |
| 4805 .L791: |
| 4806 270c 9093 0000 sts (StickGier)+1,r25 |
| 4807 2710 8093 0000 sts StickGier,r24 |
| 4808 2714 04C0 rjmp .L384 |
| 4809 .L385: |
| 4810 2716 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 4811 271a 1092 0000 sts StickGier,__zero_reg__ |
| 4812 .L384: |
| 4813 271e 8091 0000 lds r24,GPS_Nick |
| 4814 2722 9091 0000 lds r25,(GPS_Nick)+1 |
| 4815 2726 2091 0000 lds r18,GPS_Nick2 |
| 4816 272a 3091 0000 lds r19,(GPS_Nick2)+1 |
| 4817 272e 820F add r24,r18 |
| 4818 2730 931F adc r25,r19 |
| 4819 2732 0091 0000 lds r16,StickNick |
| 4820 2736 1091 0000 lds r17,(StickNick)+1 |
| 4821 273a 081B sub r16,r24 |
| 4822 273c 190B sbc r17,r25 |
| 4823 273e 1093 0000 sts (StickNick)+1,r17 |
| 4824 2742 0093 0000 sts StickNick,r16 |
| 4825 2746 8091 0000 lds r24,GPS_Roll |
| 4826 274a 9091 0000 lds r25,(GPS_Roll)+1 |
| 4827 274e 2091 0000 lds r18,GPS_Roll2 |
| 4828 2752 3091 0000 lds r19,(GPS_Roll2)+1 |
| 4829 2756 820F add r24,r18 |
| 4830 2758 931F adc r25,r19 |
| 4831 275a 8090 0000 lds r8,StickRoll |
| 4832 275e 9090 0000 lds r9,(StickRoll)+1 |
| 4833 2762 881A sub r8,r24 |
| 4834 2764 990A sbc r9,r25 |
| 4835 2766 9092 0000 sts (StickRoll)+1,r9 |
| 4836 276a 8092 0000 sts StickRoll,r8 |
| 4837 276e 8091 0000 lds r24,EE_Parameter+3 |
| 4838 2772 E82F mov r30,r24 |
| 4839 2774 FF27 clr r31 |
| 4840 2776 EE0F add r30,r30 |
| 4841 2778 FF1F adc r31,r31 |
| 4842 277a E050 subi r30,lo8(-(PPM_in)) |
| 4843 277c F040 sbci r31,hi8(-(PPM_in)) |
| 4844 277e E080 ld r14,Z |
| 4845 2780 F180 ldd r15,Z+1 |
| 4846 2782 28E7 ldi r18,lo8(120) |
| 4847 2784 30E0 ldi r19,hi8(120) |
| 4848 2786 E20E add r14,r18 |
| 4849 2788 F31E adc r15,r19 |
| 4850 278a F092 0000 sts (StickGas)+1,r15 |
| 4851 278e E092 0000 sts StickGas,r14 |
| 4852 2792 8091 0000 lds r24,Parameter_Gyro_P |
| 4853 2796 9927 clr r25 |
| 4854 2798 AA27 clr r26 |
| 4855 279a 97FD sbrc r25,7 |
| 4856 279c A095 com r26 |
| 4857 279e BA2F mov r27,r26 |
| 4858 27a0 BC01 movw r22,r24 |
| 4859 27a2 CD01 movw r24,r26 |
| 4860 27a4 0E94 0000 call __floatsisf |
| 4861 27a8 DC01 movw r26,r24 |
| 4862 27aa CB01 movw r24,r22 |
| 4863 27ac 20E0 ldi r18,lo8(0x41200000) |
| 4864 27ae 30E0 ldi r19,hi8(0x41200000) |
| 4865 27b0 40E2 ldi r20,hlo8(0x41200000) |
| 4866 27b2 51E4 ldi r21,hhi8(0x41200000) |
| 4867 27b4 BC01 movw r22,r24 |
| 4868 27b6 CD01 movw r24,r26 |
| 4869 27b8 0E94 0000 call __addsf3 |
| 4870 27bc DC01 movw r26,r24 |
| 4871 27be CB01 movw r24,r22 |
| 4872 27c0 BC01 movw r22,r24 |
| 4873 27c2 CD01 movw r24,r26 |
| 4874 27c4 0E94 0000 call __fixunssfsi |
| 4875 27c8 DC01 movw r26,r24 |
| 4876 27ca CB01 movw r24,r22 |
| 4877 27cc 8093 0000 sts GyroFaktor,r24 |
| 4878 27d0 8091 0000 lds r24,Parameter_Gyro_I |
| 4879 27d4 8093 0000 sts IntegralFaktor,r24 |
| 4880 27d8 8091 0000 lds r24,Parameter_Gyro_Gier_P |
| 4881 27dc 9927 clr r25 |
| 4882 27de AA27 clr r26 |
| 4883 27e0 97FD sbrc r25,7 |
| 4884 27e2 A095 com r26 |
| 4885 27e4 BA2F mov r27,r26 |
| 4886 27e6 BC01 movw r22,r24 |
| 4887 27e8 CD01 movw r24,r26 |
| 4888 27ea 0E94 0000 call __floatsisf |
| 4889 27ee DC01 movw r26,r24 |
| 4890 27f0 CB01 movw r24,r22 |
| 4891 27f2 20E0 ldi r18,lo8(0x41200000) |
| 4892 27f4 30E0 ldi r19,hi8(0x41200000) |
| 4893 27f6 40E2 ldi r20,hlo8(0x41200000) |
| 4894 27f8 51E4 ldi r21,hhi8(0x41200000) |
| 4895 27fa BC01 movw r22,r24 |
| 4896 27fc CD01 movw r24,r26 |
| 4897 27fe 0E94 0000 call __addsf3 |
| 4898 2802 DC01 movw r26,r24 |
| 4899 2804 CB01 movw r24,r22 |
| 4900 2806 BC01 movw r22,r24 |
| 4901 2808 CD01 movw r24,r26 |
| 4902 280a 0E94 0000 call __fixunssfsi |
| 4903 280e DC01 movw r26,r24 |
| 4904 2810 CB01 movw r24,r22 |
| 4905 2812 8093 0000 sts GyroFaktorGier,r24 |
| 4906 2816 8091 0000 lds r24,Parameter_Gyro_Gier_I |
| 4907 281a 8093 0000 sts IntegralFaktorGier,r24 |
| 4908 281e 8091 0000 lds r24,ExternControl+10 |
| 4909 2822 80FF sbrs r24,0 |
| 4910 2824 59C0 rjmp .L387 |
| 4911 2826 8091 0000 lds r24,Parameter_ExternalControl |
| 4912 282a 8138 cpi r24,lo8(-127) |
| 4913 282c 08F4 brsh .+2 |
| 4914 282e 54C0 rjmp .L387 |
| 4915 2830 8091 0000 lds r24,ExternControl+3 |
| 4916 2834 9927 clr r25 |
| 4917 2836 87FD sbrc r24,7 |
| 4918 2838 9095 com r25 |
| 4919 283a 2B2D mov r18,r11 |
| 4920 283c 3327 clr r19 |
| 4921 283e 829F mul r24,r18 |
| 4922 2840 A001 movw r20,r0 |
| 4923 2842 839F mul r24,r19 |
| 4924 2844 500D add r21,r0 |
| 4925 2846 929F mul r25,r18 |
| 4926 2848 500D add r21,r0 |
| 4927 284a 1124 clr r1 |
| 4928 284c 040F add r16,r20 |
| 4929 284e 151F adc r17,r21 |
| 4930 2850 1093 0000 sts (StickNick)+1,r17 |
| 4931 2854 0093 0000 sts StickNick,r16 |
| 4932 2858 8091 0000 lds r24,ExternControl+4 |
| 4933 285c 9927 clr r25 |
| 4934 285e 87FD sbrc r24,7 |
| 4935 2860 9095 com r25 |
| 4936 2862 829F mul r24,r18 |
| 4937 2864 B001 movw r22,r0 |
| 4938 2866 839F mul r24,r19 |
| 4939 2868 700D add r23,r0 |
| 4940 286a 929F mul r25,r18 |
| 4941 286c 700D add r23,r0 |
| 4942 286e 1124 clr r1 |
| 4943 2870 860E add r8,r22 |
| 4944 2872 971E adc r9,r23 |
| 4945 2874 9092 0000 sts (StickRoll)+1,r9 |
| 4946 2878 8092 0000 sts StickRoll,r8 |
| 4947 287c 8091 0000 lds r24,ExternControl+5 |
| 4948 2880 282F mov r18,r24 |
| 4949 2882 3327 clr r19 |
| 4950 2884 27FD sbrc r18,7 |
| 4951 2886 3095 com r19 |
| 4952 2888 8091 0000 lds r24,StickGier |
| 4953 288c 9091 0000 lds r25,(StickGier)+1 |
| 4954 2890 820F add r24,r18 |
| 4955 2892 931F adc r25,r19 |
| 4956 2894 9093 0000 sts (StickGier)+1,r25 |
| 4957 2898 8093 0000 sts StickGier,r24 |
| 4958 289c 8091 0000 lds r24,ExternControl+7 |
| 4959 28a0 282F mov r18,r24 |
| 4960 28a2 3327 clr r19 |
| 4961 28a4 27FD sbrc r18,7 |
| 4962 28a6 3095 com r19 |
| 4963 28a8 8091 0000 lds r24,EE_Parameter+18 |
| 4964 28ac 9927 clr r25 |
| 4965 28ae 289F mul r18,r24 |
| 4966 28b0 D001 movw r26,r0 |
| 4967 28b2 299F mul r18,r25 |
| 4968 28b4 B00D add r27,r0 |
| 4969 28b6 389F mul r19,r24 |
| 4970 28b8 B00D add r27,r0 |
| 4971 28ba 1124 clr r1 |
| 4972 28bc B093 0000 sts (ExternHoehenValue)+1,r27 |
| 4973 28c0 A093 0000 sts ExternHoehenValue,r26 |
| 4974 28c4 8091 0000 lds r24,ExternControl+6 |
| 4975 28c8 9927 clr r25 |
| 4976 28ca 8E15 cp r24,r14 |
| 4977 28cc 9F05 cpc r25,r15 |
| 4978 28ce 24F4 brge .L387 |
| 4979 28d0 9093 0000 sts (StickGas)+1,r25 |
| 4980 28d4 8093 0000 sts StickGas,r24 |
| 4981 .L387: |
| 4982 28d8 8091 0000 lds r24,StickGas |
| 4983 28dc 9091 0000 lds r25,(StickGas)+1 |
| 4984 28e0 97FF sbrs r25,7 |
| 4985 28e2 04C0 rjmp .L389 |
| 4986 28e4 1092 0000 sts (StickGas)+1,__zero_reg__ |
| 4987 28e8 1092 0000 sts StickGas,__zero_reg__ |
| 4988 .L389: |
| 4989 28ec 8091 0000 lds r24,EE_Parameter+13 |
| 4990 28f0 82FF sbrs r24,2 |
| 4991 28f2 02C0 rjmp .L390 |
| 4992 28f4 1092 0000 sts IntegralFaktor,__zero_reg__ |
| 4993 .L390: |
| 4994 28f8 4091 0000 lds r20,StickNick |
| 4995 28fc 5091 0000 lds r21,(StickNick)+1 |
| 4996 2900 CA01 movw r24,r20 |
| 4997 2902 57FD sbrc r21,7 |
| 4998 2904 0396 adiw r24,3 |
| 4999 .L392: |
| 5000 2906 9C01 movw r18,r24 |
| 5001 2908 3595 asr r19 |
| 5002 290a 2795 ror r18 |
| 5003 290c 3595 asr r19 |
| 5004 290e 2795 ror r18 |
| 5005 2910 37FF sbrs r19,7 |
| 5006 2912 03C0 rjmp .L393 |
| 5007 2914 3095 com r19 |
| 5008 2916 2195 neg r18 |
| 5009 2918 3F4F sbci r19,lo8(-1) |
| 5010 .L393: |
| 5011 291a 8091 0000 lds r24,MaxStickNick |
| 5012 291e 9091 0000 lds r25,(MaxStickNick)+1 |
| 5013 2922 8217 cp r24,r18 |
| 5014 2924 9307 cpc r25,r19 |
| 5015 2926 B4F4 brge .L391 |
| 5016 2928 CA01 movw r24,r20 |
| 5017 292a 57FF sbrs r21,7 |
| 5018 292c 03C0 rjmp .L394 |
| 5019 292e 9095 com r25 |
| 5020 2930 8195 neg r24 |
| 5021 2932 9F4F sbci r25,lo8(-1) |
| 5022 .L394: |
| 5023 2934 97FD sbrc r25,7 |
| 5024 2936 0396 adiw r24,3 |
| 5025 .L395: |
| 5026 2938 9595 asr r25 |
| 5027 293a 8795 ror r24 |
| 5028 293c 9595 asr r25 |
| 5029 293e 8795 ror r24 |
| 5030 2940 9093 0000 sts (MaxStickNick)+1,r25 |
| 5031 2944 8093 0000 sts MaxStickNick,r24 |
| 5032 2948 8536 cpi r24,101 |
| 5033 294a 9105 cpc r25,__zero_reg__ |
| 5034 294c 44F0 brlt .L397 |
| 5035 294e 84E6 ldi r24,lo8(100) |
| 5036 2950 90E0 ldi r25,hi8(100) |
| 5037 2952 01C0 rjmp .L792 |
| 5038 .L391: |
| 5039 2954 0197 sbiw r24,1 |
| 5040 .L792: |
| 5041 2956 9093 0000 sts (MaxStickNick)+1,r25 |
| 5042 295a 8093 0000 sts MaxStickNick,r24 |
| 5043 .L397: |
| 5044 295e 4091 0000 lds r20,StickRoll |
| 5045 2962 5091 0000 lds r21,(StickRoll)+1 |
| 5046 2966 CA01 movw r24,r20 |
| 5047 2968 57FD sbrc r21,7 |
| 5048 296a 0396 adiw r24,3 |
| 5049 .L399: |
| 5050 296c 9C01 movw r18,r24 |
| 5051 296e 3595 asr r19 |
| 5052 2970 2795 ror r18 |
| 5053 2972 3595 asr r19 |
| 5054 2974 2795 ror r18 |
| 5055 2976 37FF sbrs r19,7 |
| 5056 2978 03C0 rjmp .L400 |
| 5057 297a 3095 com r19 |
| 5058 297c 2195 neg r18 |
| 5059 297e 3F4F sbci r19,lo8(-1) |
| 5060 .L400: |
| 5061 2980 8091 0000 lds r24,MaxStickRoll |
| 5062 2984 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5063 2988 8217 cp r24,r18 |
| 5064 298a 9307 cpc r25,r19 |
| 5065 298c B4F4 brge .L398 |
| 5066 298e CA01 movw r24,r20 |
| 5067 2990 57FF sbrs r21,7 |
| 5068 2992 03C0 rjmp .L401 |
| 5069 2994 9095 com r25 |
| 5070 2996 8195 neg r24 |
| 5071 2998 9F4F sbci r25,lo8(-1) |
| 5072 .L401: |
| 5073 299a 97FD sbrc r25,7 |
| 5074 299c 0396 adiw r24,3 |
| 5075 .L402: |
| 5076 299e 9595 asr r25 |
| 5077 29a0 8795 ror r24 |
| 5078 29a2 9595 asr r25 |
| 5079 29a4 8795 ror r24 |
| 5080 29a6 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5081 29aa 8093 0000 sts MaxStickRoll,r24 |
| 5082 29ae 8536 cpi r24,101 |
| 5083 29b0 9105 cpc r25,__zero_reg__ |
| 5084 29b2 44F0 brlt .L404 |
| 5085 29b4 84E6 ldi r24,lo8(100) |
| 5086 29b6 90E0 ldi r25,hi8(100) |
| 5087 29b8 01C0 rjmp .L793 |
| 5088 .L398: |
| 5089 29ba 0197 sbiw r24,1 |
| 5090 .L793: |
| 5091 29bc 9093 0000 sts (MaxStickRoll)+1,r25 |
| 5092 29c0 8093 0000 sts MaxStickRoll,r24 |
| 5093 .L404: |
| 5094 29c4 8091 0000 lds r24,FC_StatusFlags |
| 5095 29c8 84FF sbrs r24,4 |
| 5096 29ca 08C0 rjmp .L405 |
| 5097 29cc 1092 0000 sts (MaxStickNick)+1,__zero_reg__ |
| 5098 29d0 1092 0000 sts MaxStickNick,__zero_reg__ |
| 5099 29d4 1092 0000 sts (MaxStickRoll)+1,__zero_reg__ |
| 5100 29d8 1092 0000 sts MaxStickRoll,__zero_reg__ |
| 5101 .L405: |
| 5102 29dc ED2D mov r30,r13 |
| 5103 29de FF27 clr r31 |
| 5104 29e0 EE0F add r30,r30 |
| 5105 29e2 FF1F adc r31,r31 |
| 5106 29e4 E050 subi r30,lo8(-(PPM_in)) |
| 5107 29e6 F040 sbci r31,hi8(-(PPM_in)) |
| 5108 29e8 4091 0000 lds r20,EE_Parameter+60 |
| 5109 29ec 242F mov r18,r20 |
| 5110 29ee 3327 clr r19 |
| 5111 29f0 8081 ld r24,Z |
| 5112 29f2 9181 ldd r25,Z+1 |
| 5113 29f4 2817 cp r18,r24 |
| 5114 29f6 3907 cpc r19,r25 |
| 5115 29f8 44F4 brge .L406 |
| 5116 29fa 8091 0000 lds r24,EE_Parameter+100 |
| 5117 29fe 82FF sbrs r24,2 |
| 5118 2a00 04C0 rjmp .L406 |
| 5119 2a02 81E0 ldi r24,lo8(1) |
| 5120 2a04 8093 0000 sts Looping_Links,r24 |
| 5121 2a08 13C0 rjmp .L407 |
| 5122 .L406: |
| 5123 2a0a ED2D mov r30,r13 |
| 5124 2a0c FF27 clr r31 |
| 5125 2a0e EE0F add r30,r30 |
| 5126 2a10 FF1F adc r31,r31 |
| 5127 2a12 E050 subi r30,lo8(-(PPM_in)) |
| 5128 2a14 F040 sbci r31,hi8(-(PPM_in)) |
| 5129 2a16 842F mov r24,r20 |
| 5130 2a18 9927 clr r25 |
| 5131 2a1a 2091 0000 lds r18,EE_Parameter+61 |
| 5132 2a1e 821B sub r24,r18 |
| 5133 2a20 9109 sbc r25,__zero_reg__ |
| 5134 2a22 2081 ld r18,Z |
| 5135 2a24 3181 ldd r19,Z+1 |
| 5136 2a26 2817 cp r18,r24 |
| 5137 2a28 3907 cpc r19,r25 |
| 5138 2a2a 14F4 brge .L407 |
| 5139 2a2c 1092 0000 sts Looping_Links,__zero_reg__ |
| 5140 .L407: |
| 5141 2a30 4091 0000 lds r20,EE_Parameter+2 |
| 5142 2a34 E42F mov r30,r20 |
| 5143 2a36 FF27 clr r31 |
| 5144 2a38 EE0F add r30,r30 |
| 5145 2a3a FF1F adc r31,r31 |
| 5146 2a3c E050 subi r30,lo8(-(PPM_in)) |
| 5147 2a3e F040 sbci r31,hi8(-(PPM_in)) |
| 5148 2a40 5091 0000 lds r21,EE_Parameter+60 |
| 5149 2a44 852F mov r24,r21 |
| 5150 2a46 9927 clr r25 |
| 5151 2a48 2227 clr r18 |
| 5152 2a4a 3327 clr r19 |
| 5153 2a4c 281B sub r18,r24 |
| 5154 2a4e 390B sbc r19,r25 |
| 5155 2a50 8081 ld r24,Z |
| 5156 2a52 9181 ldd r25,Z+1 |
| 5157 2a54 8217 cp r24,r18 |
| 5158 2a56 9307 cpc r25,r19 |
| 5159 2a58 44F4 brge .L409 |
| 5160 2a5a 8091 0000 lds r24,EE_Parameter+100 |
| 5161 2a5e 83FF sbrs r24,3 |
| 5162 2a60 04C0 rjmp .L409 |
| 5163 2a62 81E0 ldi r24,lo8(1) |
| 5164 2a64 8093 0000 sts Looping_Rechts,r24 |
| 5165 2a68 16C0 rjmp .L410 |
| 5166 .L409: |
| 5167 2a6a 8091 0000 lds r24,Looping_Rechts |
| 5168 2a6e 8823 tst r24 |
| 5169 2a70 91F0 breq .L410 |
| 5170 2a72 E42F mov r30,r20 |
| 5171 2a74 FF27 clr r31 |
| 5172 2a76 EE0F add r30,r30 |
| 5173 2a78 FF1F adc r31,r31 |
| 5174 2a7a E050 subi r30,lo8(-(PPM_in)) |
| 5175 2a7c F040 sbci r31,hi8(-(PPM_in)) |
| 5176 2a7e 8091 0000 lds r24,EE_Parameter+61 |
| 5177 2a82 9927 clr r25 |
| 5178 2a84 851B sub r24,r21 |
| 5179 2a86 9109 sbc r25,__zero_reg__ |
| 5180 2a88 2081 ld r18,Z |
| 5181 2a8a 3181 ldd r19,Z+1 |
| 5182 2a8c 8217 cp r24,r18 |
| 5183 2a8e 9307 cpc r25,r19 |
| 5184 2a90 14F4 brge .L410 |
| 5185 2a92 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5186 .L410: |
| 5187 2a96 EC2D mov r30,r12 |
| 5188 2a98 FF27 clr r31 |
| 5189 2a9a EE0F add r30,r30 |
| 5190 2a9c FF1F adc r31,r31 |
| 5191 2a9e E050 subi r30,lo8(-(PPM_in)) |
| 5192 2aa0 F040 sbci r31,hi8(-(PPM_in)) |
| 5193 2aa2 4091 0000 lds r20,EE_Parameter+60 |
| 5194 2aa6 242F mov r18,r20 |
| 5195 2aa8 3327 clr r19 |
| 5196 2aaa 8081 ld r24,Z |
| 5197 2aac 9181 ldd r25,Z+1 |
| 5198 2aae 2817 cp r18,r24 |
| 5199 2ab0 3907 cpc r19,r25 |
| 5200 2ab2 44F4 brge .L413 |
| 5201 2ab4 8091 0000 lds r24,EE_Parameter+100 |
| 5202 2ab8 80FF sbrs r24,0 |
| 5203 2aba 04C0 rjmp .L413 |
| 5204 2abc 81E0 ldi r24,lo8(1) |
| 5205 2abe 8093 0000 sts Looping_Oben,r24 |
| 5206 2ac2 17C0 rjmp .L414 |
| 5207 .L413: |
| 5208 2ac4 8091 0000 lds r24,Looping_Oben |
| 5209 2ac8 8823 tst r24 |
| 5210 2aca 99F0 breq .L414 |
| 5211 2acc EC2D mov r30,r12 |
| 5212 2ace FF27 clr r31 |
| 5213 2ad0 EE0F add r30,r30 |
| 5214 2ad2 FF1F adc r31,r31 |
| 5215 2ad4 E050 subi r30,lo8(-(PPM_in)) |
| 5216 2ad6 F040 sbci r31,hi8(-(PPM_in)) |
| 5217 2ad8 842F mov r24,r20 |
| 5218 2ada 9927 clr r25 |
| 5219 2adc 2091 0000 lds r18,EE_Parameter+61 |
| 5220 2ae0 821B sub r24,r18 |
| 5221 2ae2 9109 sbc r25,__zero_reg__ |
| 5222 2ae4 2081 ld r18,Z |
| 5223 2ae6 3181 ldd r19,Z+1 |
| 5224 2ae8 2817 cp r18,r24 |
| 5225 2aea 3907 cpc r19,r25 |
| 5226 2aec 14F4 brge .L414 |
| 5227 2aee 1092 0000 sts Looping_Oben,__zero_reg__ |
| 5228 .L414: |
| 5229 2af2 4091 0000 lds r20,EE_Parameter+1 |
| 5230 2af6 E42F mov r30,r20 |
| 5231 2af8 FF27 clr r31 |
| 5232 2afa EE0F add r30,r30 |
| 5233 2afc FF1F adc r31,r31 |
| 5234 2afe E050 subi r30,lo8(-(PPM_in)) |
| 5235 2b00 F040 sbci r31,hi8(-(PPM_in)) |
| 5236 2b02 5091 0000 lds r21,EE_Parameter+60 |
| 5237 2b06 852F mov r24,r21 |
| 5238 2b08 9927 clr r25 |
| 5239 2b0a 2227 clr r18 |
| 5240 2b0c 3327 clr r19 |
| 5241 2b0e 281B sub r18,r24 |
| 5242 2b10 390B sbc r19,r25 |
| 5243 2b12 8081 ld r24,Z |
| 5244 2b14 9181 ldd r25,Z+1 |
| 5245 2b16 8217 cp r24,r18 |
| 5246 2b18 9307 cpc r25,r19 |
| 5247 2b1a 44F4 brge .L417 |
| 5248 2b1c 8091 0000 lds r24,EE_Parameter+100 |
| 5249 2b20 81FF sbrs r24,1 |
| 5250 2b22 04C0 rjmp .L417 |
| 5251 2b24 81E0 ldi r24,lo8(1) |
| 5252 2b26 8093 0000 sts Looping_Unten,r24 |
| 5253 2b2a 16C0 rjmp .L418 |
| 5254 .L417: |
| 5255 2b2c 8091 0000 lds r24,Looping_Unten |
| 5256 2b30 8823 tst r24 |
| 5257 2b32 91F0 breq .L418 |
| 5258 2b34 E42F mov r30,r20 |
| 5259 2b36 FF27 clr r31 |
| 5260 2b38 EE0F add r30,r30 |
| 5261 2b3a FF1F adc r31,r31 |
| 5262 2b3c E050 subi r30,lo8(-(PPM_in)) |
| 5263 2b3e F040 sbci r31,hi8(-(PPM_in)) |
| 5264 2b40 8091 0000 lds r24,EE_Parameter+61 |
| 5265 2b44 9927 clr r25 |
| 5266 2b46 851B sub r24,r21 |
| 5267 2b48 9109 sbc r25,__zero_reg__ |
| 5268 2b4a 2081 ld r18,Z |
| 5269 2b4c 3181 ldd r19,Z+1 |
| 5270 2b4e 8217 cp r24,r18 |
| 5271 2b50 9307 cpc r25,r19 |
| 5272 2b52 14F4 brge .L418 |
| 5273 2b54 1092 0000 sts Looping_Unten,__zero_reg__ |
| 5274 .L418: |
| 5275 2b58 8091 0000 lds r24,Looping_Links |
| 5276 2b5c 8823 tst r24 |
| 5277 2b5e 19F4 brne .L422 |
| 5278 2b60 8091 0000 lds r24,Looping_Rechts |
| 5279 2b64 8111 cpse r24,__zero_reg__ |
| 5280 .L422: |
| 5281 2b66 81E0 ldi r24,lo8(1) |
| 5282 .L421: |
| 5283 2b68 8093 0000 sts Looping_Roll,r24 |
| 5284 2b6c 8091 0000 lds r24,Looping_Oben |
| 5285 2b70 8823 tst r24 |
| 5286 2b72 21F4 brne .L425 |
| 5287 2b74 8091 0000 lds r24,Looping_Unten |
| 5288 2b78 8823 tst r24 |
| 5289 2b7a 51F0 breq .L424 |
| 5290 .L425: |
| 5291 2b7c 81E0 ldi r24,lo8(1) |
| 5292 2b7e 8093 0000 sts Looping_Nick,r24 |
| 5293 2b82 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5294 2b86 1092 0000 sts Looping_Links,__zero_reg__ |
| 5295 2b8a 1092 0000 sts Looping_Rechts,__zero_reg__ |
| 5296 2b8e 02C0 rjmp .L371 |
| 5297 .L424: |
| 5298 2b90 8093 0000 sts Looping_Nick,r24 |
| 5299 .L371: |
| 5300 2b94 8091 0000 lds r24,Looping_Roll |
| 5301 2b98 8823 tst r24 |
| 5302 2b9a 21F4 brne .L428 |
| 5303 2b9c 8091 0000 lds r24,Looping_Nick |
| 5304 2ba0 8823 tst r24 |
| 5305 2ba2 69F0 breq .L427 |
| 5306 .L428: |
| 5307 2ba4 8091 0000 lds r24,EE_Parameter+59 |
| 5308 2ba8 9927 clr r25 |
| 5309 2baa E981 ldd r30,Y+1 |
| 5310 2bac FA81 ldd r31,Y+2 |
| 5311 2bae 8E17 cp r24,r30 |
| 5312 2bb0 9F07 cpc r25,r31 |
| 5313 2bb2 14F4 brge .L429 |
| 5314 2bb4 9A83 std Y+2,r25 |
| 5315 2bb6 8983 std Y+1,r24 |
| 5316 .L429: |
| 5317 2bb8 81E0 ldi r24,lo8(1) |
| 5318 2bba 8093 0000 sts TrichterFlug,r24 |
| 5319 .L427: |
| 5320 2bbe 8091 0000 lds r24,FC_StatusFlags |
| 5321 2bc2 84FF sbrs r24,4 |
| 5322 2bc4 1AC0 rjmp .L430 |
| 5323 2bc6 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 5324 2bca 1092 0000 sts StickGier,__zero_reg__ |
| 5325 2bce 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 5326 2bd2 1092 0000 sts StickNick,__zero_reg__ |
| 5327 2bd6 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 5328 2bda 1092 0000 sts StickRoll,__zero_reg__ |
| 5329 2bde 9AE5 ldi r25,lo8(90) |
| 5330 2be0 9093 0000 sts GyroFaktor,r25 |
| 5331 2be4 88E7 ldi r24,lo8(120) |
| 5332 2be6 8093 0000 sts IntegralFaktor,r24 |
| 5333 2bea 9093 0000 sts GyroFaktorGier,r25 |
| 5334 2bee 8093 0000 sts IntegralFaktorGier,r24 |
| 5335 2bf2 1092 0000 sts Looping_Roll,__zero_reg__ |
| 5336 2bf6 1092 0000 sts Looping_Nick,__zero_reg__ |
| 5337 .L430: |
| 5338 2bfa 8091 0000 lds r24,MittelIntegralNick |
| 5339 2bfe 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 5340 2c02 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 5341 2c06 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 5342 2c0a 2091 0000 lds r18,IntegralNick |
| 5343 2c0e 3091 0000 lds r19,(IntegralNick)+1 |
| 5344 2c12 4091 0000 lds r20,(IntegralNick)+2 |
| 5345 2c16 5091 0000 lds r21,(IntegralNick)+3 |
| 5346 2c1a 820F add r24,r18 |
| 5347 2c1c 931F adc r25,r19 |
| 5348 2c1e A41F adc r26,r20 |
| 5349 2c20 B51F adc r27,r21 |
| 5350 2c22 8093 0000 sts MittelIntegralNick,r24 |
| 5351 2c26 9093 0000 sts (MittelIntegralNick)+1,r25 |
| 5352 2c2a A093 0000 sts (MittelIntegralNick)+2,r26 |
| 5353 2c2e B093 0000 sts (MittelIntegralNick)+3,r27 |
| 5354 2c32 8091 0000 lds r24,MittelIntegralRoll |
| 5355 2c36 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 5356 2c3a A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 5357 2c3e B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 5358 2c42 2090 0000 lds r2,IntegralRoll |
| 5359 2c46 3090 0000 lds r3,(IntegralRoll)+1 |
| 5360 2c4a 4090 0000 lds r4,(IntegralRoll)+2 |
| 5361 2c4e 5090 0000 lds r5,(IntegralRoll)+3 |
| 5362 2c52 820D add r24,r2 |
| 5363 2c54 931D adc r25,r3 |
| 5364 2c56 A41D adc r26,r4 |
| 5365 2c58 B51D adc r27,r5 |
| 5366 2c5a 8093 0000 sts MittelIntegralRoll,r24 |
| 5367 2c5e 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 5368 2c62 A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 5369 2c66 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 5370 2c6a 8091 0000 lds r24,MittelIntegralNick2 |
| 5371 2c6e 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 5372 2c72 A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 5373 2c76 B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 5374 2c7a E090 0000 lds r14,IntegralNick2 |
| 5375 2c7e F090 0000 lds r15,(IntegralNick2)+1 |
| 5376 2c82 0091 0000 lds r16,(IntegralNick2)+2 |
| 5377 2c86 1091 0000 lds r17,(IntegralNick2)+3 |
| 5378 2c8a EB82 std Y+3,r14 |
| 5379 2c8c FC82 std Y+4,r15 |
| 5380 2c8e 0D83 std Y+5,r16 |
| 5381 2c90 1E83 std Y+6,r17 |
| 5382 2c92 8E0D add r24,r14 |
| 5383 2c94 9F1D adc r25,r15 |
| 5384 2c96 A01F adc r26,r16 |
| 5385 2c98 B11F adc r27,r17 |
| 5386 2c9a 8093 0000 sts MittelIntegralNick2,r24 |
| 5387 2c9e 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 5388 2ca2 A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 5389 2ca6 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 5390 2caa 8091 0000 lds r24,MittelIntegralRoll2 |
| 5391 2cae 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 5392 2cb2 A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 5393 2cb6 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 5394 2cba E090 0000 lds r14,IntegralRoll2 |
| 5395 2cbe F090 0000 lds r15,(IntegralRoll2)+1 |
| 5396 2cc2 0091 0000 lds r16,(IntegralRoll2)+2 |
| 5397 2cc6 1091 0000 lds r17,(IntegralRoll2)+3 |
| 5398 2cca EF82 std Y+7,r14 |
| 5399 2ccc F886 std Y+8,r15 |
| 5400 2cce 0987 std Y+9,r16 |
| 5401 2cd0 1A87 std Y+10,r17 |
| 5402 2cd2 8E0D add r24,r14 |
| 5403 2cd4 9F1D adc r25,r15 |
| 5404 2cd6 A01F adc r26,r16 |
| 5405 2cd8 B11F adc r27,r17 |
| 5406 2cda 8093 0000 sts MittelIntegralRoll2,r24 |
| 5407 2cde 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 5408 2ce2 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 5409 2ce6 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 5410 2cea F090 0000 lds r15,Looping_Nick |
| 5411 2cee FB86 std Y+11,r15 |
| 5412 2cf0 FF20 tst r15 |
| 5413 2cf2 29F4 brne .L432 |
| 5414 2cf4 8091 0000 lds r24,Looping_Roll |
| 5415 2cf8 8823 tst r24 |
| 5416 2cfa 09F4 brne .+2 |
| 5417 2cfc 60C0 rjmp .L788 |
| 5418 .L432: |
| 5419 2cfe 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 5420 2d02 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 5421 2d06 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 5422 2d0a 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 5423 2d0e 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 5424 2d12 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 5425 2d16 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 5426 2d1a 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 5427 2d1e 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 5428 2d22 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 5429 2d26 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 5430 2d2a 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 5431 2d2e 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 5432 2d32 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 5433 2d36 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 5434 2d3a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 5435 2d3e 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 5436 2d42 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 5437 2d46 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 5438 2d4a 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 5439 2d4e 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 5440 2d52 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 5441 2d56 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 5442 2d5a 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 5443 2d5e 8091 0000 lds r24,Mess_IntegralNick |
| 5444 2d62 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 5445 2d66 A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 5446 2d6a B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 5447 2d6e 8093 0000 sts Mess_IntegralNick2,r24 |
| 5448 2d72 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 5449 2d76 A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 5450 2d7a B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 5451 2d7e 8091 0000 lds r24,Mess_IntegralRoll |
| 5452 2d82 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 5453 2d86 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 5454 2d8a B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 5455 2d8e 8093 0000 sts Mess_IntegralRoll2,r24 |
| 5456 2d92 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 5457 2d96 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 5458 2d9a B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 5459 2d9e 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 5460 2da2 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 5461 2da6 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 5462 2daa 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 5463 2dae 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 5464 2db2 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 5465 2db6 0B85 ldd r16,Y+11 |
| 5466 2db8 0023 tst r16 |
| 5467 2dba 09F0 breq .+2 |
| 5468 2dbc F2C1 rjmp .L433 |
| 5469 .L788: |
| 5470 2dbe 8091 0000 lds r24,Looping_Roll |
| 5471 2dc2 8823 tst r24 |
| 5472 2dc4 09F0 breq .+2 |
| 5473 2dc6 EDC1 rjmp .L433 |
| 5474 2dc8 8091 0000 lds r24,Aktuell_az |
| 5475 2dcc 9091 0000 lds r25,(Aktuell_az)+1 |
| 5476 2dd0 8150 subi r24,lo8(513) |
| 5477 2dd2 9240 sbci r25,hi8(513) |
| 5478 2dd4 2CF4 brge .L434 |
| 5479 2dd6 8091 0000 lds r24,MotorenEin |
| 5480 2dda 8823 tst r24 |
| 5481 2ddc 09F4 brne .+2 |
| 5482 2dde E1C1 rjmp .L433 |
| 5483 .L434: |
| 5484 2de0 9090 0000 lds r9,FromNaviCtrl_Value |
| 5485 2de4 A090 0000 lds r10,EE_Parameter+28 |
| 5486 2de8 6091 0000 lds r22,Mittelwert_AccNick |
| 5487 2dec 7091 0000 lds r23,(Mittelwert_AccNick)+1 |
| 5488 2df0 788F std Y+24,r23 |
| 5489 2df2 6F8B std Y+23,r22 |
| 5490 2df4 8091 0000 lds r24,Mittelwert_AccRoll |
| 5491 2df8 9091 0000 lds r25,(Mittelwert_AccRoll)+1 |
| 5492 2dfc 9A8B std Y+18,r25 |
| 5493 2dfe 898B std Y+17,r24 |
| 5494 2e00 9FEF ldi r25,lo8(-1) |
| 5495 2e02 9916 cp r9,r25 |
| 5496 2e04 09F4 brne .+2 |
| 5497 2e06 D9C0 rjmp .L435 |
| 5498 2e08 BB24 clr r11 |
| 5499 2e0a CC24 clr r12 |
| 5500 2e0c DD24 clr r13 |
| 5501 2e0e CA01 movw r24,r20 |
| 5502 2e10 B901 movw r22,r18 |
| 5503 2e12 A601 movw r20,r12 |
| 5504 2e14 9501 movw r18,r10 |
| 5505 2e16 0E94 0000 call __divmodsi4 |
| 5506 2e1a 7901 movw r14,r18 |
| 5507 2e1c 8A01 movw r16,r20 |
| 5508 2e1e EF89 ldd r30,Y+23 |
| 5509 2e20 F88D ldd r31,Y+24 |
| 5510 2e22 CF01 movw r24,r30 |
| 5511 2e24 AA27 clr r26 |
| 5512 2e26 97FD sbrc r25,7 |
| 5513 2e28 A095 com r26 |
| 5514 2e2a BA2F mov r27,r26 |
| 5515 2e2c E81A sub r14,r24 |
| 5516 2e2e F90A sbc r15,r25 |
| 5517 2e30 0A0B sbc r16,r26 |
| 5518 2e32 1B0B sbc r17,r27 |
| 5519 2e34 C201 movw r24,r4 |
| 5520 2e36 B101 movw r22,r2 |
| 5521 2e38 A601 movw r20,r12 |
| 5522 2e3a 9501 movw r18,r10 |
| 5523 2e3c 0E94 0000 call __divmodsi4 |
| 5524 2e40 5901 movw r10,r18 |
| 5525 2e42 6A01 movw r12,r20 |
| 5526 2e44 2989 ldd r18,Y+17 |
| 5527 2e46 3A89 ldd r19,Y+18 |
| 5528 2e48 C901 movw r24,r18 |
| 5529 2e4a AA27 clr r26 |
| 5530 2e4c 97FD sbrc r25,7 |
| 5531 2e4e A095 com r26 |
| 5532 2e50 BA2F mov r27,r26 |
| 5533 2e52 A81A sub r10,r24 |
| 5534 2e54 B90A sbc r11,r25 |
| 5535 2e56 CA0A sbc r12,r26 |
| 5536 2e58 DB0A sbc r13,r27 |
| 5537 2e5a 292C mov r2,r9 |
| 5538 2e5c 3324 clr r3 |
| 5539 2e5e 27FC sbrc r2,7 |
| 5540 2e60 3094 com r3 |
| 5541 2e62 432C mov r4,r3 |
| 5542 2e64 532C mov r5,r3 |
| 5543 2e66 C801 movw r24,r16 |
| 5544 2e68 B701 movw r22,r14 |
| 5545 2e6a A201 movw r20,r4 |
| 5546 2e6c 9101 movw r18,r2 |
| 5547 2e6e 0E94 0000 call __mulsi3 |
| 5548 2e72 97FF sbrs r25,7 |
| 5549 2e74 04C0 rjmp .L436 |
| 5550 2e76 6150 subi r22,lo8(-(511)) |
| 5551 2e78 7E4F sbci r23,hi8(-(511)) |
| 5552 2e7a 8F4F sbci r24,hlo8(-(511)) |
| 5553 2e7c 9F4F sbci r25,hhi8(-(511)) |
| 5554 .L436: |
| 5555 2e7e 3B01 movw r6,r22 |
| 5556 2e80 4C01 movw r8,r24 |
| 5557 2e82 09E0 ldi r16,9 |
| 5558 2e84 9594 1: asr r9 |
| 5559 2e86 8794 ror r8 |
| 5560 2e88 7794 ror r7 |
| 5561 2e8a 6794 ror r6 |
| 5562 2e8c 0A95 dec r16 |
| 5563 2e8e D1F7 brne 1b |
| 5564 2e90 C601 movw r24,r12 |
| 5565 2e92 B501 movw r22,r10 |
| 5566 2e94 A201 movw r20,r4 |
| 5567 2e96 9101 movw r18,r2 |
| 5568 2e98 0E94 0000 call __mulsi3 |
| 5569 2e9c 97FF sbrs r25,7 |
| 5570 2e9e 04C0 rjmp .L437 |
| 5571 2ea0 6150 subi r22,lo8(-(511)) |
| 5572 2ea2 7E4F sbci r23,hi8(-(511)) |
| 5573 2ea4 8F4F sbci r24,hlo8(-(511)) |
| 5574 2ea6 9F4F sbci r25,hhi8(-(511)) |
| 5575 .L437: |
| 5576 2ea8 5B01 movw r10,r22 |
| 5577 2eaa 6C01 movw r12,r24 |
| 5578 2eac 19E0 ldi r17,9 |
| 5579 2eae D594 1: asr r13 |
| 5580 2eb0 C794 ror r12 |
| 5581 2eb2 B794 ror r11 |
| 5582 2eb4 A794 ror r10 |
| 5583 2eb6 1A95 dec r17 |
| 5584 2eb8 D1F7 brne 1b |
| 5585 2eba 8091 0000 lds r24,MaxStickNick |
| 5586 2ebe 9091 0000 lds r25,(MaxStickNick)+1 |
| 5587 2ec2 8134 cpi r24,65 |
| 5588 2ec4 9105 cpc r25,__zero_reg__ |
| 5589 2ec6 3CF4 brge .L439 |
| 5590 2ec8 8091 0000 lds r24,MaxStickRoll |
| 5591 2ecc 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5592 2ed0 8134 cpi r24,65 |
| 5593 2ed2 9105 cpc r25,__zero_reg__ |
| 5594 2ed4 D4F0 brlt .L438 |
| 5595 .L439: |
| 5596 2ed6 D401 movw r26,r8 |
| 5597 2ed8 C301 movw r24,r6 |
| 5598 2eda 97FE sbrs r9,7 |
| 5599 2edc 03C0 rjmp .L440 |
| 5600 2ede 0196 adiw r24,1 |
| 5601 2ee0 A11D adc r26,__zero_reg__ |
| 5602 2ee2 B11D adc r27,__zero_reg__ |
| 5603 .L440: |
| 5604 2ee4 3C01 movw r6,r24 |
| 5605 2ee6 4D01 movw r8,r26 |
| 5606 2ee8 9594 asr r9 |
| 5607 2eea 8794 ror r8 |
| 5608 2eec 7794 ror r7 |
| 5609 2eee 6794 ror r6 |
| 5610 2ef0 D601 movw r26,r12 |
| 5611 2ef2 C501 movw r24,r10 |
| 5612 2ef4 D7FE sbrs r13,7 |
| 5613 2ef6 03C0 rjmp .L441 |
| 5614 2ef8 0196 adiw r24,1 |
| 5615 2efa A11D adc r26,__zero_reg__ |
| 5616 2efc B11D adc r27,__zero_reg__ |
| 5617 .L441: |
| 5618 2efe 5C01 movw r10,r24 |
| 5619 2f00 6D01 movw r12,r26 |
| 5620 2f02 D594 asr r13 |
| 5621 2f04 C794 ror r12 |
| 5622 2f06 B794 ror r11 |
| 5623 2f08 A794 ror r10 |
| 5624 .L438: |
| 5625 2f0a 8091 0000 lds r24,EE_Parameter+4 |
| 5626 2f0e E82F mov r30,r24 |
| 5627 2f10 FF27 clr r31 |
| 5628 2f12 EE0F add r30,r30 |
| 5629 2f14 FF1F adc r31,r31 |
| 5630 2f16 E050 subi r30,lo8(-(PPM_in)) |
| 5631 2f18 F040 sbci r31,hi8(-(PPM_in)) |
| 5632 2f1a 8081 ld r24,Z |
| 5633 2f1c 9181 ldd r25,Z+1 |
| 5634 2f1e 0190 ld __tmp_reg__,Z+ |
| 5635 2f20 F081 ld r31,Z |
| 5636 2f22 E02D mov r30,__tmp_reg__ |
| 5637 2f24 F7FF sbrs r31,7 |
| 5638 2f26 03C0 rjmp .L443 |
| 5639 2f28 F095 com r31 |
| 5640 2f2a E195 neg r30 |
| 5641 2f2c FF4F sbci r31,lo8(-1) |
| 5642 .L443: |
| 5643 2f2e 7A97 sbiw r30,26 |
| 5644 2f30 A4F0 brlt .L442 |
| 5645 2f32 C401 movw r24,r8 |
| 5646 2f34 B301 movw r22,r6 |
| 5647 2f36 23E0 ldi r18,lo8(3) |
| 5648 2f38 30E0 ldi r19,hi8(3) |
| 5649 2f3a 40E0 ldi r20,hlo8(3) |
| 5650 2f3c 50E0 ldi r21,hhi8(3) |
| 5651 2f3e 0E94 0000 call __divmodsi4 |
| 5652 2f42 3901 movw r6,r18 |
| 5653 2f44 4A01 movw r8,r20 |
| 5654 2f46 C601 movw r24,r12 |
| 5655 2f48 B501 movw r22,r10 |
| 5656 2f4a 23E0 ldi r18,lo8(3) |
| 5657 2f4c 30E0 ldi r19,hi8(3) |
| 5658 2f4e 40E0 ldi r20,hlo8(3) |
| 5659 2f50 50E0 ldi r21,hhi8(3) |
| 5660 2f52 0E94 0000 call __divmodsi4 |
| 5661 2f56 5901 movw r10,r18 |
| 5662 2f58 6A01 movw r12,r20 |
| 5663 .L442: |
| 5664 2f5a 8091 0000 lds r24,FromNaviCtrl_Value+2 |
| 5665 2f5e 282F mov r18,r24 |
| 5666 2f60 3327 clr r19 |
| 5667 2f62 27FD sbrc r18,7 |
| 5668 2f64 3095 com r19 |
| 5669 2f66 432F mov r20,r19 |
| 5670 2f68 532F mov r21,r19 |
| 5671 2f6a 2615 cp r18,r6 |
| 5672 2f6c 3705 cpc r19,r7 |
| 5673 2f6e 4805 cpc r20,r8 |
| 5674 2f70 5905 cpc r21,r9 |
| 5675 2f72 14F4 brge .L444 |
| 5676 2f74 3901 movw r6,r18 |
| 5677 2f76 4A01 movw r8,r20 |
| 5678 .L444: |
| 5679 2f78 9927 clr r25 |
| 5680 2f7a 87FD sbrc r24,7 |
| 5681 2f7c 9095 com r25 |
| 5682 2f7e 9095 com r25 |
| 5683 2f80 8195 neg r24 |
| 5684 2f82 9F4F sbci r25,lo8(-1) |
| 5685 2f84 AA27 clr r26 |
| 5686 2f86 97FD sbrc r25,7 |
| 5687 2f88 A095 com r26 |
| 5688 2f8a BA2F mov r27,r26 |
| 5689 2f8c 6816 cp r6,r24 |
| 5690 2f8e 7906 cpc r7,r25 |
| 5691 2f90 8A06 cpc r8,r26 |
| 5692 2f92 9B06 cpc r9,r27 |
| 5693 2f94 14F4 brge .L445 |
| 5694 2f96 3C01 movw r6,r24 |
| 5695 2f98 4D01 movw r8,r26 |
| 5696 .L445: |
| 5697 2f9a 2A15 cp r18,r10 |
| 5698 2f9c 3B05 cpc r19,r11 |
| 5699 2f9e 4C05 cpc r20,r12 |
| 5700 2fa0 5D05 cpc r21,r13 |
| 5701 2fa2 14F4 brge .L446 |
| 5702 2fa4 5901 movw r10,r18 |
| 5703 2fa6 6A01 movw r12,r20 |
| 5704 .L446: |
| 5705 2fa8 A816 cp r10,r24 |
| 5706 2faa B906 cpc r11,r25 |
| 5707 2fac CA06 cpc r12,r26 |
| 5708 2fae DB06 cpc r13,r27 |
| 5709 2fb0 0CF0 brlt .+2 |
| 5710 2fb2 CFC0 rjmp .L448 |
| 5711 2fb4 5C01 movw r10,r24 |
| 5712 2fb6 6D01 movw r12,r26 |
| 5713 2fb8 CCC0 rjmp .L448 |
| 5714 .L435: |
| 5715 2fba EA2C mov r14,r10 |
| 5716 2fbc FF24 clr r15 |
| 5717 2fbe 0027 clr r16 |
| 5718 2fc0 1127 clr r17 |
| 5719 2fc2 CA01 movw r24,r20 |
| 5720 2fc4 B901 movw r22,r18 |
| 5721 2fc6 A801 movw r20,r16 |
| 5722 2fc8 9701 movw r18,r14 |
| 5723 2fca 0E94 0000 call __divmodsi4 |
| 5724 2fce 3901 movw r6,r18 |
| 5725 2fd0 4A01 movw r8,r20 |
| 5726 2fd2 4F89 ldd r20,Y+23 |
| 5727 2fd4 588D ldd r21,Y+24 |
| 5728 2fd6 CA01 movw r24,r20 |
| 5729 2fd8 AA27 clr r26 |
| 5730 2fda 97FD sbrc r25,7 |
| 5731 2fdc A095 com r26 |
| 5732 2fde BA2F mov r27,r26 |
| 5733 2fe0 681A sub r6,r24 |
| 5734 2fe2 790A sbc r7,r25 |
| 5735 2fe4 8A0A sbc r8,r26 |
| 5736 2fe6 9B0A sbc r9,r27 |
| 5737 2fe8 C201 movw r24,r4 |
| 5738 2fea B101 movw r22,r2 |
| 5739 2fec A801 movw r20,r16 |
| 5740 2fee 9701 movw r18,r14 |
| 5741 2ff0 0E94 0000 call __divmodsi4 |
| 5742 2ff4 5901 movw r10,r18 |
| 5743 2ff6 6A01 movw r12,r20 |
| 5744 2ff8 6989 ldd r22,Y+17 |
| 5745 2ffa 7A89 ldd r23,Y+18 |
| 5746 2ffc CB01 movw r24,r22 |
| 5747 2ffe AA27 clr r26 |
| 5748 3000 97FD sbrc r25,7 |
| 5749 3002 A095 com r26 |
| 5750 3004 BA2F mov r27,r26 |
| 5751 3006 A81A sub r10,r24 |
| 5752 3008 B90A sbc r11,r25 |
| 5753 300a CA0A sbc r12,r26 |
| 5754 300c DB0A sbc r13,r27 |
| 5755 300e D401 movw r26,r8 |
| 5756 3010 C301 movw r24,r6 |
| 5757 3012 97FE sbrs r9,7 |
| 5758 3014 03C0 rjmp .L449 |
| 5759 3016 0F96 adiw r24,15 |
| 5760 3018 A11D adc r26,__zero_reg__ |
| 5761 301a B11D adc r27,__zero_reg__ |
| 5762 .L449: |
| 5763 301c 3C01 movw r6,r24 |
| 5764 301e 4D01 movw r8,r26 |
| 5765 3020 F4E0 ldi r31,4 |
| 5766 3022 9594 1: asr r9 |
| 5767 3024 8794 ror r8 |
| 5768 3026 7794 ror r7 |
| 5769 3028 6794 ror r6 |
| 5770 302a FA95 dec r31 |
| 5771 302c D1F7 brne 1b |
| 5772 302e D601 movw r26,r12 |
| 5773 3030 C501 movw r24,r10 |
| 5774 3032 D7FE sbrs r13,7 |
| 5775 3034 03C0 rjmp .L450 |
| 5776 3036 0F96 adiw r24,15 |
| 5777 3038 A11D adc r26,__zero_reg__ |
| 5778 303a B11D adc r27,__zero_reg__ |
| 5779 .L450: |
| 5780 303c 5C01 movw r10,r24 |
| 5781 303e 6D01 movw r12,r26 |
| 5782 3040 E4E0 ldi r30,4 |
| 5783 3042 D594 1: asr r13 |
| 5784 3044 C794 ror r12 |
| 5785 3046 B794 ror r11 |
| 5786 3048 A794 ror r10 |
| 5787 304a EA95 dec r30 |
| 5788 304c D1F7 brne 1b |
| 5789 304e 8091 0000 lds r24,MaxStickNick |
| 5790 3052 9091 0000 lds r25,(MaxStickNick)+1 |
| 5791 3056 8134 cpi r24,65 |
| 5792 3058 9105 cpc r25,__zero_reg__ |
| 5793 305a 3CF4 brge .L452 |
| 5794 305c 8091 0000 lds r24,MaxStickRoll |
| 5795 3060 9091 0000 lds r25,(MaxStickRoll)+1 |
| 5796 3064 8134 cpi r24,65 |
| 5797 3066 9105 cpc r25,__zero_reg__ |
| 5798 3068 A4F0 brlt .L451 |
| 5799 .L452: |
| 5800 306a C401 movw r24,r8 |
| 5801 306c B301 movw r22,r6 |
| 5802 306e 23E0 ldi r18,lo8(3) |
| 5803 3070 30E0 ldi r19,hi8(3) |
| 5804 3072 40E0 ldi r20,hlo8(3) |
| 5805 3074 50E0 ldi r21,hhi8(3) |
| 5806 3076 0E94 0000 call __divmodsi4 |
| 5807 307a 3901 movw r6,r18 |
| 5808 307c 4A01 movw r8,r20 |
| 5809 307e C601 movw r24,r12 |
| 5810 3080 B501 movw r22,r10 |
| 5811 3082 23E0 ldi r18,lo8(3) |
| 5812 3084 30E0 ldi r19,hi8(3) |
| 5813 3086 40E0 ldi r20,hlo8(3) |
| 5814 3088 50E0 ldi r21,hhi8(3) |
| 5815 308a 0E94 0000 call __divmodsi4 |
| 5816 308e 5901 movw r10,r18 |
| 5817 3090 6A01 movw r12,r20 |
| 5818 .L451: |
| 5819 3092 8091 0000 lds r24,EE_Parameter+4 |
| 5820 3096 E82F mov r30,r24 |
| 5821 3098 FF27 clr r31 |
| 5822 309a EE0F add r30,r30 |
| 5823 309c FF1F adc r31,r31 |
| 5824 309e E050 subi r30,lo8(-(PPM_in)) |
| 5825 30a0 F040 sbci r31,hi8(-(PPM_in)) |
| 5826 30a2 8081 ld r24,Z |
| 5827 30a4 9181 ldd r25,Z+1 |
| 5828 30a6 0190 ld __tmp_reg__,Z+ |
| 5829 30a8 F081 ld r31,Z |
| 5830 30aa E02D mov r30,__tmp_reg__ |
| 5831 30ac F7FF sbrs r31,7 |
| 5832 30ae 03C0 rjmp .L454 |
| 5833 30b0 F095 com r31 |
| 5834 30b2 E195 neg r30 |
| 5835 30b4 FF4F sbci r31,lo8(-1) |
| 5836 .L454: |
| 5837 30b6 7A97 sbiw r30,26 |
| 5838 30b8 A4F0 brlt .L453 |
| 5839 30ba C401 movw r24,r8 |
| 5840 30bc B301 movw r22,r6 |
| 5841 30be 23E0 ldi r18,lo8(3) |
| 5842 30c0 30E0 ldi r19,hi8(3) |
| 5843 30c2 40E0 ldi r20,hlo8(3) |
| 5844 30c4 50E0 ldi r21,hhi8(3) |
| 5845 30c6 0E94 0000 call __divmodsi4 |
| 5846 30ca 3901 movw r6,r18 |
| 5847 30cc 4A01 movw r8,r20 |
| 5848 30ce C601 movw r24,r12 |
| 5849 30d0 B501 movw r22,r10 |
| 5850 30d2 23E0 ldi r18,lo8(3) |
| 5851 30d4 30E0 ldi r19,hi8(3) |
| 5852 30d6 40E0 ldi r20,hlo8(3) |
| 5853 30d8 50E0 ldi r21,hhi8(3) |
| 5854 30da 0E94 0000 call __divmodsi4 |
| 5855 30de 5901 movw r10,r18 |
| 5856 30e0 6A01 movw r12,r20 |
| 5857 .L453: |
| 5858 30e2 71E2 ldi r23,lo8(33) |
| 5859 30e4 6716 cp r6,r23 |
| 5860 30e6 7104 cpc r7,__zero_reg__ |
| 5861 30e8 8104 cpc r8,__zero_reg__ |
| 5862 30ea 9104 cpc r9,__zero_reg__ |
| 5863 30ec 2CF0 brlt .L455 |
| 5864 30ee 70E2 ldi r23,lo8(32) |
| 5865 30f0 672E mov r6,r23 |
| 5866 30f2 712C mov r7,__zero_reg__ |
| 5867 30f4 812C mov r8,__zero_reg__ |
| 5868 30f6 912C mov r9,__zero_reg__ |
| 5869 .L455: |
| 5870 30f8 80EE ldi r24,lo8(-32) |
| 5871 30fa 6816 cp r6,r24 |
| 5872 30fc 8FEF ldi r24,hi8(-32) |
| 5873 30fe 7806 cpc r7,r24 |
| 5874 3100 8FEF ldi r24,hlo8(-32) |
| 5875 3102 8806 cpc r8,r24 |
| 5876 3104 8FEF ldi r24,hhi8(-32) |
| 5877 3106 9806 cpc r9,r24 |
| 5878 3108 44F4 brge .L456 |
| 5879 310a 60EE ldi r22,lo8(-32) |
| 5880 310c 662E mov r6,r22 |
| 5881 310e 6FEF ldi r22,hi8(-32) |
| 5882 3110 762E mov r7,r22 |
| 5883 3112 6FEF ldi r22,hlo8(-32) |
| 5884 3114 862E mov r8,r22 |
| 5885 3116 6FEF ldi r22,hhi8(-32) |
| 5886 3118 962E mov r9,r22 |
| 5887 .L456: |
| 5888 311a 91E2 ldi r25,lo8(33) |
| 5889 311c A916 cp r10,r25 |
| 5890 311e B104 cpc r11,__zero_reg__ |
| 5891 3120 C104 cpc r12,__zero_reg__ |
| 5892 3122 D104 cpc r13,__zero_reg__ |
| 5893 3124 2CF0 brlt .L457 |
| 5894 3126 50E2 ldi r21,lo8(32) |
| 5895 3128 A52E mov r10,r21 |
| 5896 312a B12C mov r11,__zero_reg__ |
| 5897 312c C12C mov r12,__zero_reg__ |
| 5898 312e D12C mov r13,__zero_reg__ |
| 5899 .L457: |
| 5900 3130 A0EE ldi r26,lo8(-32) |
| 5901 3132 AA16 cp r10,r26 |
| 5902 3134 AFEF ldi r26,hi8(-32) |
| 5903 3136 BA06 cpc r11,r26 |
| 5904 3138 AFEF ldi r26,hlo8(-32) |
| 5905 313a CA06 cpc r12,r26 |
| 5906 313c AFEF ldi r26,hhi8(-32) |
| 5907 313e DA06 cpc r13,r26 |
| 5908 3140 44F4 brge .L448 |
| 5909 3142 40EE ldi r20,lo8(-32) |
| 5910 3144 A42E mov r10,r20 |
| 5911 3146 4FEF ldi r20,hi8(-32) |
| 5912 3148 B42E mov r11,r20 |
| 5913 314a 4FEF ldi r20,hlo8(-32) |
| 5914 314c C42E mov r12,r20 |
| 5915 314e 4FEF ldi r20,hhi8(-32) |
| 5916 3150 D42E mov r13,r20 |
| 5917 .L448: |
| 5918 3152 8091 0000 lds r24,Mess_IntegralNick |
| 5919 3156 9091 0000 lds r25,(Mess_IntegralNick)+1 |
| 5920 315a A091 0000 lds r26,(Mess_IntegralNick)+2 |
| 5921 315e B091 0000 lds r27,(Mess_IntegralNick)+3 |
| 5922 3162 8619 sub r24,r6 |
| 5923 3164 9709 sbc r25,r7 |
| 5924 3166 A809 sbc r26,r8 |
| 5925 3168 B909 sbc r27,r9 |
| 5926 316a 8093 0000 sts Mess_IntegralNick,r24 |
| 5927 316e 9093 0000 sts (Mess_IntegralNick)+1,r25 |
| 5928 3172 A093 0000 sts (Mess_IntegralNick)+2,r26 |
| 5929 3176 B093 0000 sts (Mess_IntegralNick)+3,r27 |
| 5930 317a 8091 0000 lds r24,Mess_IntegralRoll |
| 5931 317e 9091 0000 lds r25,(Mess_IntegralRoll)+1 |
| 5932 3182 A091 0000 lds r26,(Mess_IntegralRoll)+2 |
| 5933 3186 B091 0000 lds r27,(Mess_IntegralRoll)+3 |
| 5934 318a 8A19 sub r24,r10 |
| 5935 318c 9B09 sbc r25,r11 |
| 5936 318e AC09 sbc r26,r12 |
| 5937 3190 BD09 sbc r27,r13 |
| 5938 3192 8093 0000 sts Mess_IntegralRoll,r24 |
| 5939 3196 9093 0000 sts (Mess_IntegralRoll)+1,r25 |
| 5940 319a A093 0000 sts (Mess_IntegralRoll)+2,r26 |
| 5941 319e B093 0000 sts (Mess_IntegralRoll)+3,r27 |
| 5942 .L433: |
| 5943 31a2 8091 0000 lds r24,ZaehlMessungen |
| 5944 31a6 9091 0000 lds r25,(ZaehlMessungen)+1 |
| 5945 31aa 8F3F cpi r24,255 |
| 5946 31ac 9105 cpc r25,__zero_reg__ |
| 5947 31ae 09F0 breq .+2 |
| 5948 31b0 08F4 brsh .+2 |
| 5949 31b2 C4C5 rjmp .L459 |
| 5950 31b4 BB85 ldd r27,Y+11 |
| 5951 31b6 BB23 tst r27 |
| 5952 31b8 09F0 breq .+2 |
| 5953 31ba 4EC5 rjmp .L460 |
| 5954 31bc 8091 0000 lds r24,Looping_Roll |
| 5955 31c0 8823 tst r24 |
| 5956 31c2 09F0 breq .+2 |
| 5957 31c4 49C5 rjmp .L460 |
| 5958 31c6 8091 0000 lds r24,TrichterFlug |
| 5959 31ca 8823 tst r24 |
| 5960 31cc 09F0 breq .+2 |
| 5961 31ce 44C5 rjmp .L460 |
| 5962 31d0 E091 0000 lds r30,EE_Parameter+68 |
| 5963 31d4 EC87 std Y+12,r30 |
| 5964 31d6 EE23 tst r30 |
| 5965 31d8 09F4 brne .+2 |
| 5966 31da 3EC5 rjmp .L460 |
| 5967 31dc 8091 0000 lds r24,MittelIntegralNick |
| 5968 31e0 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 5969 31e4 A091 0000 lds r26,(MittelIntegralNick)+2 |
| 5970 31e8 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 5971 31ec B7FF sbrs r27,7 |
| 5972 31ee 04C0 rjmp .L461 |
| 5973 31f0 8150 subi r24,lo8(-(255)) |
| 5974 31f2 9F4F sbci r25,hi8(-(255)) |
| 5975 31f4 AF4F sbci r26,hlo8(-(255)) |
| 5976 31f6 BF4F sbci r27,hhi8(-(255)) |
| 5977 .L461: |
| 5978 31f8 E92E mov r14,r25 |
| 5979 31fa FA2E mov r15,r26 |
| 5980 31fc 0B2F mov r16,r27 |
| 5981 31fe 1127 clr r17 |
| 5982 3200 07FD sbrc r16,7 |
| 5983 3202 1A95 dec r17 |
| 5984 3204 E092 0000 sts MittelIntegralNick,r14 |
| 5985 3208 F092 0000 sts (MittelIntegralNick)+1,r15 |
| 5986 320c 0093 0000 sts (MittelIntegralNick)+2,r16 |
| 5987 3210 1093 0000 sts (MittelIntegralNick)+3,r17 |
| 5988 3214 8091 0000 lds r24,MittelIntegralRoll |
| 5989 3218 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 5990 321c A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 5991 3220 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 5992 3224 B7FF sbrs r27,7 |
| 5993 3226 04C0 rjmp .L462 |
| 5994 3228 8150 subi r24,lo8(-(255)) |
| 5995 322a 9F4F sbci r25,hi8(-(255)) |
| 5996 322c AF4F sbci r26,hlo8(-(255)) |
| 5997 322e BF4F sbci r27,hhi8(-(255)) |
| 5998 .L462: |
| 5999 3230 892F mov r24,r25 |
| 6000 3232 9A2F mov r25,r26 |
| 6001 3234 AB2F mov r26,r27 |
| 6002 3236 BB27 clr r27 |
| 6003 3238 A7FD sbrc r26,7 |
| 6004 323a BA95 dec r27 |
| 6005 323c 8D87 std Y+13,r24 |
| 6006 323e 9E87 std Y+14,r25 |
| 6007 3240 AF87 std Y+15,r26 |
| 6008 3242 B88B std Y+16,r27 |
| 6009 3244 8093 0000 sts MittelIntegralRoll,r24 |
| 6010 3248 9093 0000 sts (MittelIntegralRoll)+1,r25 |
| 6011 324c A093 0000 sts (MittelIntegralRoll)+2,r26 |
| 6012 3250 B093 0000 sts (MittelIntegralRoll)+3,r27 |
| 6013 3254 8091 0000 lds r24,EE_Parameter+28 |
| 6014 3258 A82E mov r10,r24 |
| 6015 325a BB24 clr r11 |
| 6016 325c CC24 clr r12 |
| 6017 325e DD24 clr r13 |
| 6018 3260 2091 0000 lds r18,IntegralAccNick |
| 6019 3264 3091 0000 lds r19,(IntegralAccNick)+1 |
| 6020 3268 4091 0000 lds r20,(IntegralAccNick)+2 |
| 6021 326c 5091 0000 lds r21,(IntegralAccNick)+3 |
| 6022 3270 C601 movw r24,r12 |
| 6023 3272 B501 movw r22,r10 |
| 6024 3274 0E94 0000 call __mulsi3 |
| 6025 3278 97FF sbrs r25,7 |
| 6026 327a 04C0 rjmp .L463 |
| 6027 327c 6150 subi r22,lo8(-(255)) |
| 6028 327e 7F4F sbci r23,hi8(-(255)) |
| 6029 3280 8F4F sbci r24,hlo8(-(255)) |
| 6030 3282 9F4F sbci r25,hhi8(-(255)) |
| 6031 .L463: |
| 6032 3284 672E mov r6,r23 |
| 6033 3286 782E mov r7,r24 |
| 6034 3288 892E mov r8,r25 |
| 6035 328a 9924 clr r9 |
| 6036 328c 87FC sbrc r8,7 |
| 6037 328e 9A94 dec r9 |
| 6038 3290 6092 0000 sts IntegralAccNick,r6 |
| 6039 3294 7092 0000 sts (IntegralAccNick)+1,r7 |
| 6040 3298 8092 0000 sts (IntegralAccNick)+2,r8 |
| 6041 329c 9092 0000 sts (IntegralAccNick)+3,r9 |
| 6042 32a0 2091 0000 lds r18,IntegralAccRoll |
| 6043 32a4 3091 0000 lds r19,(IntegralAccRoll)+1 |
| 6044 32a8 4091 0000 lds r20,(IntegralAccRoll)+2 |
| 6045 32ac 5091 0000 lds r21,(IntegralAccRoll)+3 |
| 6046 32b0 C601 movw r24,r12 |
| 6047 32b2 B501 movw r22,r10 |
| 6048 32b4 0E94 0000 call __mulsi3 |
| 6049 32b8 97FF sbrs r25,7 |
| 6050 32ba 04C0 rjmp .L464 |
| 6051 32bc 6150 subi r22,lo8(-(255)) |
| 6052 32be 7F4F sbci r23,hi8(-(255)) |
| 6053 32c0 8F4F sbci r24,hlo8(-(255)) |
| 6054 32c2 9F4F sbci r25,hhi8(-(255)) |
| 6055 .L464: |
| 6056 32c4 272E mov r2,r23 |
| 6057 32c6 382E mov r3,r24 |
| 6058 32c8 492E mov r4,r25 |
| 6059 32ca 5524 clr r5 |
| 6060 32cc 47FC sbrc r4,7 |
| 6061 32ce 5A94 dec r5 |
| 6062 32d0 2092 0000 sts IntegralAccRoll,r2 |
| 6063 32d4 3092 0000 sts (IntegralAccRoll)+1,r3 |
| 6064 32d8 4092 0000 sts (IntegralAccRoll)+2,r4 |
| 6065 32dc 5092 0000 sts (IntegralAccRoll)+3,r5 |
| 6066 32e0 8091 0000 lds r24,IntegralAccZ |
| 6067 32e4 9091 0000 lds r25,(IntegralAccZ)+1 |
| 6068 32e8 A091 0000 lds r26,(IntegralAccZ)+2 |
| 6069 32ec B091 0000 lds r27,(IntegralAccZ)+3 |
| 6070 32f0 B7FF sbrs r27,7 |
| 6071 32f2 04C0 rjmp .L465 |
| 6072 32f4 8150 subi r24,lo8(-(255)) |
| 6073 32f6 9F4F sbci r25,hi8(-(255)) |
| 6074 32f8 AF4F sbci r26,hlo8(-(255)) |
| 6075 32fa BF4F sbci r27,hhi8(-(255)) |
| 6076 .L465: |
| 6077 32fc 892F mov r24,r25 |
| 6078 32fe 9A2F mov r25,r26 |
| 6079 3300 AB2F mov r26,r27 |
| 6080 3302 BB27 clr r27 |
| 6081 3304 A7FD sbrc r26,7 |
| 6082 3306 BA95 dec r27 |
| 6083 3308 8093 0000 sts IntegralAccZ,r24 |
| 6084 330c 9093 0000 sts (IntegralAccZ)+1,r25 |
| 6085 3310 A093 0000 sts (IntegralAccZ)+2,r26 |
| 6086 3314 B093 0000 sts (IntegralAccZ)+3,r27 |
| 6087 3318 D801 movw r26,r16 |
| 6088 331a C701 movw r24,r14 |
| 6089 331c 8619 sub r24,r6 |
| 6090 331e 9709 sbc r25,r7 |
| 6091 3320 A809 sbc r26,r8 |
| 6092 3322 B909 sbc r27,r9 |
| 6093 3324 8093 0000 sts IntegralFehlerNick.3,r24 |
| 6094 3328 9093 0000 sts (IntegralFehlerNick.3)+1,r25 |
| 6095 332c A093 0000 sts (IntegralFehlerNick.3)+2,r26 |
| 6096 3330 B093 0000 sts (IntegralFehlerNick.3)+3,r27 |
| 6097 3334 2091 0000 lds r18,EE_Parameter+67 |
| 6098 3338 E22E mov r14,r18 |
| 6099 333a FF24 clr r15 |
| 6100 333c 0027 clr r16 |
| 6101 333e 1127 clr r17 |
| 6102 3340 BC01 movw r22,r24 |
| 6103 3342 CD01 movw r24,r26 |
| 6104 3344 A801 movw r20,r16 |
| 6105 3346 9701 movw r18,r14 |
| 6106 3348 0E94 0000 call __divmodsi4 |
| 6107 334c 5901 movw r10,r18 |
| 6108 334e 6A01 movw r12,r20 |
| 6109 3350 2093 0000 sts ausgleichNick.11,r18 |
| 6110 3354 3093 0000 sts (ausgleichNick.11)+1,r19 |
| 6111 3358 4093 0000 sts (ausgleichNick.11)+2,r20 |
| 6112 335c 5093 0000 sts (ausgleichNick.11)+3,r21 |
| 6113 3360 8D85 ldd r24,Y+13 |
| 6114 3362 9E85 ldd r25,Y+14 |
| 6115 3364 AF85 ldd r26,Y+15 |
| 6116 3366 B889 ldd r27,Y+16 |
| 6117 3368 8219 sub r24,r2 |
| 6118 336a 9309 sbc r25,r3 |
| 6119 336c A409 sbc r26,r4 |
| 6120 336e B509 sbc r27,r5 |
| 6121 3370 8093 0000 sts IntegralFehlerRoll.4,r24 |
| 6122 3374 9093 0000 sts (IntegralFehlerRoll.4)+1,r25 |
| 6123 3378 A093 0000 sts (IntegralFehlerRoll.4)+2,r26 |
| 6124 337c B093 0000 sts (IntegralFehlerRoll.4)+3,r27 |
| 6125 3380 BC01 movw r22,r24 |
| 6126 3382 CD01 movw r24,r26 |
| 6127 3384 A801 movw r20,r16 |
| 6128 3386 9701 movw r18,r14 |
| 6129 3388 0E94 0000 call __divmodsi4 |
| 6130 338c 2093 0000 sts ausgleichRoll.12,r18 |
| 6131 3390 3093 0000 sts (ausgleichRoll.12)+1,r19 |
| 6132 3394 4093 0000 sts (ausgleichRoll.12)+2,r20 |
| 6133 3398 5093 0000 sts (ausgleichRoll.12)+3,r21 |
| 6134 339c D601 movw r26,r12 |
| 6135 339e C501 movw r24,r10 |
| 6136 33a0 D7FE sbrs r13,7 |
| 6137 33a2 04C0 rjmp .L466 |
| 6138 33a4 8150 subi r24,lo8(-(255)) |
| 6139 33a6 9F4F sbci r25,hi8(-(255)) |
| 6140 33a8 AF4F sbci r26,hlo8(-(255)) |
| 6141 33aa BF4F sbci r27,hhi8(-(255)) |
| 6142 .L466: |
| 6143 33ac 892F mov r24,r25 |
| 6144 33ae 9A2F mov r25,r26 |
| 6145 33b0 AB2F mov r26,r27 |
| 6146 33b2 BB27 clr r27 |
| 6147 33b4 A7FD sbrc r26,7 |
| 6148 33b6 BA95 dec r27 |
| 6149 33b8 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6150 33bc 8093 0000 sts LageKorrekturNick,r24 |
| 6151 33c0 57FF sbrs r21,7 |
| 6152 33c2 04C0 rjmp .L467 |
| 6153 33c4 2150 subi r18,lo8(-(255)) |
| 6154 33c6 3F4F sbci r19,hi8(-(255)) |
| 6155 33c8 4F4F sbci r20,hlo8(-(255)) |
| 6156 33ca 5F4F sbci r21,hhi8(-(255)) |
| 6157 .L467: |
| 6158 33cc BB27 clr r27 |
| 6159 33ce 57FD sbrc r21,7 |
| 6160 33d0 BA95 dec r27 |
| 6161 33d2 A52F mov r26,r21 |
| 6162 33d4 942F mov r25,r20 |
| 6163 33d6 832F mov r24,r19 |
| 6164 33d8 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6165 33dc 8093 0000 sts LageKorrekturRoll,r24 |
| 6166 33e0 8091 0000 lds r24,MaxStickNick |
| 6167 33e4 9091 0000 lds r25,(MaxStickNick)+1 |
| 6168 33e8 8134 cpi r24,65 |
| 6169 33ea 9105 cpc r25,__zero_reg__ |
| 6170 33ec DCF4 brge .L469 |
| 6171 33ee 8091 0000 lds r24,MaxStickRoll |
| 6172 33f2 9091 0000 lds r25,(MaxStickRoll)+1 |
| 6173 33f6 8134 cpi r24,65 |
| 6174 33f8 9105 cpc r25,__zero_reg__ |
| 6175 33fa A4F4 brge .L469 |
| 6176 33fc 8091 0000 lds r24,EE_Parameter+4 |
| 6177 3400 E82F mov r30,r24 |
| 6178 3402 FF27 clr r31 |
| 6179 3404 EE0F add r30,r30 |
| 6180 3406 FF1F adc r31,r31 |
| 6181 3408 E050 subi r30,lo8(-(PPM_in)) |
| 6182 340a F040 sbci r31,hi8(-(PPM_in)) |
| 6183 340c 8081 ld r24,Z |
| 6184 340e 9181 ldd r25,Z+1 |
| 6185 3410 0190 ld __tmp_reg__,Z+ |
| 6186 3412 F081 ld r31,Z |
| 6187 3414 E02D mov r30,__tmp_reg__ |
| 6188 3416 F7FF sbrs r31,7 |
| 6189 3418 03C0 rjmp .L470 |
| 6190 341a F095 com r31 |
| 6191 341c E195 neg r30 |
| 6192 341e FF4F sbci r31,lo8(-1) |
| 6193 .L470: |
| 6194 3420 7A97 sbiw r30,26 |
| 6195 3422 E4F0 brlt .L468 |
| 6196 .L469: |
| 6197 3424 8091 0000 lds r24,FromNaviCtrl_Value |
| 6198 3428 8F3F cpi r24,lo8(-1) |
| 6199 342a C1F4 brne .L468 |
| 6200 342c 8091 0000 lds r24,LageKorrekturNick |
| 6201 3430 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6202 3434 97FD sbrc r25,7 |
| 6203 3436 0196 adiw r24,1 |
| 6204 .L471: |
| 6205 3438 9595 asr r25 |
| 6206 343a 8795 ror r24 |
| 6207 343c 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6208 3440 8093 0000 sts LageKorrekturNick,r24 |
| 6209 3444 8091 0000 lds r24,LageKorrekturRoll |
| 6210 3448 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6211 344c 97FD sbrc r25,7 |
| 6212 344e 0196 adiw r24,1 |
| 6213 .L472: |
| 6214 3450 9595 asr r25 |
| 6215 3452 8795 ror r24 |
| 6216 3454 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6217 3458 8093 0000 sts LageKorrekturRoll,r24 |
| 6218 .L468: |
| 6219 345c 8091 0000 lds r24,MittelIntegralNick2 |
| 6220 3460 9091 0000 lds r25,(MittelIntegralNick2)+1 |
| 6221 3464 A091 0000 lds r26,(MittelIntegralNick2)+2 |
| 6222 3468 B091 0000 lds r27,(MittelIntegralNick2)+3 |
| 6223 346c B7FF sbrs r27,7 |
| 6224 346e 04C0 rjmp .L473 |
| 6225 3470 8150 subi r24,lo8(-(255)) |
| 6226 3472 9F4F sbci r25,hi8(-(255)) |
| 6227 3474 AF4F sbci r26,hlo8(-(255)) |
| 6228 3476 BF4F sbci r27,hhi8(-(255)) |
| 6229 .L473: |
| 6230 3478 892F mov r24,r25 |
| 6231 347a 9A2F mov r25,r26 |
| 6232 347c AB2F mov r26,r27 |
| 6233 347e BB27 clr r27 |
| 6234 3480 A7FD sbrc r26,7 |
| 6235 3482 BA95 dec r27 |
| 6236 3484 8093 0000 sts MittelIntegralNick2,r24 |
| 6237 3488 9093 0000 sts (MittelIntegralNick2)+1,r25 |
| 6238 348c A093 0000 sts (MittelIntegralNick2)+2,r26 |
| 6239 3490 B093 0000 sts (MittelIntegralNick2)+3,r27 |
| 6240 3494 8091 0000 lds r24,MittelIntegralRoll2 |
| 6241 3498 9091 0000 lds r25,(MittelIntegralRoll2)+1 |
| 6242 349c A091 0000 lds r26,(MittelIntegralRoll2)+2 |
| 6243 34a0 B091 0000 lds r27,(MittelIntegralRoll2)+3 |
| 6244 34a4 B7FF sbrs r27,7 |
| 6245 34a6 04C0 rjmp .L474 |
| 6246 34a8 8150 subi r24,lo8(-(255)) |
| 6247 34aa 9F4F sbci r25,hi8(-(255)) |
| 6248 34ac AF4F sbci r26,hlo8(-(255)) |
| 6249 34ae BF4F sbci r27,hhi8(-(255)) |
| 6250 .L474: |
| 6251 34b0 892F mov r24,r25 |
| 6252 34b2 9A2F mov r25,r26 |
| 6253 34b4 AB2F mov r26,r27 |
| 6254 34b6 BB27 clr r27 |
| 6255 34b8 A7FD sbrc r26,7 |
| 6256 34ba BA95 dec r27 |
| 6257 34bc 8093 0000 sts MittelIntegralRoll2,r24 |
| 6258 34c0 9093 0000 sts (MittelIntegralRoll2)+1,r25 |
| 6259 34c4 A093 0000 sts (MittelIntegralRoll2)+2,r26 |
| 6260 34c8 B093 0000 sts (MittelIntegralRoll2)+3,r27 |
| 6261 34cc 8091 0000 lds r24,IntegralNick |
| 6262 34d0 9091 0000 lds r25,(IntegralNick)+1 |
| 6263 34d4 A091 0000 lds r26,(IntegralNick)+2 |
| 6264 34d8 B091 0000 lds r27,(IntegralNick)+3 |
| 6265 34dc 2B81 ldd r18,Y+3 |
| 6266 34de 3C81 ldd r19,Y+4 |
| 6267 34e0 4D81 ldd r20,Y+5 |
| 6268 34e2 5E81 ldd r21,Y+6 |
| 6269 34e4 281B sub r18,r24 |
| 6270 34e6 390B sbc r19,r25 |
| 6271 34e8 4A0B sbc r20,r26 |
| 6272 34ea 5B0B sbc r21,r27 |
| 6273 34ec 2093 0000 sts tmp_long.1,r18 |
| 6274 34f0 3093 0000 sts (tmp_long.1)+1,r19 |
| 6275 34f4 4093 0000 sts (tmp_long.1)+2,r20 |
| 6276 34f8 5093 0000 sts (tmp_long.1)+3,r21 |
| 6277 34fc 8091 0000 lds r24,IntegralRoll |
| 6278 3500 9091 0000 lds r25,(IntegralRoll)+1 |
| 6279 3504 A091 0000 lds r26,(IntegralRoll)+2 |
| 6280 3508 B091 0000 lds r27,(IntegralRoll)+3 |
| 6281 350c EF80 ldd r14,Y+7 |
| 6282 350e F884 ldd r15,Y+8 |
| 6283 3510 0985 ldd r16,Y+9 |
| 6284 3512 1A85 ldd r17,Y+10 |
| 6285 3514 E81A sub r14,r24 |
| 6286 3516 F90A sbc r15,r25 |
| 6287 3518 0A0B sbc r16,r26 |
| 6288 351a 1B0B sbc r17,r27 |
| 6289 351c E092 0000 sts tmp_long2.2,r14 |
| 6290 3520 F092 0000 sts (tmp_long2.2)+1,r15 |
| 6291 3524 0093 0000 sts (tmp_long2.2)+2,r16 |
| 6292 3528 1093 0000 sts (tmp_long2.2)+3,r17 |
| 6293 352c 2093 0000 sts IntegralFehlerNick.3,r18 |
| 6294 3530 3093 0000 sts (IntegralFehlerNick.3)+1,r19 |
| 6295 3534 4093 0000 sts (IntegralFehlerNick.3)+2,r20 |
| 6296 3538 5093 0000 sts (IntegralFehlerNick.3)+3,r21 |
| 6297 353c E092 0000 sts IntegralFehlerRoll.4,r14 |
| 6298 3540 F092 0000 sts (IntegralFehlerRoll.4)+1,r15 |
| 6299 3544 0093 0000 sts (IntegralFehlerRoll.4)+2,r16 |
| 6300 3548 1093 0000 sts (IntegralFehlerRoll.4)+3,r17 |
| 6301 354c 8091 0000 lds r24,Mess_IntegralNick2 |
| 6302 3550 9091 0000 lds r25,(Mess_IntegralNick2)+1 |
| 6303 3554 A091 0000 lds r26,(Mess_IntegralNick2)+2 |
| 6304 3558 B091 0000 lds r27,(Mess_IntegralNick2)+3 |
| 6305 355c 821B sub r24,r18 |
| 6306 355e 930B sbc r25,r19 |
| 6307 3560 A40B sbc r26,r20 |
| 6308 3562 B50B sbc r27,r21 |
| 6309 3564 8093 0000 sts Mess_IntegralNick2,r24 |
| 6310 3568 9093 0000 sts (Mess_IntegralNick2)+1,r25 |
| 6311 356c A093 0000 sts (Mess_IntegralNick2)+2,r26 |
| 6312 3570 B093 0000 sts (Mess_IntegralNick2)+3,r27 |
| 6313 3574 8091 0000 lds r24,Mess_IntegralRoll2 |
| 6314 3578 9091 0000 lds r25,(Mess_IntegralRoll2)+1 |
| 6315 357c A091 0000 lds r26,(Mess_IntegralRoll2)+2 |
| 6316 3580 B091 0000 lds r27,(Mess_IntegralRoll2)+3 |
| 6317 3584 8E19 sub r24,r14 |
| 6318 3586 9F09 sbc r25,r15 |
| 6319 3588 A00B sbc r26,r16 |
| 6320 358a B10B sbc r27,r17 |
| 6321 358c 8093 0000 sts Mess_IntegralRoll2,r24 |
| 6322 3590 9093 0000 sts (Mess_IntegralRoll2)+1,r25 |
| 6323 3594 A093 0000 sts (Mess_IntegralRoll2)+2,r26 |
| 6324 3598 B093 0000 sts (Mess_IntegralRoll2)+3,r27 |
| 6325 359c FC85 ldd r31,Y+12 |
| 6326 359e FF23 tst r31 |
| 6327 35a0 E1F0 breq .L475 |
| 6328 35a2 2091 0000 lds r18,GierGyroFehler |
| 6329 35a6 3091 0000 lds r19,(GierGyroFehler)+1 |
| 6330 35aa 2138 cpi r18,129 |
| 6331 35ac 3105 cpc r19,__zero_reg__ |
| 6332 35ae 4CF0 brlt .L476 |
| 6333 35b0 8091 0000 lds r24,AdNeutralGier |
| 6334 35b4 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6335 35b8 0196 adiw r24,1 |
| 6336 35ba 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6337 35be 8093 0000 sts AdNeutralGier,r24 |
| 6338 .L476: |
| 6339 35c2 2058 subi r18,lo8(-128) |
| 6340 35c4 3F4F sbci r19,hi8(-128) |
| 6341 35c6 4CF4 brge .L475 |
| 6342 35c8 8091 0000 lds r24,AdNeutralGier |
| 6343 35cc 9091 0000 lds r25,(AdNeutralGier)+1 |
| 6344 35d0 0197 sbiw r24,1 |
| 6345 35d2 9093 0000 sts (AdNeutralGier)+1,r25 |
| 6346 35d6 8093 0000 sts AdNeutralGier,r24 |
| 6347 .L475: |
| 6348 35da 1092 0000 sts (GierGyroFehler)+1,__zero_reg__ |
| 6349 35de 1092 0000 sts GierGyroFehler,__zero_reg__ |
| 6350 35e2 81E0 ldi r24,lo8(1) |
| 6351 35e4 90E0 ldi r25,hi8(1) |
| 6352 35e6 9093 0000 sts (cnt.15)+1,r25 |
| 6353 35ea 8093 0000 sts cnt.15,r24 |
| 6354 35ee E090 0000 lds r14,IntegralFehlerNick.3 |
| 6355 35f2 F090 0000 lds r15,(IntegralFehlerNick.3)+1 |
| 6356 35f6 0091 0000 lds r16,(IntegralFehlerNick.3)+2 |
| 6357 35fa 1091 0000 lds r17,(IntegralFehlerNick.3)+3 |
| 6358 35fe D801 movw r26,r16 |
| 6359 3600 C701 movw r24,r14 |
| 6360 3602 17FF sbrs r17,7 |
| 6361 3604 07C0 rjmp .L479 |
| 6362 3606 8827 clr r24 |
| 6363 3608 9927 clr r25 |
| 6364 360a DC01 movw r26,r24 |
| 6365 360c 8E19 sub r24,r14 |
| 6366 360e 9F09 sbc r25,r15 |
| 6367 3610 A00B sbc r26,r16 |
| 6368 3612 B10B sbc r27,r17 |
| 6369 .L479: |
| 6370 3614 8150 subi r24,lo8(513) |
| 6371 3616 9240 sbci r25,hi8(513) |
| 6372 3618 A040 sbci r26,hlo8(513) |
| 6373 361a B040 sbci r27,hhi8(513) |
| 6374 361c 34F0 brlt .L478 |
| 6375 361e 84E0 ldi r24,lo8(4) |
| 6376 3620 90E0 ldi r25,hi8(4) |
| 6377 3622 9093 0000 sts (cnt.15)+1,r25 |
| 6378 3626 8093 0000 sts cnt.15,r24 |
| 6379 .L478: |
| 6380 362a 8091 0000 lds r24,MittelIntegralNick_Alt.20 |
| 6381 362e 9091 0000 lds r25,(MittelIntegralNick_Alt.20)+1 |
| 6382 3632 A091 0000 lds r26,(MittelIntegralNick_Alt.20)+2 |
| 6383 3636 B091 0000 lds r27,(MittelIntegralNick_Alt.20)+3 |
| 6384 363a 2091 0000 lds r18,MittelIntegralNick |
| 6385 363e 3091 0000 lds r19,(MittelIntegralNick)+1 |
| 6386 3642 4091 0000 lds r20,(MittelIntegralNick)+2 |
| 6387 3646 5091 0000 lds r21,(MittelIntegralNick)+3 |
| 6388 364a 821B sub r24,r18 |
| 6389 364c 930B sbc r25,r19 |
| 6390 364e A40B sbc r26,r20 |
| 6391 3650 B50B sbc r27,r21 |
| 6392 3652 815E subi r24,lo8(-(19999)) |
| 6393 3654 914B sbci r25,hi8(-(19999)) |
| 6394 3656 AF4F sbci r26,hlo8(-(19999)) |
| 6395 3658 BF4F sbci r27,hhi8(-(19999)) |
| 6396 365a 8F53 subi r24,lo8(39999) |
| 6397 365c 9C49 sbci r25,hi8(39999) |
| 6398 365e A040 sbci r26,hlo8(39999) |
| 6399 3660 B040 sbci r27,hhi8(39999) |
| 6400 3662 28F0 brlo .L481 |
| 6401 3664 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 6402 3668 8931 cpi r24,lo8(25) |
| 6403 366a 0CF4 brge .+2 |
| 6404 366c FFC0 rjmp .L480 |
| 6405 .L481: |
| 6406 366e 41E0 ldi r20,lo8(4097) |
| 6407 3670 E416 cp r14,r20 |
| 6408 3672 40E1 ldi r20,hi8(4097) |
| 6409 3674 F406 cpc r15,r20 |
| 6410 3676 40E0 ldi r20,hlo8(4097) |
| 6411 3678 0407 cpc r16,r20 |
| 6412 367a 40E0 ldi r20,hhi8(4097) |
| 6413 367c 1407 cpc r17,r20 |
| 6414 367e 0CF4 brge .+2 |
| 6415 3680 73C0 rjmp .L482 |
| 6416 3682 8091 0000 lds r24,last_n_p.16 |
| 6417 3686 8823 tst r24 |
| 6418 3688 09F4 brne .+2 |
| 6419 368a 6AC0 rjmp .L483 |
| 6420 368c D801 movw r26,r16 |
| 6421 368e C701 movw r24,r14 |
| 6422 3690 17FF sbrs r17,7 |
| 6423 3692 07C0 rjmp .L484 |
| 6424 3694 8827 clr r24 |
| 6425 3696 9927 clr r25 |
| 6426 3698 DC01 movw r26,r24 |
| 6427 369a 8E19 sub r24,r14 |
| 6428 369c 9F09 sbc r25,r15 |
| 6429 369e A00B sbc r26,r16 |
| 6430 36a0 B10B sbc r27,r17 |
| 6431 .L484: |
| 6432 36a2 9C01 movw r18,r24 |
| 6433 36a4 AD01 movw r20,r26 |
| 6434 36a6 B7FF sbrs r27,7 |
| 6435 36a8 04C0 rjmp .L485 |
| 6436 36aa 2150 subi r18,lo8(-(511)) |
| 6437 36ac 3E4F sbci r19,hi8(-(511)) |
| 6438 36ae 4F4F sbci r20,hlo8(-(511)) |
| 6439 36b0 5F4F sbci r21,hhi8(-(511)) |
| 6440 .L485: |
| 6441 36b2 F9E0 ldi r31,9 |
| 6442 36b4 5595 1: asr r21 |
| 6443 36b6 4795 ror r20 |
| 6444 36b8 3795 ror r19 |
| 6445 36ba 2795 ror r18 |
| 6446 36bc FA95 dec r31 |
| 6447 36be D1F7 brne 1b |
| 6448 36c0 8091 0000 lds r24,cnt.15 |
| 6449 36c4 9091 0000 lds r25,(cnt.15)+1 |
| 6450 36c8 820F add r24,r18 |
| 6451 36ca 931F adc r25,r19 |
| 6452 36cc 9093 0000 sts (cnt.15)+1,r25 |
| 6453 36d0 8093 0000 sts cnt.15,r24 |
| 6454 36d4 D801 movw r26,r16 |
| 6455 36d6 C701 movw r24,r14 |
| 6456 36d8 17FF sbrs r17,7 |
| 6457 36da 03C0 rjmp .L486 |
| 6458 36dc 0796 adiw r24,7 |
| 6459 36de A11D adc r26,__zero_reg__ |
| 6460 36e0 B11D adc r27,__zero_reg__ |
| 6461 .L486: |
| 6462 36e2 E3E0 ldi r30,3 |
| 6463 36e4 B595 1: asr r27 |
| 6464 36e6 A795 ror r26 |
| 6465 36e8 9795 ror r25 |
| 6466 36ea 8795 ror r24 |
| 6467 36ec EA95 dec r30 |
| 6468 36ee D1F7 brne 1b |
| 6469 36f0 8093 0000 sts ausgleichNick.11,r24 |
| 6470 36f4 9093 0000 sts (ausgleichNick.11)+1,r25 |
| 6471 36f8 A093 0000 sts (ausgleichNick.11)+2,r26 |
| 6472 36fc B093 0000 sts (ausgleichNick.11)+3,r27 |
| 6473 3700 8958 subi r24,lo8(5001) |
| 6474 3702 9341 sbci r25,hi8(5001) |
| 6475 3704 A040 sbci r26,hlo8(5001) |
| 6476 3706 B040 sbci r27,hhi8(5001) |
| 6477 3708 64F0 brlt .L487 |
| 6478 370a 88E8 ldi r24,lo8(5000) |
| 6479 370c 93E1 ldi r25,hi8(5000) |
| 6480 370e A0E0 ldi r26,hlo8(5000) |
| 6481 3710 B0E0 ldi r27,hhi8(5000) |
| 6482 3712 8093 0000 sts ausgleichNick.11,r24 |
| 6483 3716 9093 0000 sts (ausgleichNick.11)+1,r25 |
| 6484 371a A093 0000 sts (ausgleichNick.11)+2,r26 |
| 6485 371e B093 0000 sts (ausgleichNick.11)+3,r27 |
| 6486 .L487: |
| 6487 3722 2091 0000 lds r18,ausgleichNick.11 |
| 6488 3726 3091 0000 lds r19,(ausgleichNick.11)+1 |
| 6489 372a 4091 0000 lds r20,(ausgleichNick.11)+2 |
| 6490 372e 5091 0000 lds r21,(ausgleichNick.11)+3 |
| 6491 3732 57FF sbrs r21,7 |
| 6492 3734 04C0 rjmp .L488 |
| 6493 3736 2150 subi r18,lo8(-(255)) |
| 6494 3738 3F4F sbci r19,hi8(-(255)) |
| 6495 373a 4F4F sbci r20,hlo8(-(255)) |
| 6496 373c 5F4F sbci r21,hhi8(-(255)) |
| 6497 .L488: |
| 6498 373e 232F mov r18,r19 |
| 6499 3740 342F mov r19,r20 |
| 6500 3742 452F mov r20,r21 |
| 6501 3744 5527 clr r21 |
| 6502 3746 47FD sbrc r20,7 |
| 6503 3748 5A95 dec r21 |
| 6504 374a 8091 0000 lds r24,LageKorrekturNick |
| 6505 374e 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6506 3752 820F add r24,r18 |
| 6507 3754 931F adc r25,r19 |
| 6508 3756 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6509 375a 8093 0000 sts LageKorrekturNick,r24 |
| 6510 375e 06C0 rjmp .L490 |
| 6511 .L483: |
| 6512 3760 81E0 ldi r24,lo8(1) |
| 6513 3762 8093 0000 sts last_n_p.16,r24 |
| 6514 3766 02C0 rjmp .L490 |
| 6515 .L482: |
| 6516 3768 1092 0000 sts last_n_p.16,__zero_reg__ |
| 6517 .L490: |
| 6518 376c 60E0 ldi r22,lo8(-4096) |
| 6519 376e E616 cp r14,r22 |
| 6520 3770 60EF ldi r22,hi8(-4096) |
| 6521 3772 F606 cpc r15,r22 |
| 6522 3774 6FEF ldi r22,hlo8(-4096) |
| 6523 3776 0607 cpc r16,r22 |
| 6524 3778 6FEF ldi r22,hhi8(-4096) |
| 6525 377a 1607 cpc r17,r22 |
| 6526 377c 0CF0 brlt .+2 |
| 6527 377e 73C0 rjmp .L491 |
| 6528 3780 8091 0000 lds r24,last_n_n.17 |
| 6529 3784 8823 tst r24 |
| 6530 3786 09F4 brne .+2 |
| 6531 3788 6AC0 rjmp .L492 |
| 6532 378a D801 movw r26,r16 |
| 6533 378c C701 movw r24,r14 |
| 6534 378e 17FF sbrs r17,7 |
| 6535 3790 07C0 rjmp .L493 |
| 6536 3792 8827 clr r24 |
| 6537 3794 9927 clr r25 |
| 6538 3796 DC01 movw r26,r24 |
| 6539 3798 8E19 sub r24,r14 |
| 6540 379a 9F09 sbc r25,r15 |
| 6541 379c A00B sbc r26,r16 |
| 6542 379e B10B sbc r27,r17 |
| 6543 .L493: |
| 6544 37a0 9C01 movw r18,r24 |
| 6545 37a2 AD01 movw r20,r26 |
| 6546 37a4 B7FF sbrs r27,7 |
| 6547 37a6 04C0 rjmp .L494 |
| 6548 37a8 2150 subi r18,lo8(-(511)) |
| 6549 37aa 3E4F sbci r19,hi8(-(511)) |
| 6550 37ac 4F4F sbci r20,hlo8(-(511)) |
| 6551 37ae 5F4F sbci r21,hhi8(-(511)) |
| 6552 .L494: |
| 6553 37b0 69E0 ldi r22,9 |
| 6554 37b2 5595 1: asr r21 |
| 6555 37b4 4795 ror r20 |
| 6556 37b6 3795 ror r19 |
| 6557 37b8 2795 ror r18 |
| 6558 37ba 6A95 dec r22 |
| 6559 37bc D1F7 brne 1b |
| 6560 37be 8091 0000 lds r24,cnt.15 |
| 6561 37c2 9091 0000 lds r25,(cnt.15)+1 |
| 6562 37c6 820F add r24,r18 |
| 6563 37c8 931F adc r25,r19 |
| 6564 37ca 9093 0000 sts (cnt.15)+1,r25 |
| 6565 37ce 8093 0000 sts cnt.15,r24 |
| 6566 37d2 D801 movw r26,r16 |
| 6567 37d4 C701 movw r24,r14 |
| 6568 37d6 17FF sbrs r17,7 |
| 6569 37d8 03C0 rjmp .L495 |
| 6570 37da 0796 adiw r24,7 |
| 6571 37dc A11D adc r26,__zero_reg__ |
| 6572 37de B11D adc r27,__zero_reg__ |
| 6573 .L495: |
| 6574 37e0 23E0 ldi r18,3 |
| 6575 37e2 B595 1: asr r27 |
| 6576 37e4 A795 ror r26 |
| 6577 37e6 9795 ror r25 |
| 6578 37e8 8795 ror r24 |
| 6579 37ea 2A95 dec r18 |
| 6580 37ec D1F7 brne 1b |
| 6581 37ee 8093 0000 sts ausgleichNick.11,r24 |
| 6582 37f2 9093 0000 sts (ausgleichNick.11)+1,r25 |
| 6583 37f6 A093 0000 sts (ausgleichNick.11)+2,r26 |
| 6584 37fa B093 0000 sts (ausgleichNick.11)+3,r27 |
| 6585 37fe 8857 subi r24,lo8(-5000) |
| 6586 3800 9C4E sbci r25,hi8(-5000) |
| 6587 3802 AF4F sbci r26,hlo8(-5000) |
| 6588 3804 BF4F sbci r27,hhi8(-5000) |
| 6589 3806 64F4 brge .L496 |
| 6590 3808 88E7 ldi r24,lo8(-5000) |
| 6591 380a 9CEE ldi r25,hi8(-5000) |
| 6592 380c AFEF ldi r26,hlo8(-5000) |
| 6593 380e BFEF ldi r27,hhi8(-5000) |
| 6594 3810 8093 0000 sts ausgleichNick.11,r24 |
| 6595 3814 9093 0000 sts (ausgleichNick.11)+1,r25 |
| 6596 3818 A093 0000 sts (ausgleichNick.11)+2,r26 |
| 6597 381c B093 0000 sts (ausgleichNick.11)+3,r27 |
| 6598 .L496: |
| 6599 3820 2091 0000 lds r18,ausgleichNick.11 |
| 6600 3824 3091 0000 lds r19,(ausgleichNick.11)+1 |
| 6601 3828 4091 0000 lds r20,(ausgleichNick.11)+2 |
| 6602 382c 5091 0000 lds r21,(ausgleichNick.11)+3 |
| 6603 3830 57FF sbrs r21,7 |
| 6604 3832 04C0 rjmp .L497 |
| 6605 3834 2150 subi r18,lo8(-(255)) |
| 6606 3836 3F4F sbci r19,hi8(-(255)) |
| 6607 3838 4F4F sbci r20,hlo8(-(255)) |
| 6608 383a 5F4F sbci r21,hhi8(-(255)) |
| 6609 .L497: |
| 6610 383c 232F mov r18,r19 |
| 6611 383e 342F mov r19,r20 |
| 6612 3840 452F mov r20,r21 |
| 6613 3842 5527 clr r21 |
| 6614 3844 47FD sbrc r20,7 |
| 6615 3846 5A95 dec r21 |
| 6616 3848 8091 0000 lds r24,LageKorrekturNick |
| 6617 384c 9091 0000 lds r25,(LageKorrekturNick)+1 |
| 6618 3850 820F add r24,r18 |
| 6619 3852 931F adc r25,r19 |
| 6620 3854 9093 0000 sts (LageKorrekturNick)+1,r25 |
| 6621 3858 8093 0000 sts LageKorrekturNick,r24 |
| 6622 385c 11C0 rjmp .L500 |
| 6623 .L492: |
| 6624 385e 81E0 ldi r24,lo8(1) |
| 6625 3860 8093 0000 sts last_n_n.17,r24 |
| 6626 3864 0DC0 rjmp .L500 |
| 6627 .L491: |
| 6628 3866 1092 0000 sts last_n_n.17,__zero_reg__ |
| 6629 386a 0AC0 rjmp .L500 |
| 6630 .L480: |
| 6631 386c 1092 0000 sts (cnt.15)+1,__zero_reg__ |
| 6632 3870 1092 0000 sts cnt.15,__zero_reg__ |
| 6633 3874 88EE ldi r24,lo8(1000) |
| 6634 3876 93E0 ldi r25,hi8(1000) |
| 6635 3878 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 6636 387c 8093 0000 sts KompassSignalSchlecht,r24 |
| 6637 .L500: |
| 6638 3880 8C85 ldd r24,Y+12 |
| 6639 3882 282F mov r18,r24 |
| 6640 3884 3327 clr r19 |
| 6641 3886 8091 0000 lds r24,cnt.15 |
| 6642 388a 9091 0000 lds r25,(cnt.15)+1 |
| 6643 388e 2817 cp r18,r24 |
| 6644 3890 3907 cpc r19,r25 |
| 6645 3892 24F4 brge .L501 |
| 6646 3894 3093 0000 sts (cnt.15)+1,r19 |
| 6647 3898 2093 0000 sts cnt.15,r18 |
| 6648 .L501: |
| 6649 389c 1091 0000 lds r17,FromNaviCtrl_Value+1 |
| 6650 38a0 1123 tst r17 |
| 6651 38a2 79F0 breq .L502 |
| 6652 38a4 212F mov r18,r17 |
| 6653 38a6 3327 clr r19 |
| 6654 38a8 27FD sbrc r18,7 |
| 6655 38aa 3095 com r19 |
| 6656 38ac 8091 0000 lds r24,cnt.15 |
| 6657 38b0 9091 0000 lds r25,(cnt.15)+1 |
| 6658 38b4 2817 cp r18,r24 |
| 6659 38b6 3907 cpc r19,r25 |
| 6660 38b8 24F4 brge .L502 |
| 6661 38ba 3093 0000 sts (cnt.15)+1,r19 |
| 6662 38be 2093 0000 sts cnt.15,r18 |
| 6663 .L502: |
| 6664 38c2 4091 0000 lds r20,IntegralFehlerNick.3 |
| 6665 38c6 5091 0000 lds r21,(IntegralFehlerNick.3)+1 |
| 6666 38ca 6091 0000 lds r22,(IntegralFehlerNick.3)+2 |
| 6667 38ce 7091 0000 lds r23,(IntegralFehlerNick.3)+3 |
| 6668 38d2 4138 cpi r20,lo8(129) |
| 6669 38d4 5105 cpc r21,__zero_reg__ |
| 6670 38d6 6105 cpc r22,__zero_reg__ |
| 6671 38d8 7105 cpc r23,__zero_reg__ |
| 6672 38da 74F0 brlt .L504 |
| 6673 38dc 8091 0000 lds r24,AdNeutralNick |
| 6674 38e0 9091 0000 lds r25,(AdNeutralNick)+1 |
| 6675 38e4 2091 0000 lds r18,cnt.15 |
| 6676 38e8 3091 0000 lds r19,(cnt.15)+1 |
| 6677 38ec 820F add r24,r18 |
| 6678 38ee 931F adc r25,r19 |
| 6679 38f0 9093 0000 sts (AdNeutralNick)+1,r25 |
| 6680 38f4 8093 0000 sts AdNeutralNick,r24 |
| 6681 .L504: |
| 6682 38f8 4058 subi r20,lo8(-128) |
| 6683 38fa 5F4F sbci r21,hi8(-128) |
| 6684 38fc 6F4F sbci r22,hlo8(-128) |
| 6685 38fe 7F4F sbci r23,hhi8(-128) |
| 6686 3900 74F4 brge .L505 |
| 6687 3902 8091 0000 lds r24,AdNeutralNick |
| 6688 3906 9091 0000 lds r25,(AdNeutralNick)+1 |
| 6689 390a 2091 0000 lds r18,cnt.15 |
| 6690 390e 3091 0000 lds r19,(cnt.15)+1 |
| 6691 3912 821B sub r24,r18 |
| 6692 3914 930B sbc r25,r19 |
| 6693 3916 9093 0000 sts (AdNeutralNick)+1,r25 |
| 6694 391a 8093 0000 sts AdNeutralNick,r24 |
| 6695 .L505: |
| 6696 391e 81E0 ldi r24,lo8(1) |
| 6697 3920 90E0 ldi r25,hi8(1) |
| 6698 3922 9093 0000 sts (cnt.15)+1,r25 |
| 6699 3926 8093 0000 sts cnt.15,r24 |
| 6700 392a C090 0000 lds r12,IntegralFehlerRoll.4 |
| 6701 392e D090 0000 lds r13,(IntegralFehlerRoll.4)+1 |
| 6702 3932 E090 0000 lds r14,(IntegralFehlerRoll.4)+2 |
| 6703 3936 F090 0000 lds r15,(IntegralFehlerRoll.4)+3 |
| 6704 393a D701 movw r26,r14 |
| 6705 393c C601 movw r24,r12 |
| 6706 393e F7FE sbrs r15,7 |
| 6707 3940 07C0 rjmp .L507 |
| 6708 3942 8827 clr r24 |
| 6709 3944 9927 clr r25 |
| 6710 3946 DC01 movw r26,r24 |
| 6711 3948 8C19 sub r24,r12 |
| 6712 394a 9D09 sbc r25,r13 |
| 6713 394c AE09 sbc r26,r14 |
| 6714 394e BF09 sbc r27,r15 |
| 6715 .L507: |
| 6716 3950 8150 subi r24,lo8(513) |
| 6717 3952 9240 sbci r25,hi8(513) |
| 6718 3954 A040 sbci r26,hlo8(513) |
| 6719 3956 B040 sbci r27,hhi8(513) |
| 6720 3958 34F0 brlt .L506 |
| 6721 395a 84E0 ldi r24,lo8(4) |
| 6722 395c 90E0 ldi r25,hi8(4) |
| 6723 395e 9093 0000 sts (cnt.15)+1,r25 |
| 6724 3962 8093 0000 sts cnt.15,r24 |
| 6725 .L506: |
| 6726 3966 8091 0000 lds r24,MittelIntegralRoll_Alt.21 |
| 6727 396a 9091 0000 lds r25,(MittelIntegralRoll_Alt.21)+1 |
| 6728 396e A091 0000 lds r26,(MittelIntegralRoll_Alt.21)+2 |
| 6729 3972 B091 0000 lds r27,(MittelIntegralRoll_Alt.21)+3 |
| 6730 3976 2091 0000 lds r18,MittelIntegralRoll |
| 6731 397a 3091 0000 lds r19,(MittelIntegralRoll)+1 |
| 6732 397e 4091 0000 lds r20,(MittelIntegralRoll)+2 |
| 6733 3982 5091 0000 lds r21,(MittelIntegralRoll)+3 |
| 6734 3986 821B sub r24,r18 |
| 6735 3988 930B sbc r25,r19 |
| 6736 398a A40B sbc r26,r20 |
| 6737 398c B50B sbc r27,r21 |
| 6738 398e 815E subi r24,lo8(-(19999)) |
| 6739 3990 914B sbci r25,hi8(-(19999)) |
| 6740 3992 AF4F sbci r26,hlo8(-(19999)) |
| 6741 3994 BF4F sbci r27,hhi8(-(19999)) |
| 6742 3996 8F53 subi r24,lo8(39999) |
| 6743 3998 9C49 sbci r25,hi8(39999) |
| 6744 399a A040 sbci r26,hlo8(39999) |
| 6745 399c B040 sbci r27,hhi8(39999) |
| 6746 399e 18F0 brlo .L509 |
| 6747 39a0 1931 cpi r17,lo8(25) |
| 6748 39a2 0CF4 brge .+2 |
| 6749 39a4 FFC0 rjmp .L508 |
| 6750 .L509: |
| 6751 39a6 01E0 ldi r16,lo8(4097) |
| 6752 39a8 C016 cp r12,r16 |
| 6753 39aa 00E1 ldi r16,hi8(4097) |
| 6754 39ac D006 cpc r13,r16 |
| 6755 39ae 00E0 ldi r16,hlo8(4097) |
| 6756 39b0 E006 cpc r14,r16 |
| 6757 39b2 00E0 ldi r16,hhi8(4097) |
| 6758 39b4 F006 cpc r15,r16 |
| 6759 39b6 0CF4 brge .+2 |
| 6760 39b8 73C0 rjmp .L510 |
| 6761 39ba 8091 0000 lds r24,last_r_p.18 |
| 6762 39be 8823 tst r24 |
| 6763 39c0 09F4 brne .+2 |
| 6764 39c2 6AC0 rjmp .L511 |
| 6765 39c4 D701 movw r26,r14 |
| 6766 39c6 C601 movw r24,r12 |
| 6767 39c8 F7FE sbrs r15,7 |
| 6768 39ca 07C0 rjmp .L512 |
| 6769 39cc 8827 clr r24 |
| 6770 39ce 9927 clr r25 |
| 6771 39d0 DC01 movw r26,r24 |
| 6772 39d2 8C19 sub r24,r12 |
| 6773 39d4 9D09 sbc r25,r13 |
| 6774 39d6 AE09 sbc r26,r14 |
| 6775 39d8 BF09 sbc r27,r15 |
| 6776 .L512: |
| 6777 39da 9C01 movw r18,r24 |
| 6778 39dc AD01 movw r20,r26 |
| 6779 39de B7FF sbrs r27,7 |
| 6780 39e0 04C0 rjmp .L513 |
| 6781 39e2 2150 subi r18,lo8(-(511)) |
| 6782 39e4 3E4F sbci r19,hi8(-(511)) |
| 6783 39e6 4F4F sbci r20,hlo8(-(511)) |
| 6784 39e8 5F4F sbci r21,hhi8(-(511)) |
| 6785 .L513: |
| 6786 39ea 09E0 ldi r16,9 |
| 6787 39ec 5595 1: asr r21 |
| 6788 39ee 4795 ror r20 |
| 6789 39f0 3795 ror r19 |
| 6790 39f2 2795 ror r18 |
| 6791 39f4 0A95 dec r16 |
| 6792 39f6 D1F7 brne 1b |
| 6793 39f8 8091 0000 lds r24,cnt.15 |
| 6794 39fc 9091 0000 lds r25,(cnt.15)+1 |
| 6795 3a00 820F add r24,r18 |
| 6796 3a02 931F adc r25,r19 |
| 6797 3a04 9093 0000 sts (cnt.15)+1,r25 |
| 6798 3a08 8093 0000 sts cnt.15,r24 |
| 6799 3a0c D701 movw r26,r14 |
| 6800 3a0e C601 movw r24,r12 |
| 6801 3a10 F7FE sbrs r15,7 |
| 6802 3a12 03C0 rjmp .L514 |
| 6803 3a14 0796 adiw r24,7 |
| 6804 3a16 A11D adc r26,__zero_reg__ |
| 6805 3a18 B11D adc r27,__zero_reg__ |
| 6806 .L514: |
| 6807 3a1a 13E0 ldi r17,3 |
| 6808 3a1c B595 1: asr r27 |
| 6809 3a1e A795 ror r26 |
| 6810 3a20 9795 ror r25 |
| 6811 3a22 8795 ror r24 |
| 6812 3a24 1A95 dec r17 |
| 6813 3a26 D1F7 brne 1b |
| 6814 3a28 8093 0000 sts ausgleichRoll.12,r24 |
| 6815 3a2c 9093 0000 sts (ausgleichRoll.12)+1,r25 |
| 6816 3a30 A093 0000 sts (ausgleichRoll.12)+2,r26 |
| 6817 3a34 B093 0000 sts (ausgleichRoll.12)+3,r27 |
| 6818 3a38 8958 subi r24,lo8(5001) |
| 6819 3a3a 9341 sbci r25,hi8(5001) |
| 6820 3a3c A040 sbci r26,hlo8(5001) |
| 6821 3a3e B040 sbci r27,hhi8(5001) |
| 6822 3a40 64F0 brlt .L515 |
| 6823 3a42 88E8 ldi r24,lo8(5000) |
| 6824 3a44 93E1 ldi r25,hi8(5000) |
| 6825 3a46 A0E0 ldi r26,hlo8(5000) |
| 6826 3a48 B0E0 ldi r27,hhi8(5000) |
| 6827 3a4a 8093 0000 sts ausgleichRoll.12,r24 |
| 6828 3a4e 9093 0000 sts (ausgleichRoll.12)+1,r25 |
| 6829 3a52 A093 0000 sts (ausgleichRoll.12)+2,r26 |
| 6830 3a56 B093 0000 sts (ausgleichRoll.12)+3,r27 |
| 6831 .L515: |
| 6832 3a5a 2091 0000 lds r18,ausgleichRoll.12 |
| 6833 3a5e 3091 0000 lds r19,(ausgleichRoll.12)+1 |
| 6834 3a62 4091 0000 lds r20,(ausgleichRoll.12)+2 |
| 6835 3a66 5091 0000 lds r21,(ausgleichRoll.12)+3 |
| 6836 3a6a 57FF sbrs r21,7 |
| 6837 3a6c 04C0 rjmp .L516 |
| 6838 3a6e 2150 subi r18,lo8(-(255)) |
| 6839 3a70 3F4F sbci r19,hi8(-(255)) |
| 6840 3a72 4F4F sbci r20,hlo8(-(255)) |
| 6841 3a74 5F4F sbci r21,hhi8(-(255)) |
| 6842 .L516: |
| 6843 3a76 232F mov r18,r19 |
| 6844 3a78 342F mov r19,r20 |
| 6845 3a7a 452F mov r20,r21 |
| 6846 3a7c 5527 clr r21 |
| 6847 3a7e 47FD sbrc r20,7 |
| 6848 3a80 5A95 dec r21 |
| 6849 3a82 8091 0000 lds r24,LageKorrekturRoll |
| 6850 3a86 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6851 3a8a 820F add r24,r18 |
| 6852 3a8c 931F adc r25,r19 |
| 6853 3a8e 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6854 3a92 8093 0000 sts LageKorrekturRoll,r24 |
| 6855 3a96 06C0 rjmp .L518 |
| 6856 .L511: |
| 6857 3a98 81E0 ldi r24,lo8(1) |
| 6858 3a9a 8093 0000 sts last_r_p.18,r24 |
| 6859 3a9e 02C0 rjmp .L518 |
| 6860 .L510: |
| 6861 3aa0 1092 0000 sts last_r_p.18,__zero_reg__ |
| 6862 .L518: |
| 6863 3aa4 20E0 ldi r18,lo8(-4096) |
| 6864 3aa6 C216 cp r12,r18 |
| 6865 3aa8 20EF ldi r18,hi8(-4096) |
| 6866 3aaa D206 cpc r13,r18 |
| 6867 3aac 2FEF ldi r18,hlo8(-4096) |
| 6868 3aae E206 cpc r14,r18 |
| 6869 3ab0 2FEF ldi r18,hhi8(-4096) |
| 6870 3ab2 F206 cpc r15,r18 |
| 6871 3ab4 0CF0 brlt .+2 |
| 6872 3ab6 73C0 rjmp .L519 |
| 6873 3ab8 8091 0000 lds r24,last_r_n.19 |
| 6874 3abc 8823 tst r24 |
| 6875 3abe 09F4 brne .+2 |
| 6876 3ac0 6AC0 rjmp .L520 |
| 6877 3ac2 D701 movw r26,r14 |
| 6878 3ac4 C601 movw r24,r12 |
| 6879 3ac6 F7FE sbrs r15,7 |
| 6880 3ac8 07C0 rjmp .L521 |
| 6881 3aca 8827 clr r24 |
| 6882 3acc 9927 clr r25 |
| 6883 3ace DC01 movw r26,r24 |
| 6884 3ad0 8C19 sub r24,r12 |
| 6885 3ad2 9D09 sbc r25,r13 |
| 6886 3ad4 AE09 sbc r26,r14 |
| 6887 3ad6 BF09 sbc r27,r15 |
| 6888 .L521: |
| 6889 3ad8 9C01 movw r18,r24 |
| 6890 3ada AD01 movw r20,r26 |
| 6891 3adc B7FF sbrs r27,7 |
| 6892 3ade 04C0 rjmp .L522 |
| 6893 3ae0 2150 subi r18,lo8(-(511)) |
| 6894 3ae2 3E4F sbci r19,hi8(-(511)) |
| 6895 3ae4 4F4F sbci r20,hlo8(-(511)) |
| 6896 3ae6 5F4F sbci r21,hhi8(-(511)) |
| 6897 .L522: |
| 6898 3ae8 E9E0 ldi r30,9 |
| 6899 3aea 5595 1: asr r21 |
| 6900 3aec 4795 ror r20 |
| 6901 3aee 3795 ror r19 |
| 6902 3af0 2795 ror r18 |
| 6903 3af2 EA95 dec r30 |
| 6904 3af4 D1F7 brne 1b |
| 6905 3af6 8091 0000 lds r24,cnt.15 |
| 6906 3afa 9091 0000 lds r25,(cnt.15)+1 |
| 6907 3afe 820F add r24,r18 |
| 6908 3b00 931F adc r25,r19 |
| 6909 3b02 9093 0000 sts (cnt.15)+1,r25 |
| 6910 3b06 8093 0000 sts cnt.15,r24 |
| 6911 3b0a D701 movw r26,r14 |
| 6912 3b0c C601 movw r24,r12 |
| 6913 3b0e F7FE sbrs r15,7 |
| 6914 3b10 03C0 rjmp .L523 |
| 6915 3b12 0796 adiw r24,7 |
| 6916 3b14 A11D adc r26,__zero_reg__ |
| 6917 3b16 B11D adc r27,__zero_reg__ |
| 6918 .L523: |
| 6919 3b18 73E0 ldi r23,3 |
| 6920 3b1a B595 1: asr r27 |
| 6921 3b1c A795 ror r26 |
| 6922 3b1e 9795 ror r25 |
| 6923 3b20 8795 ror r24 |
| 6924 3b22 7A95 dec r23 |
| 6925 3b24 D1F7 brne 1b |
| 6926 3b26 8093 0000 sts ausgleichRoll.12,r24 |
| 6927 3b2a 9093 0000 sts (ausgleichRoll.12)+1,r25 |
| 6928 3b2e A093 0000 sts (ausgleichRoll.12)+2,r26 |
| 6929 3b32 B093 0000 sts (ausgleichRoll.12)+3,r27 |
| 6930 3b36 8857 subi r24,lo8(-5000) |
| 6931 3b38 9C4E sbci r25,hi8(-5000) |
| 6932 3b3a AF4F sbci r26,hlo8(-5000) |
| 6933 3b3c BF4F sbci r27,hhi8(-5000) |
| 6934 3b3e 64F4 brge .L524 |
| 6935 3b40 88E7 ldi r24,lo8(-5000) |
| 6936 3b42 9CEE ldi r25,hi8(-5000) |
| 6937 3b44 AFEF ldi r26,hlo8(-5000) |
| 6938 3b46 BFEF ldi r27,hhi8(-5000) |
| 6939 3b48 8093 0000 sts ausgleichRoll.12,r24 |
| 6940 3b4c 9093 0000 sts (ausgleichRoll.12)+1,r25 |
| 6941 3b50 A093 0000 sts (ausgleichRoll.12)+2,r26 |
| 6942 3b54 B093 0000 sts (ausgleichRoll.12)+3,r27 |
| 6943 .L524: |
| 6944 3b58 2091 0000 lds r18,ausgleichRoll.12 |
| 6945 3b5c 3091 0000 lds r19,(ausgleichRoll.12)+1 |
| 6946 3b60 4091 0000 lds r20,(ausgleichRoll.12)+2 |
| 6947 3b64 5091 0000 lds r21,(ausgleichRoll.12)+3 |
| 6948 3b68 57FF sbrs r21,7 |
| 6949 3b6a 04C0 rjmp .L525 |
| 6950 3b6c 2150 subi r18,lo8(-(255)) |
| 6951 3b6e 3F4F sbci r19,hi8(-(255)) |
| 6952 3b70 4F4F sbci r20,hlo8(-(255)) |
| 6953 3b72 5F4F sbci r21,hhi8(-(255)) |
| 6954 .L525: |
| 6955 3b74 232F mov r18,r19 |
| 6956 3b76 342F mov r19,r20 |
| 6957 3b78 452F mov r20,r21 |
| 6958 3b7a 5527 clr r21 |
| 6959 3b7c 47FD sbrc r20,7 |
| 6960 3b7e 5A95 dec r21 |
| 6961 3b80 8091 0000 lds r24,LageKorrekturRoll |
| 6962 3b84 9091 0000 lds r25,(LageKorrekturRoll)+1 |
| 6963 3b88 820F add r24,r18 |
| 6964 3b8a 931F adc r25,r19 |
| 6965 3b8c 9093 0000 sts (LageKorrekturRoll)+1,r25 |
| 6966 3b90 8093 0000 sts LageKorrekturRoll,r24 |
| 6967 3b94 11C0 rjmp .L528 |
| 6968 .L520: |
| 6969 3b96 81E0 ldi r24,lo8(1) |
| 6970 3b98 8093 0000 sts last_r_n.19,r24 |
| 6971 3b9c 0DC0 rjmp .L528 |
| 6972 .L519: |
| 6973 3b9e 1092 0000 sts last_r_n.19,__zero_reg__ |
| 6974 3ba2 0AC0 rjmp .L528 |
| 6975 .L508: |
| 6976 3ba4 1092 0000 sts (cnt.15)+1,__zero_reg__ |
| 6977 3ba8 1092 0000 sts cnt.15,__zero_reg__ |
| 6978 3bac 88EE ldi r24,lo8(1000) |
| 6979 3bae 93E0 ldi r25,hi8(1000) |
| 6980 3bb0 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 6981 3bb4 8093 0000 sts KompassSignalSchlecht,r24 |
| 6982 .L528: |
| 6983 3bb8 4C85 ldd r20,Y+12 |
| 6984 3bba 242F mov r18,r20 |
| 6985 3bbc 3327 clr r19 |
| 6986 3bbe 8091 0000 lds r24,cnt.15 |
| 6987 3bc2 9091 0000 lds r25,(cnt.15)+1 |
| 6988 3bc6 2817 cp r18,r24 |
| 6989 3bc8 3907 cpc r19,r25 |
| 6990 3bca 24F4 brge .L529 |
| 6991 3bcc 3093 0000 sts (cnt.15)+1,r19 |
| 6992 3bd0 2093 0000 sts cnt.15,r18 |
| 6993 .L529: |
| 6994 3bd4 8091 0000 lds r24,FromNaviCtrl_Value+1 |
| 6995 3bd8 8823 tst r24 |
| 6996 3bda 79F0 breq .L530 |
| 6997 3bdc 282F mov r18,r24 |
| 6998 3bde 3327 clr r19 |
| 6999 3be0 27FD sbrc r18,7 |
| 7000 3be2 3095 com r19 |
| 7001 3be4 8091 0000 lds r24,cnt.15 |
| 7002 3be8 9091 0000 lds r25,(cnt.15)+1 |
| 7003 3bec 2817 cp r18,r24 |
| 7004 3bee 3907 cpc r19,r25 |
| 7005 3bf0 24F4 brge .L530 |
| 7006 3bf2 3093 0000 sts (cnt.15)+1,r19 |
| 7007 3bf6 2093 0000 sts cnt.15,r18 |
| 7008 .L530: |
| 7009 3bfa 4091 0000 lds r20,IntegralFehlerRoll.4 |
| 7010 3bfe 5091 0000 lds r21,(IntegralFehlerRoll.4)+1 |
| 7011 3c02 6091 0000 lds r22,(IntegralFehlerRoll.4)+2 |
| 7012 3c06 7091 0000 lds r23,(IntegralFehlerRoll.4)+3 |
| 7013 3c0a 4138 cpi r20,lo8(129) |
| 7014 3c0c 5105 cpc r21,__zero_reg__ |
| 7015 3c0e 6105 cpc r22,__zero_reg__ |
| 7016 3c10 7105 cpc r23,__zero_reg__ |
| 7017 3c12 74F0 brlt .L532 |
| 7018 3c14 8091 0000 lds r24,AdNeutralRoll |
| 7019 3c18 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7020 3c1c 2091 0000 lds r18,cnt.15 |
| 7021 3c20 3091 0000 lds r19,(cnt.15)+1 |
| 7022 3c24 820F add r24,r18 |
| 7023 3c26 931F adc r25,r19 |
| 7024 3c28 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7025 3c2c 8093 0000 sts AdNeutralRoll,r24 |
| 7026 .L532: |
| 7027 3c30 4058 subi r20,lo8(-128) |
| 7028 3c32 5F4F sbci r21,hi8(-128) |
| 7029 3c34 6F4F sbci r22,hlo8(-128) |
| 7030 3c36 7F4F sbci r23,hhi8(-128) |
| 7031 3c38 CCF4 brge .L534 |
| 7032 3c3a 8091 0000 lds r24,AdNeutralRoll |
| 7033 3c3e 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 7034 3c42 2091 0000 lds r18,cnt.15 |
| 7035 3c46 3091 0000 lds r19,(cnt.15)+1 |
| 7036 3c4a 821B sub r24,r18 |
| 7037 3c4c 930B sbc r25,r19 |
| 7038 3c4e 9093 0000 sts (AdNeutralRoll)+1,r25 |
| 7039 3c52 8093 0000 sts AdNeutralRoll,r24 |
| 7040 3c56 0AC0 rjmp .L534 |
| 7041 .L460: |
| 7042 3c58 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7043 3c5c 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7044 3c60 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7045 3c64 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7046 3c68 1092 0000 sts TrichterFlug,__zero_reg__ |
| 7047 .L534: |
| 7048 3c6c 8091 0000 lds r24,IntegralFaktor |
| 7049 3c70 8823 tst r24 |
| 7050 3c72 41F4 brne .L535 |
| 7051 3c74 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__ |
| 7052 3c78 1092 0000 sts LageKorrekturRoll,__zero_reg__ |
| 7053 3c7c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__ |
| 7054 3c80 1092 0000 sts LageKorrekturNick,__zero_reg__ |
| 7055 .L535: |
| 7056 3c84 8091 0000 lds r24,MittelIntegralNick |
| 7057 3c88 9091 0000 lds r25,(MittelIntegralNick)+1 |
| 7058 3c8c A091 0000 lds r26,(MittelIntegralNick)+2 |
| 7059 3c90 B091 0000 lds r27,(MittelIntegralNick)+3 |
| 7060 3c94 8093 0000 sts MittelIntegralNick_Alt.20,r24 |
| 7061 3c98 9093 0000 sts (MittelIntegralNick_Alt.20)+1,r25 |
| 7062 3c9c A093 0000 sts (MittelIntegralNick_Alt.20)+2,r26 |
| 7063 3ca0 B093 0000 sts (MittelIntegralNick_Alt.20)+3,r27 |
| 7064 3ca4 8091 0000 lds r24,MittelIntegralRoll |
| 7065 3ca8 9091 0000 lds r25,(MittelIntegralRoll)+1 |
| 7066 3cac A091 0000 lds r26,(MittelIntegralRoll)+2 |
| 7067 3cb0 B091 0000 lds r27,(MittelIntegralRoll)+3 |
| 7068 3cb4 8093 0000 sts MittelIntegralRoll_Alt.21,r24 |
| 7069 3cb8 9093 0000 sts (MittelIntegralRoll_Alt.21)+1,r25 |
| 7070 3cbc A093 0000 sts (MittelIntegralRoll_Alt.21)+2,r26 |
| 7071 3cc0 B093 0000 sts (MittelIntegralRoll_Alt.21)+3,r27 |
| 7072 3cc4 1092 0000 sts IntegralAccNick,__zero_reg__ |
| 7073 3cc8 1092 0000 sts (IntegralAccNick)+1,__zero_reg__ |
| 7074 3ccc 1092 0000 sts (IntegralAccNick)+2,__zero_reg__ |
| 7075 3cd0 1092 0000 sts (IntegralAccNick)+3,__zero_reg__ |
| 7076 3cd4 1092 0000 sts IntegralAccRoll,__zero_reg__ |
| 7077 3cd8 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__ |
| 7078 3cdc 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__ |
| 7079 3ce0 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__ |
| 7080 3ce4 1092 0000 sts IntegralAccZ,__zero_reg__ |
| 7081 3ce8 1092 0000 sts (IntegralAccZ)+1,__zero_reg__ |
| 7082 3cec 1092 0000 sts (IntegralAccZ)+2,__zero_reg__ |
| 7083 3cf0 1092 0000 sts (IntegralAccZ)+3,__zero_reg__ |
| 7084 3cf4 1092 0000 sts MittelIntegralNick,__zero_reg__ |
| 7085 3cf8 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__ |
| 7086 3cfc 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__ |
| 7087 3d00 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__ |
| 7088 3d04 1092 0000 sts MittelIntegralRoll,__zero_reg__ |
| 7089 3d08 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__ |
| 7090 3d0c 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__ |
| 7091 3d10 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__ |
| 7092 3d14 1092 0000 sts MittelIntegralNick2,__zero_reg__ |
| 7093 3d18 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__ |
| 7094 3d1c 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__ |
| 7095 3d20 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__ |
| 7096 3d24 1092 0000 sts MittelIntegralRoll2,__zero_reg__ |
| 7097 3d28 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__ |
| 7098 3d2c 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__ |
| 7099 3d30 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__ |
| 7100 3d34 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__ |
| 7101 3d38 1092 0000 sts ZaehlMessungen,__zero_reg__ |
| 7102 .L459: |
| 7103 3d3c E090 0000 lds r14,StickGier |
| 7104 3d40 F090 0000 lds r15,(StickGier)+1 |
| 7105 3d44 C701 movw r24,r14 |
| 7106 3d46 F7FE sbrs r15,7 |
| 7107 3d48 04C0 rjmp .L537 |
| 7108 3d4a 8827 clr r24 |
| 7109 3d4c 9927 clr r25 |
| 7110 3d4e 8E19 sub r24,r14 |
| 7111 3d50 9F09 sbc r25,r15 |
| 7112 .L537: |
| 7113 3d52 4097 sbiw r24,16 |
| 7114 3d54 6CF0 brlt .L536 |
| 7115 3d56 88EE ldi r24,lo8(1000) |
| 7116 3d58 93E0 ldi r25,hi8(1000) |
| 7117 3d5a 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7118 3d5e 8093 0000 sts KompassSignalSchlecht,r24 |
| 7119 3d62 8091 0000 lds r24,EE_Parameter+13 |
| 7120 3d66 84FD sbrc r24,4 |
| 7121 3d68 03C0 rjmp .L536 |
| 7122 3d6a 81E0 ldi r24,lo8(1) |
| 7123 3d6c 8093 0000 sts NeueKompassRichtungMerken.10,r24 |
| 7124 .L536: |
| 7125 3d70 1091 0000 lds r17,EE_Parameter+25 |
| 7126 3d74 A12E mov r10,r17 |
| 7127 3d76 BB24 clr r11 |
| 7128 3d78 CC24 clr r12 |
| 7129 3d7a DD24 clr r13 |
| 7130 3d7c B701 movw r22,r14 |
| 7131 3d7e 8827 clr r24 |
| 7132 3d80 77FD sbrc r23,7 |
| 7133 3d82 8095 com r24 |
| 7134 3d84 982F mov r25,r24 |
| 7135 3d86 9701 movw r18,r14 |
| 7136 3d88 F7FE sbrs r15,7 |
| 7137 3d8a 04C0 rjmp .L539 |
| 7138 3d8c 2227 clr r18 |
| 7139 3d8e 3327 clr r19 |
| 7140 3d90 2E19 sub r18,r14 |
| 7141 3d92 3F09 sbc r19,r15 |
| 7142 .L539: |
| 7143 3d94 4427 clr r20 |
| 7144 3d96 37FD sbrc r19,7 |
| 7145 3d98 4095 com r20 |
| 7146 3d9a 542F mov r21,r20 |
| 7147 3d9c 0E94 0000 call __mulsi3 |
| 7148 3da0 9B01 movw r18,r22 |
| 7149 3da2 AC01 movw r20,r24 |
| 7150 3da4 C601 movw r24,r12 |
| 7151 3da6 B501 movw r22,r10 |
| 7152 3da8 0E94 0000 call __mulsi3 |
| 7153 3dac 97FF sbrs r25,7 |
| 7154 3dae 04C0 rjmp .L540 |
| 7155 3db0 6150 subi r22,lo8(-(511)) |
| 7156 3db2 7E4F sbci r23,hi8(-(511)) |
| 7157 3db4 8F4F sbci r24,hlo8(-(511)) |
| 7158 3db6 9F4F sbci r25,hhi8(-(511)) |
| 7159 .L540: |
| 7160 3db8 59E0 ldi r21,9 |
| 7161 3dba 9595 1: asr r25 |
| 7162 3dbc 8795 ror r24 |
| 7163 3dbe 7795 ror r23 |
| 7164 3dc0 6795 ror r22 |
| 7165 3dc2 5A95 dec r21 |
| 7166 3dc4 D1F7 brne 1b |
| 7167 3dc6 9B01 movw r18,r22 |
| 7168 3dc8 812F mov r24,r17 |
| 7169 3dca 9927 clr r25 |
| 7170 3dcc 8E9D mul r24,r14 |
| 7171 3dce D001 movw r26,r0 |
| 7172 3dd0 8F9D mul r24,r15 |
| 7173 3dd2 B00D add r27,r0 |
| 7174 3dd4 9E9D mul r25,r14 |
| 7175 3dd6 B00D add r27,r0 |
| 7176 3dd8 1124 clr r1 |
| 7177 3dda CD01 movw r24,r26 |
| 7178 3ddc B7FD sbrc r27,7 |
| 7179 3dde 0396 adiw r24,3 |
| 7180 .L541: |
| 7181 3de0 9595 asr r25 |
| 7182 3de2 8795 ror r24 |
| 7183 3de4 9595 asr r25 |
| 7184 3de6 8795 ror r24 |
| 7185 3de8 280F add r18,r24 |
| 7186 3dea 391F adc r19,r25 |
| 7187 3dec 4427 clr r20 |
| 7188 3dee 37FD sbrc r19,7 |
| 7189 3df0 4095 com r20 |
| 7190 3df2 542F mov r21,r20 |
| 7191 3df4 2093 0000 sts sollGier.0,r18 |
| 7192 3df8 3093 0000 sts (sollGier.0)+1,r19 |
| 7193 3dfc 4093 0000 sts (sollGier.0)+2,r20 |
| 7194 3e00 5093 0000 sts (sollGier.0)+3,r21 |
| 7195 3e04 8091 0000 lds r24,Mess_Integral_Gier |
| 7196 3e08 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7197 3e0c A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7198 3e10 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7199 3e14 821B sub r24,r18 |
| 7200 3e16 930B sbc r25,r19 |
| 7201 3e18 A40B sbc r26,r20 |
| 7202 3e1a B50B sbc r27,r21 |
| 7203 3e1c 8093 0000 sts Mess_Integral_Gier,r24 |
| 7204 3e20 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7205 3e24 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7206 3e28 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7207 3e2c 8155 subi r24,lo8(50001) |
| 7208 3e2e 934C sbci r25,hi8(50001) |
| 7209 3e30 A040 sbci r26,hlo8(50001) |
| 7210 3e32 B040 sbci r27,hhi8(50001) |
| 7211 3e34 64F0 brlt .L542 |
| 7212 3e36 80E5 ldi r24,lo8(50000) |
| 7213 3e38 93EC ldi r25,hi8(50000) |
| 7214 3e3a A0E0 ldi r26,hlo8(50000) |
| 7215 3e3c B0E0 ldi r27,hhi8(50000) |
| 7216 3e3e 8093 0000 sts Mess_Integral_Gier,r24 |
| 7217 3e42 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7218 3e46 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7219 3e4a B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7220 .L542: |
| 7221 3e4e 8091 0000 lds r24,Mess_Integral_Gier |
| 7222 3e52 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7223 3e56 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7224 3e5a B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7225 3e5e 805B subi r24,lo8(-50000) |
| 7226 3e60 9C43 sbci r25,hi8(-50000) |
| 7227 3e62 AF4F sbci r26,hlo8(-50000) |
| 7228 3e64 BF4F sbci r27,hhi8(-50000) |
| 7229 3e66 64F4 brge .L543 |
| 7230 3e68 80EB ldi r24,lo8(-50000) |
| 7231 3e6a 9CE3 ldi r25,hi8(-50000) |
| 7232 3e6c AFEF ldi r26,hlo8(-50000) |
| 7233 3e6e BFEF ldi r27,hhi8(-50000) |
| 7234 3e70 8093 0000 sts Mess_Integral_Gier,r24 |
| 7235 3e74 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7236 3e78 A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7237 3e7c B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7238 .L543: |
| 7239 3e80 4090 0000 lds r4,KompassValue |
| 7240 3e84 5090 0000 lds r5,(KompassValue)+1 |
| 7241 3e88 4114 cp r4,__zero_reg__ |
| 7242 3e8a 5104 cpc r5,__zero_reg__ |
| 7243 3e8c 09F4 brne .+2 |
| 7244 3e8e 78C1 rjmp .L544 |
| 7245 3e90 8091 0000 lds r24,EE_Parameter+13 |
| 7246 3e94 83FF sbrs r24,3 |
| 7247 3e96 74C1 rjmp .L544 |
| 7248 3e98 8091 0000 lds r24,IntegralNick |
| 7249 3e9c 9091 0000 lds r25,(IntegralNick)+1 |
| 7250 3ea0 A091 0000 lds r26,(IntegralNick)+2 |
| 7251 3ea4 B091 0000 lds r27,(IntegralNick)+3 |
| 7252 3ea8 B7FF sbrs r27,7 |
| 7253 3eaa 04C0 rjmp .L545 |
| 7254 3eac 8150 subi r24,lo8(-(511)) |
| 7255 3eae 9E4F sbci r25,hi8(-(511)) |
| 7256 3eb0 AF4F sbci r26,hlo8(-(511)) |
| 7257 3eb2 BF4F sbci r27,hhi8(-(511)) |
| 7258 .L545: |
| 7259 3eb4 39E0 ldi r19,9 |
| 7260 3eb6 B595 1: asr r27 |
| 7261 3eb8 A795 ror r26 |
| 7262 3eba 9795 ror r25 |
| 7263 3ebc 8795 ror r24 |
| 7264 3ebe 3A95 dec r19 |
| 7265 3ec0 D1F7 brne 1b |
| 7266 3ec2 6C01 movw r12,r24 |
| 7267 3ec4 97FF sbrs r25,7 |
| 7268 3ec6 04C0 rjmp .L546 |
| 7269 3ec8 D094 com r13 |
| 7270 3eca C194 neg r12 |
| 7271 3ecc D108 sbc r13,__zero_reg__ |
| 7272 3ece D394 inc r13 |
| 7273 .L546: |
| 7274 3ed0 8091 0000 lds r24,IntegralRoll |
| 7275 3ed4 9091 0000 lds r25,(IntegralRoll)+1 |
| 7276 3ed8 A091 0000 lds r26,(IntegralRoll)+2 |
| 7277 3edc B091 0000 lds r27,(IntegralRoll)+3 |
| 7278 3ee0 B7FF sbrs r27,7 |
| 7279 3ee2 04C0 rjmp .L547 |
| 7280 3ee4 8150 subi r24,lo8(-(511)) |
| 7281 3ee6 9E4F sbci r25,hi8(-(511)) |
| 7282 3ee8 AF4F sbci r26,hlo8(-(511)) |
| 7283 3eea BF4F sbci r27,hhi8(-(511)) |
| 7284 .L547: |
| 7285 3eec 29E0 ldi r18,9 |
| 7286 3eee B595 1: asr r27 |
| 7287 3ef0 A795 ror r26 |
| 7288 3ef2 9795 ror r25 |
| 7289 3ef4 8795 ror r24 |
| 7290 3ef6 2A95 dec r18 |
| 7291 3ef8 D1F7 brne 1b |
| 7292 3efa BC01 movw r22,r24 |
| 7293 3efc 97FF sbrs r25,7 |
| 7294 3efe 03C0 rjmp .L548 |
| 7295 3f00 7095 com r23 |
| 7296 3f02 6195 neg r22 |
| 7297 3f04 7F4F sbci r23,lo8(-1) |
| 7298 .L548: |
| 7299 3f06 C616 cp r12,r22 |
| 7300 3f08 D706 cpc r13,r23 |
| 7301 3f0a 0CF4 brge .L549 |
| 7302 3f0c 6B01 movw r12,r22 |
| 7303 .L549: |
| 7304 3f0e B601 movw r22,r12 |
| 7305 3f10 D7FE sbrs r13,7 |
| 7306 3f12 02C0 rjmp .L550 |
| 7307 3f14 695F subi r22,lo8(-(7)) |
| 7308 3f16 7F4F sbci r23,hi8(-(7)) |
| 7309 .L550: |
| 7310 3f18 3B01 movw r6,r22 |
| 7311 3f1a 83E0 ldi r24,3 |
| 7312 3f1c 7594 1: asr r7 |
| 7313 3f1e 6794 ror r6 |
| 7314 3f20 8A95 dec r24 |
| 7315 3f22 E1F7 brne 1b |
| 7316 3f24 02E0 ldi r16,lo8(2) |
| 7317 3f26 E02E mov r14,r16 |
| 7318 3f28 F12C mov r15,__zero_reg__ |
| 7319 3f2a 6E0C add r6,r14 |
| 7320 3f2c 7F1C adc r7,r15 |
| 7321 3f2e 0CE1 ldi r16,lo8(540) |
| 7322 3f30 12E0 ldi r17,hi8(540) |
| 7323 3f32 400E add r4,r16 |
| 7324 3f34 511E adc r5,r17 |
| 7325 3f36 7201 movw r14,r4 |
| 7326 3f38 0027 clr r16 |
| 7327 3f3a F7FC sbrc r15,7 |
| 7328 3f3c 0095 com r16 |
| 7329 3f3e 102F mov r17,r16 |
| 7330 3f40 24EE ldi r18,lo8(-540) |
| 7331 3f42 3DEF ldi r19,hi8(-540) |
| 7332 3f44 420E add r4,r18 |
| 7333 3f46 531E adc r5,r19 |
| 7334 3f48 8091 0000 lds r24,ErsatzKompass |
| 7335 3f4c 9091 0000 lds r25,(ErsatzKompass)+1 |
| 7336 3f50 A091 0000 lds r26,(ErsatzKompass)+2 |
| 7337 3f54 B091 0000 lds r27,(ErsatzKompass)+3 |
| 7338 3f58 8090 0000 lds r8,GIER_GRAD_FAKTOR |
| 7339 3f5c 9090 0000 lds r9,(GIER_GRAD_FAKTOR)+1 |
| 7340 3f60 A090 0000 lds r10,(GIER_GRAD_FAKTOR)+2 |
| 7341 3f64 B090 0000 lds r11,(GIER_GRAD_FAKTOR)+3 |
| 7342 3f68 BC01 movw r22,r24 |
| 7343 3f6a CD01 movw r24,r26 |
| 7344 3f6c A501 movw r20,r10 |
| 7345 3f6e 9401 movw r18,r8 |
| 7346 3f70 0E94 0000 call __divmodsi4 |
| 7347 3f74 E21A sub r14,r18 |
| 7348 3f76 F30A sbc r15,r19 |
| 7349 3f78 040B sbc r16,r20 |
| 7350 3f7a 150B sbc r17,r21 |
| 7351 3f7c C801 movw r24,r16 |
| 7352 3f7e B701 movw r22,r14 |
| 7353 3f80 28E6 ldi r18,lo8(360) |
| 7354 3f82 31E0 ldi r19,hi8(360) |
| 7355 3f84 40E0 ldi r20,hlo8(360) |
| 7356 3f86 50E0 ldi r21,hhi8(360) |
| 7357 3f88 0E94 0000 call __divmodsi4 |
| 7358 3f8c DC01 movw r26,r24 |
| 7359 3f8e CB01 movw r24,r22 |
| 7360 3f90 1CE4 ldi r17,lo8(-180) |
| 7361 3f92 E12E mov r14,r17 |
| 7362 3f94 1FEF ldi r17,hi8(-180) |
| 7363 3f96 F12E mov r15,r17 |
| 7364 3f98 E80E add r14,r24 |
| 7365 3f9a F91E adc r15,r25 |
| 7366 3f9c 0091 0000 lds r16,KompassSignalSchlecht |
| 7367 3fa0 1091 0000 lds r17,(KompassSignalSchlecht)+1 |
| 7368 3fa4 0115 cp r16,__zero_reg__ |
| 7369 3fa6 1105 cpc r17,__zero_reg__ |
| 7370 3fa8 89F5 brne .L551 |
| 7371 3faa 39E1 ldi r19,lo8(25) |
| 7372 3fac C316 cp r12,r19 |
| 7373 3fae D104 cpc r13,__zero_reg__ |
| 7374 3fb0 6CF5 brge .L551 |
| 7375 3fb2 8091 0000 lds r24,GierGyroFehler |
| 7376 3fb6 9091 0000 lds r25,(GierGyroFehler)+1 |
| 7377 3fba 8E0D add r24,r14 |
| 7378 3fbc 9F1D adc r25,r15 |
| 7379 3fbe 9093 0000 sts (GierGyroFehler)+1,r25 |
| 7380 3fc2 8093 0000 sts GierGyroFehler,r24 |
| 7381 3fc6 8091 0000 lds r24,NeueKompassRichtungMerken.10 |
| 7382 3fca 8823 tst r24 |
| 7383 3fcc F9F0 breq .L551 |
| 7384 3fce C201 movw r24,r4 |
| 7385 3fd0 AA27 clr r26 |
| 7386 3fd2 97FD sbrc r25,7 |
| 7387 3fd4 A095 com r26 |
| 7388 3fd6 BA2F mov r27,r26 |
| 7389 3fd8 BC01 movw r22,r24 |
| 7390 3fda CD01 movw r24,r26 |
| 7391 3fdc A501 movw r20,r10 |
| 7392 3fde 9401 movw r18,r8 |
| 7393 3fe0 0E94 0000 call __mulsi3 |
| 7394 3fe4 DC01 movw r26,r24 |
| 7395 3fe6 CB01 movw r24,r22 |
| 7396 3fe8 8093 0000 sts ErsatzKompass,r24 |
| 7397 3fec 9093 0000 sts (ErsatzKompass)+1,r25 |
| 7398 3ff0 A093 0000 sts (ErsatzKompass)+2,r26 |
| 7399 3ff4 B093 0000 sts (ErsatzKompass)+3,r27 |
| 7400 3ff8 BC01 movw r22,r24 |
| 7401 3ffa CD01 movw r24,r26 |
| 7402 3ffc 0E94 0000 call __divmodsi4 |
| 7403 4000 3093 0000 sts (KompassStartwert)+1,r19 |
| 7404 4004 2093 0000 sts KompassStartwert,r18 |
| 7405 4008 1092 0000 sts NeueKompassRichtungMerken.10,__zero_reg__ |
| 7406 .L551: |
| 7407 400c C701 movw r24,r14 |
| 7408 400e B4E0 ldi r27,4 |
| 7409 4010 880F 1: lsl r24 |
| 7410 4012 991F rol r25 |
| 7411 4014 BA95 dec r27 |
| 7412 4016 E1F7 brne 1b |
| 7413 4018 B301 movw r22,r6 |
| 7414 401a 0E94 0000 call __divmodhi4 |
| 7415 401e CB01 movw r24,r22 |
| 7416 4020 AA27 clr r26 |
| 7417 4022 97FD sbrc r25,7 |
| 7418 4024 A095 com r26 |
| 7419 4026 BA2F mov r27,r26 |
| 7420 4028 2091 0000 lds r18,ErsatzKompass |
| 7421 402c 3091 0000 lds r19,(ErsatzKompass)+1 |
| 7422 4030 4091 0000 lds r20,(ErsatzKompass)+2 |
| 7423 4034 5091 0000 lds r21,(ErsatzKompass)+3 |
| 7424 4038 280F add r18,r24 |
| 7425 403a 391F adc r19,r25 |
| 7426 403c 4A1F adc r20,r26 |
| 7427 403e 5B1F adc r21,r27 |
| 7428 4040 2093 0000 sts ErsatzKompass,r18 |
| 7429 4044 3093 0000 sts (ErsatzKompass)+1,r19 |
| 7430 4048 4093 0000 sts (ErsatzKompass)+2,r20 |
| 7431 404c 5093 0000 sts (ErsatzKompass)+3,r21 |
| 7432 4050 F090 0000 lds r15,Parameter_KompassWirkung |
| 7433 4054 6F2D mov r22,r15 |
| 7434 4056 7727 clr r23 |
| 7435 4058 C69E mul r12,r22 |
| 7436 405a C001 movw r24,r0 |
| 7437 405c C79E mul r12,r23 |
| 7438 405e 900D add r25,r0 |
| 7439 4060 D69E mul r13,r22 |
| 7440 4062 900D add r25,r0 |
| 7441 4064 1124 clr r1 |
| 7442 4066 97FD sbrc r25,7 |
| 7443 4068 4F96 adiw r24,31 |
| 7444 .L553: |
| 7445 406a 6C01 movw r12,r24 |
| 7446 406c A5E0 ldi r26,5 |
| 7447 406e D594 1: asr r13 |
| 7448 4070 C794 ror r12 |
| 7449 4072 AA95 dec r26 |
| 7450 4074 E1F7 brne 1b |
| 7451 4076 6C19 sub r22,r12 |
| 7452 4078 7D09 sbc r23,r13 |
| 7453 407a 6B01 movw r12,r22 |
| 7454 407c 77FD sbrc r23,7 |
| 7455 407e 7AC0 rjmp .L554 |
| 7456 4080 0115 cp r16,__zero_reg__ |
| 7457 4082 1105 cpc r17,__zero_reg__ |
| 7458 4084 09F0 breq .+2 |
| 7459 4086 6FC0 rjmp .L789 |
| 7460 4088 0091 0000 lds r16,MaxStickNick |
| 7461 408c 1091 0000 lds r17,(MaxStickNick)+1 |
| 7462 4090 8091 0000 lds r24,MaxStickRoll |
| 7463 4094 9091 0000 lds r25,(MaxStickRoll)+1 |
| 7464 4098 080F add r16,r24 |
| 7465 409a 191F adc r17,r25 |
| 7466 409c 17FF sbrs r17,7 |
| 7467 409e 02C0 rjmp .L556 |
| 7468 40a0 095F subi r16,lo8(-(7)) |
| 7469 40a2 1F4F sbci r17,hi8(-(7)) |
| 7470 .L556: |
| 7471 40a4 F3E0 ldi r31,3 |
| 7472 40a6 1595 1: asr r17 |
| 7473 40a8 0795 ror r16 |
| 7474 40aa FA95 dec r31 |
| 7475 40ac E1F7 brne 1b |
| 7476 40ae 005C subi r16,lo8(-(64)) |
| 7477 40b0 1F4F sbci r17,hi8(-(64)) |
| 7478 40b2 CA01 movw r24,r20 |
| 7479 40b4 B901 movw r22,r18 |
| 7480 40b6 A501 movw r20,r10 |
| 7481 40b8 9401 movw r18,r8 |
| 7482 40ba 0E94 0000 call __divmodsi4 |
| 7483 40be DA01 movw r26,r20 |
| 7484 40c0 C901 movw r24,r18 |
| 7485 40c2 2091 0000 lds r18,KompassStartwert |
| 7486 40c6 3091 0000 lds r19,(KompassStartwert)+1 |
| 7487 40ca 4427 clr r20 |
| 7488 40cc 37FD sbrc r19,7 |
| 7489 40ce 4095 com r20 |
| 7490 40d0 542F mov r21,r20 |
| 7491 40d2 821B sub r24,r18 |
| 7492 40d4 930B sbc r25,r19 |
| 7493 40d6 A40B sbc r26,r20 |
| 7494 40d8 B50B sbc r27,r21 |
| 7495 40da 845E subi r24,lo8(-(540)) |
| 7496 40dc 9D4F sbci r25,hi8(-(540)) |
| 7497 40de AF4F sbci r26,hlo8(-(540)) |
| 7498 40e0 BF4F sbci r27,hhi8(-(540)) |
| 7499 40e2 BC01 movw r22,r24 |
| 7500 40e4 CD01 movw r24,r26 |
| 7501 40e6 28E6 ldi r18,lo8(360) |
| 7502 40e8 31E0 ldi r19,hi8(360) |
| 7503 40ea 40E0 ldi r20,hlo8(360) |
| 7504 40ec 50E0 ldi r21,hhi8(360) |
| 7505 40ee 0E94 0000 call __divmodsi4 |
| 7506 40f2 DC01 movw r26,r24 |
| 7507 40f4 CB01 movw r24,r22 |
| 7508 40f6 845B subi r24,lo8(-(-180)) |
| 7509 40f8 9040 sbci r25,hi8(-(-180)) |
| 7510 40fa 8C9D mul r24,r12 |
| 7511 40fc A001 movw r20,r0 |
| 7512 40fe 8D9D mul r24,r13 |
| 7513 4100 500D add r21,r0 |
| 7514 4102 9C9D mul r25,r12 |
| 7515 4104 500D add r21,r0 |
| 7516 4106 1124 clr r1 |
| 7517 4108 CA01 movw r24,r20 |
| 7518 410a B801 movw r22,r16 |
| 7519 410c 0E94 0000 call __divmodhi4 |
| 7520 4110 83E0 ldi r24,lo8(3) |
| 7521 4112 F89E mul r15,r24 |
| 7522 4114 6001 movw r12,r0 |
| 7523 4116 1124 clr r1 |
| 7524 4118 C616 cp r12,r22 |
| 7525 411a D706 cpc r13,r23 |
| 7526 411c 14F4 brge .L557 |
| 7527 411e B601 movw r22,r12 |
| 7528 4120 08C0 rjmp .L558 |
| 7529 .L557: |
| 7530 4122 8827 clr r24 |
| 7531 4124 9927 clr r25 |
| 7532 4126 8C19 sub r24,r12 |
| 7533 4128 9D09 sbc r25,r13 |
| 7534 412a 6817 cp r22,r24 |
| 7535 412c 7907 cpc r23,r25 |
| 7536 412e 0CF4 brge .L558 |
| 7537 4130 BC01 movw r22,r24 |
| 7538 .L558: |
| 7539 4132 9B01 movw r18,r22 |
| 7540 4134 4427 clr r20 |
| 7541 4136 37FD sbrc r19,7 |
| 7542 4138 4095 com r20 |
| 7543 413a 542F mov r21,r20 |
| 7544 413c 8091 0000 lds r24,Mess_Integral_Gier |
| 7545 4140 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 7546 4144 A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 7547 4148 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 7548 414c 820F add r24,r18 |
| 7549 414e 931F adc r25,r19 |
| 7550 4150 A41F adc r26,r20 |
| 7551 4152 B51F adc r27,r21 |
| 7552 4154 8093 0000 sts Mess_Integral_Gier,r24 |
| 7553 4158 9093 0000 sts (Mess_Integral_Gier)+1,r25 |
| 7554 415c A093 0000 sts (Mess_Integral_Gier)+2,r26 |
| 7555 4160 B093 0000 sts (Mess_Integral_Gier)+3,r27 |
| 7556 4164 0DC0 rjmp .L544 |
| 7557 .L789: |
| 7558 4166 0150 subi r16,lo8(-(-1)) |
| 7559 4168 1040 sbci r17,hi8(-(-1)) |
| 7560 416a 1093 0000 sts (KompassSignalSchlecht)+1,r17 |
| 7561 416e 0093 0000 sts KompassSignalSchlecht,r16 |
| 7562 4172 06C0 rjmp .L544 |
| 7563 .L554: |
| 7564 4174 84EF ldi r24,lo8(500) |
| 7565 4176 91E0 ldi r25,hi8(500) |
| 7566 4178 9093 0000 sts (KompassSignalSchlecht)+1,r25 |
| 7567 417c 8093 0000 sts KompassSignalSchlecht,r24 |
| 7568 .L544: |
| 7569 4180 8091 0000 lds r24,TrichterFlug |
| 7570 4184 8823 tst r24 |
| 7571 4186 81F0 breq .L562 |
| 7572 4188 1092 0000 sts SummeRoll,__zero_reg__ |
| 7573 418c 1092 0000 sts (SummeRoll)+1,__zero_reg__ |
| 7574 4190 1092 0000 sts (SummeRoll)+2,__zero_reg__ |
| 7575 4194 1092 0000 sts (SummeRoll)+3,__zero_reg__ |
| 7576 4198 1092 0000 sts SummeNick,__zero_reg__ |
| 7577 419c 1092 0000 sts (SummeNick)+1,__zero_reg__ |
| 7578 41a0 1092 0000 sts (SummeNick)+2,__zero_reg__ |
| 7579 41a4 1092 0000 sts (SummeNick)+3,__zero_reg__ |
| 7580 .L562: |
| 7581 41a8 F090 0000 lds r15,Looping_Nick |
| 7582 41ac FF20 tst r15 |
| 7583 41ae F1F4 brne .L563 |
| 7584 41b0 8091 0000 lds r24,IntegralFaktor |
| 7585 41b4 282F mov r18,r24 |
| 7586 41b6 3327 clr r19 |
| 7587 41b8 4427 clr r20 |
| 7588 41ba 5527 clr r21 |
| 7589 41bc 8091 0000 lds r24,IntegralNick |
| 7590 41c0 9091 0000 lds r25,(IntegralNick)+1 |
| 7591 41c4 A091 0000 lds r26,(IntegralNick)+2 |
| 7592 41c8 B091 0000 lds r27,(IntegralNick)+3 |
| 7593 41cc BC01 movw r22,r24 |
| 7594 41ce CD01 movw r24,r26 |
| 7595 41d0 0E94 0000 call __mulsi3 |
| 7596 41d4 DC01 movw r26,r24 |
| 7597 41d6 CB01 movw r24,r22 |
| 7598 41d8 BC01 movw r22,r24 |
| 7599 41da CD01 movw r24,r26 |
| 7600 41dc 28EF ldi r18,lo8(11000) |
| 7601 41de 3AE2 ldi r19,hi8(11000) |
| 7602 41e0 40E0 ldi r20,hlo8(11000) |
| 7603 41e2 50E0 ldi r21,hhi8(11000) |
| 7604 41e4 0E94 0000 call __divmodsi4 |
| 7605 41e8 3901 movw r6,r18 |
| 7606 41ea 02C0 rjmp .L564 |
| 7607 .L563: |
| 7608 41ec 6624 clr r6 |
| 7609 41ee 7724 clr r7 |
| 7610 .L564: |
| 7611 41f0 E090 0000 lds r14,Looping_Roll |
| 7612 41f4 EE20 tst r14 |
| 7613 41f6 F1F4 brne .L565 |
| 7614 41f8 8091 0000 lds r24,IntegralFaktor |
| 7615 41fc 282F mov r18,r24 |
| 7616 41fe 3327 clr r19 |
| 7617 4200 4427 clr r20 |
| 7618 4202 5527 clr r21 |
| 7619 4204 8091 0000 lds r24,IntegralRoll |
| 7620 4208 9091 0000 lds r25,(IntegralRoll)+1 |
| 7621 420c A091 0000 lds r26,(IntegralRoll)+2 |
| 7622 4210 B091 0000 lds r27,(IntegralRoll)+3 |
| 7623 4214 BC01 movw r22,r24 |
| 7624 4216 CD01 movw r24,r26 |
| 7625 4218 0E94 0000 call __mulsi3 |
| 7626 421c DC01 movw r26,r24 |
| 7627 421e CB01 movw r24,r22 |
| 7628 4220 BC01 movw r22,r24 |
| 7629 4222 CD01 movw r24,r26 |
| 7630 4224 28EF ldi r18,lo8(11000) |
| 7631 4226 3AE2 ldi r19,hi8(11000) |
| 7632 4228 40E0 ldi r20,hlo8(11000) |
| 7633 422a 50E0 ldi r21,hhi8(11000) |
| 7634 422c 0E94 0000 call __divmodsi4 |
| 7635 4230 2901 movw r4,r18 |
| 7636 4232 02C0 rjmp .L566 |
| 7637 .L565: |
| 7638 4234 4424 clr r4 |
| 7639 4236 5524 clr r5 |
| 7640 .L566: |
| 7641 4238 8091 0000 lds r24,TrimNick |
| 7642 423c 9091 0000 lds r25,(TrimNick)+1 |
| 7643 4240 893C cpi r24,201 |
| 7644 4242 9105 cpc r25,__zero_reg__ |
| 7645 4244 1CF0 brlt .L567 |
| 7646 4246 88EC ldi r24,lo8(200) |
| 7647 4248 90E0 ldi r25,hi8(200) |
| 7648 424a 05C0 rjmp .L794 |
| 7649 .L567: |
| 7650 424c 8853 subi r24,lo8(-200) |
| 7651 424e 9F4F sbci r25,hi8(-200) |
| 7652 4250 34F4 brge .L568 |
| 7653 4252 88E3 ldi r24,lo8(-200) |
| 7654 4254 9FEF ldi r25,hi8(-200) |
| 7655 .L794: |
| 7656 4256 9093 0000 sts (TrimNick)+1,r25 |
| 7657 425a 8093 0000 sts TrimNick,r24 |
| 7658 .L568: |
| 7659 425e 8091 0000 lds r24,TrimRoll |
| 7660 4262 9091 0000 lds r25,(TrimRoll)+1 |
| 7661 4266 893C cpi r24,201 |
| 7662 4268 9105 cpc r25,__zero_reg__ |
| 7663 426a 1CF0 brlt .L570 |
| 7664 426c 88EC ldi r24,lo8(200) |
| 7665 426e 90E0 ldi r25,hi8(200) |
| 7666 4270 05C0 rjmp .L795 |
| 7667 .L570: |
| 7668 4272 8853 subi r24,lo8(-200) |
| 7669 4274 9F4F sbci r25,hi8(-200) |
| 7670 4276 34F4 brge .L571 |
| 7671 4278 88E3 ldi r24,lo8(-200) |
| 7672 427a 9FEF ldi r25,hi8(-200) |
| 7673 .L795: |
| 7674 427c 9093 0000 sts (TrimRoll)+1,r25 |
| 7675 4280 8093 0000 sts TrimRoll,r24 |
| 7676 .L571: |
| 7677 4284 8091 0000 lds r24,MesswertNick |
| 7678 4288 9091 0000 lds r25,(MesswertNick)+1 |
| 7679 428c AA27 clr r26 |
| 7680 428e 97FD sbrc r25,7 |
| 7681 4290 A095 com r26 |
| 7682 4292 BA2F mov r27,r26 |
| 7683 4294 2091 0000 lds r18,GyroFaktor |
| 7684 4298 A22E mov r10,r18 |
| 7685 429a BB24 clr r11 |
| 7686 429c CC24 clr r12 |
| 7687 429e DD24 clr r13 |
| 7688 42a0 BC01 movw r22,r24 |
| 7689 42a2 CD01 movw r24,r26 |
| 7690 42a4 A601 movw r20,r12 |
| 7691 42a6 9501 movw r18,r10 |
| 7692 42a8 0E94 0000 call __mulsi3 |
| 7693 42ac 9B01 movw r18,r22 |
| 7694 42ae AC01 movw r20,r24 |
| 7695 42b0 8091 0000 lds r24,TrimNick |
| 7696 42b4 9091 0000 lds r25,(TrimNick)+1 |
| 7697 42b8 AA27 clr r26 |
| 7698 42ba 97FD sbrc r25,7 |
| 7699 42bc A095 com r26 |
| 7700 42be BA2F mov r27,r26 |
| 7701 42c0 E7E0 ldi r30,7 |
| 7702 42c2 880F 1: lsl r24 |
| 7703 42c4 991F rol r25 |
| 7704 42c6 AA1F rol r26 |
| 7705 42c8 BB1F rol r27 |
| 7706 42ca EA95 dec r30 |
| 7707 42cc D1F7 brne 1b |
| 7708 42ce 280F add r18,r24 |
| 7709 42d0 391F adc r19,r25 |
| 7710 42d2 4A1F adc r20,r26 |
| 7711 42d4 5B1F adc r21,r27 |
| 7712 42d6 57FF sbrs r21,7 |
| 7713 42d8 04C0 rjmp .L573 |
| 7714 42da 215C subi r18,lo8(-(63)) |
| 7715 42dc 3F4F sbci r19,hi8(-(63)) |
| 7716 42de 4F4F sbci r20,hlo8(-(63)) |
| 7717 42e0 5F4F sbci r21,hhi8(-(63)) |
| 7718 .L573: |
| 7719 42e2 76E0 ldi r23,6 |
| 7720 42e4 5595 1: asr r21 |
| 7721 42e6 4795 ror r20 |
| 7722 42e8 3795 ror r19 |
| 7723 42ea 2795 ror r18 |
| 7724 42ec 7A95 dec r23 |
| 7725 42ee D1F7 brne 1b |
| 7726 42f0 8301 movw r16,r6 |
| 7727 42f2 020F add r16,r18 |
| 7728 42f4 131F adc r17,r19 |
| 7729 42f6 1093 0000 sts (MesswertNick)+1,r17 |
| 7730 42fa 0093 0000 sts MesswertNick,r16 |
| 7731 42fe 8091 0000 lds r24,MesswertRoll |
| 7732 4302 9091 0000 lds r25,(MesswertRoll)+1 |
| 7733 4306 AA27 clr r26 |
| 7734 4308 97FD sbrc r25,7 |
| 7735 430a A095 com r26 |
| 7736 430c BA2F mov r27,r26 |
| 7737 430e BC01 movw r22,r24 |
| 7738 4310 CD01 movw r24,r26 |
| 7739 4312 A601 movw r20,r12 |
| 7740 4314 9501 movw r18,r10 |
| 7741 4316 0E94 0000 call __mulsi3 |
| 7742 431a 9B01 movw r18,r22 |
| 7743 431c AC01 movw r20,r24 |
| 7744 431e 8091 0000 lds r24,TrimRoll |
| 7745 4322 9091 0000 lds r25,(TrimRoll)+1 |
| 7746 4326 AA27 clr r26 |
| 7747 4328 97FD sbrc r25,7 |
| 7748 432a A095 com r26 |
| 7749 432c BA2F mov r27,r26 |
| 7750 432e 67E0 ldi r22,7 |
| 7751 4330 880F 1: lsl r24 |
| 7752 4332 991F rol r25 |
| 7753 4334 AA1F rol r26 |
| 7754 4336 BB1F rol r27 |
| 7755 4338 6A95 dec r22 |
| 7756 433a D1F7 brne 1b |
| 7757 433c 280F add r18,r24 |
| 7758 433e 391F adc r19,r25 |
| 7759 4340 4A1F adc r20,r26 |
| 7760 4342 5B1F adc r21,r27 |
| 7761 4344 57FF sbrs r21,7 |
| 7762 4346 04C0 rjmp .L574 |
| 7763 4348 215C subi r18,lo8(-(63)) |
| 7764 434a 3F4F sbci r19,hi8(-(63)) |
| 7765 434c 4F4F sbci r20,hlo8(-(63)) |
| 7766 434e 5F4F sbci r21,hhi8(-(63)) |
| 7767 .L574: |
| 7768 4350 96E0 ldi r25,6 |
| 7769 4352 5595 1: asr r21 |
| 7770 4354 4795 ror r20 |
| 7771 4356 3795 ror r19 |
| 7772 4358 2795 ror r18 |
| 7773 435a 9A95 dec r25 |
| 7774 435c D1F7 brne 1b |
| 7775 435e 4201 movw r8,r4 |
| 7776 4360 820E add r8,r18 |
| 7777 4362 931E adc r9,r19 |
| 7778 4364 9092 0000 sts (MesswertRoll)+1,r9 |
| 7779 4368 8092 0000 sts MesswertRoll,r8 |
| 7780 436c 8091 0000 lds r24,MesswertGier |
| 7781 4370 9091 0000 lds r25,(MesswertGier)+1 |
| 7782 4374 880F add r24,r24 |
| 7783 4376 991F adc r25,r25 |
| 7784 4378 AA27 clr r26 |
| 7785 437a 97FD sbrc r25,7 |
| 7786 437c A095 com r26 |
| 7787 437e BA2F mov r27,r26 |
| 7788 4380 2091 0000 lds r18,GyroFaktorGier |
| 7789 4384 3327 clr r19 |
| 7790 4386 4427 clr r20 |
| 7791 4388 5527 clr r21 |
| 7792 438a BC01 movw r22,r24 |
| 7793 438c CD01 movw r24,r26 |
| 7794 438e 0E94 0000 call __mulsi3 |
| 7795 4392 5B01 movw r10,r22 |
| 7796 4394 6C01 movw r12,r24 |
| 7797 4396 97FF sbrs r25,7 |
| 7798 4398 08C0 rjmp .L575 |
| 7799 439a 8FE3 ldi r24,lo8(63) |
| 7800 439c 90E0 ldi r25,hi8(63) |
| 7801 439e A0E0 ldi r26,hlo8(63) |
| 7802 43a0 B0E0 ldi r27,hhi8(63) |
| 7803 43a2 A80E add r10,r24 |
| 7804 43a4 B91E adc r11,r25 |
| 7805 43a6 CA1E adc r12,r26 |
| 7806 43a8 DB1E adc r13,r27 |
| 7807 .L575: |
| 7808 43aa 86E0 ldi r24,6 |
| 7809 43ac D594 1: asr r13 |
| 7810 43ae C794 ror r12 |
| 7811 43b0 B794 ror r11 |
| 7812 43b2 A794 ror r10 |
| 7813 43b4 8A95 dec r24 |
| 7814 43b6 D1F7 brne 1b |
| 7815 43b8 8091 0000 lds r24,IntegralFaktorGier |
| 7816 43bc 282F mov r18,r24 |
| 7817 43be 3327 clr r19 |
| 7818 43c0 4427 clr r20 |
| 7819 43c2 5527 clr r21 |
| 7820 43c4 8091 0000 lds r24,Integral_Gier |
| 7821 43c8 9091 0000 lds r25,(Integral_Gier)+1 |
| 7822 43cc A091 0000 lds r26,(Integral_Gier)+2 |
| 7823 43d0 B091 0000 lds r27,(Integral_Gier)+3 |
| 7824 43d4 BC01 movw r22,r24 |
| 7825 43d6 CD01 movw r24,r26 |
| 7826 43d8 0E94 0000 call __mulsi3 |
| 7827 43dc DC01 movw r26,r24 |
| 7828 43de CB01 movw r24,r22 |
| 7829 43e0 BC01 movw r22,r24 |
| 7830 43e2 CD01 movw r24,r26 |
| 7831 43e4 20EF ldi r18,lo8(22000) |
| 7832 43e6 35E5 ldi r19,hi8(22000) |
| 7833 43e8 40E0 ldi r20,hlo8(22000) |
| 7834 43ea 50E0 ldi r21,hhi8(22000) |
| 7835 43ec 0E94 0000 call __divmodsi4 |
| 7836 43f0 B501 movw r22,r10 |
| 7837 43f2 620F add r22,r18 |
| 7838 43f4 731F adc r23,r19 |
| 7839 43f6 7093 0000 sts (MesswertGier)+1,r23 |
| 7840 43fa 6093 0000 sts MesswertGier,r22 |
| 7841 43fe 0150 subi r16,lo8(4097) |
| 7842 4400 1041 sbci r17,hi8(4097) |
| 7843 4402 34F0 brlt .L576 |
| 7844 4404 80E0 ldi r24,lo8(4096) |
| 7845 4406 90E1 ldi r25,hi8(4096) |
| 7846 4408 9093 0000 sts (MesswertNick)+1,r25 |
| 7847 440c 8093 0000 sts MesswertNick,r24 |
| 7848 .L576: |
| 7849 4410 8091 0000 lds r24,MesswertNick |
| 7850 4414 9091 0000 lds r25,(MesswertNick)+1 |
| 7851 4418 8050 subi r24,lo8(-4096) |
| 7852 441a 904F sbci r25,hi8(-4096) |
| 7853 441c 34F4 brge .L577 |
| 7854 441e 80E0 ldi r24,lo8(-4096) |
| 7855 4420 90EF ldi r25,hi8(-4096) |
| 7856 4422 9093 0000 sts (MesswertNick)+1,r25 |
| 7857 4426 8093 0000 sts MesswertNick,r24 |
| 7858 .L577: |
| 7859 442a B1E0 ldi r27,lo8(4097) |
| 7860 442c 8B16 cp r8,r27 |
| 7861 442e B0E1 ldi r27,hi8(4097) |
| 7862 4430 9B06 cpc r9,r27 |
| 7863 4432 34F0 brlt .L578 |
| 7864 4434 80E0 ldi r24,lo8(4096) |
| 7865 4436 90E1 ldi r25,hi8(4096) |
| 7866 4438 9093 0000 sts (MesswertRoll)+1,r25 |
| 7867 443c 8093 0000 sts MesswertRoll,r24 |
| 7868 .L578: |
| 7869 4440 8091 0000 lds r24,MesswertRoll |
| 7870 4444 9091 0000 lds r25,(MesswertRoll)+1 |
| 7871 4448 8050 subi r24,lo8(-4096) |
| 7872 444a 904F sbci r25,hi8(-4096) |
| 7873 444c 34F4 brge .L579 |
| 7874 444e 80E0 ldi r24,lo8(-4096) |
| 7875 4450 90EF ldi r25,hi8(-4096) |
| 7876 4452 9093 0000 sts (MesswertRoll)+1,r25 |
| 7877 4456 8093 0000 sts MesswertRoll,r24 |
| 7878 .L579: |
| 7879 445a 6150 subi r22,lo8(4097) |
| 7880 445c 7041 sbci r23,hi8(4097) |
| 7881 445e 34F0 brlt .L580 |
| 7882 4460 80E0 ldi r24,lo8(4096) |
| 7883 4462 90E1 ldi r25,hi8(4096) |
| 7884 4464 9093 0000 sts (MesswertGier)+1,r25 |
| 7885 4468 8093 0000 sts MesswertGier,r24 |
| 7886 .L580: |
| 7887 446c 8091 0000 lds r24,MesswertGier |
| 7888 4470 9091 0000 lds r25,(MesswertGier)+1 |
| 7889 4474 8050 subi r24,lo8(-4096) |
| 7890 4476 904F sbci r25,hi8(-4096) |
| 7891 4478 34F4 brge .L581 |
| 7892 447a 80E0 ldi r24,lo8(-4096) |
| 7893 447c 90EF ldi r25,hi8(-4096) |
| 7894 447e 9093 0000 sts (MesswertGier)+1,r25 |
| 7895 4482 8093 0000 sts MesswertGier,r24 |
| 7896 .L581: |
| 7897 4486 8091 0000 lds r24,BattLowVoltageWarning |
| 7898 448a 482F mov r20,r24 |
| 7899 448c 5527 clr r21 |
| 7900 448e 8091 0000 lds r24,UBat |
| 7901 4492 9091 0000 lds r25,(UBat)+1 |
| 7902 4496 4817 cp r20,r24 |
| 7903 4498 5907 cpc r21,r25 |
| 7904 449a 94F4 brge .L582 |
| 7905 449c 2091 0000 lds r18,UBat |
| 7906 44a0 3091 0000 lds r19,(UBat)+1 |
| 7907 44a4 6981 ldd r22,Y+1 |
| 7908 44a6 7A81 ldd r23,Y+2 |
| 7909 44a8 649F mul r22,r20 |
| 7910 44aa C001 movw r24,r0 |
| 7911 44ac 659F mul r22,r21 |
| 7912 44ae 900D add r25,r0 |
| 7913 44b0 749F mul r23,r20 |
| 7914 44b2 900D add r25,r0 |
| 7915 44b4 1124 clr r1 |
| 7916 44b6 B901 movw r22,r18 |
| 7917 44b8 0E94 0000 call __udivmodhi4 |
| 7918 44bc 7A83 std Y+2,r23 |
| 7919 44be 6983 std Y+1,r22 |
| 7920 .L582: |
| 7921 44c0 8981 ldd r24,Y+1 |
| 7922 44c2 9A81 ldd r25,Y+2 |
| 7923 44c4 880F lsl r24 |
| 7924 44c6 991F rol r25 |
| 7925 44c8 880F lsl r24 |
| 7926 44ca 991F rol r25 |
| 7927 44cc 9A83 std Y+2,r25 |
| 7928 44ce 8983 std Y+1,r24 |
| 7929 44d0 4091 0000 lds r20,EE_Parameter+13 |
| 7930 44d4 40FF sbrs r20,0 |
| 7931 44d6 BDC6 rjmp .L583 |
| 7932 44d8 EE20 tst r14 |
| 7933 44da 09F0 breq .+2 |
| 7934 44dc BAC6 rjmp .L583 |
| 7935 44de FF20 tst r15 |
| 7936 44e0 09F0 breq .+2 |
| 7937 44e2 B7C6 rjmp .L583 |
| 7938 44e4 AA24 clr r10 |
| 7939 44e6 BB24 clr r11 |
| 7940 44e8 4501 movw r8,r10 |
| 7941 44ea 8091 0000 lds r24,HoverGas |
| 7942 44ee 9091 0000 lds r25,(HoverGas)+1 |
| 7943 44f2 9093 0000 sts (DebugOut+44)+1,r25 |
| 7944 44f6 8093 0000 sts DebugOut+44,r24 |
| 7945 44fa 2091 0000 lds r18,BaroExpandActive |
| 7946 44fe 3091 0000 lds r19,(BaroExpandActive)+1 |
| 7947 4502 2115 cp r18,__zero_reg__ |
| 7948 4504 3105 cpc r19,__zero_reg__ |
| 7949 4506 09F0 breq .+2 |
| 7950 4508 3FC0 rjmp .L584 |
| 7951 450a 8091 0000 lds r24,MessLuftdruck |
| 7952 450e 9091 0000 lds r25,(MessLuftdruck)+1 |
| 7953 4512 8959 subi r24,lo8(921) |
| 7954 4514 9340 sbci r25,hi8(921) |
| 7955 4516 58F0 brlo .L585 |
| 7956 4518 87B5 in r24,71-0x20 |
| 7957 451a 853F cpi r24,lo8(-11) |
| 7958 451c 20F4 brsh .L586 |
| 7959 451e 8091 0000 lds r24,ExpandBaro |
| 7960 4522 8150 subi r24,lo8(-(-1)) |
| 7961 4524 11C0 rjmp .L796 |
| 7962 .L586: |
| 7963 4526 81E0 ldi r24,lo8(1) |
| 7964 4528 8093 0000 sts BaroAtLowerLimit.30,r24 |
| 7965 452c 4EC0 rjmp .L593 |
| 7966 .L585: |
| 7967 452e 8091 0000 lds r24,MessLuftdruck |
| 7968 4532 9091 0000 lds r25,(MessLuftdruck)+1 |
| 7969 4536 8436 cpi r24,100 |
| 7970 4538 9105 cpc r25,__zero_reg__ |
| 7971 453a 08F5 brsh .L589 |
| 7972 453c 87B5 in r24,71-0x20 |
| 7973 453e 8B30 cpi r24,lo8(11) |
| 7974 4540 D0F0 brlo .L590 |
| 7975 4542 8091 0000 lds r24,ExpandBaro |
| 7976 4546 8F5F subi r24,lo8(-(1)) |
| 7977 .L796: |
| 7978 4548 8093 0000 sts ExpandBaro,r24 |
| 7979 454c 9AE0 ldi r25,lo8(10) |
| 7980 454e 8902 muls r24,r25 |
| 7981 4550 9001 movw r18,r0 |
| 7982 4552 1124 clr r1 |
| 7983 4554 8091 0000 lds r24,DruckOffsetSetting |
| 7984 4558 821B sub r24,r18 |
| 7985 455a 87BD out 71-0x20,r24 |
| 7986 455c 8CE2 ldi r24,lo8(300) |
| 7987 455e 91E0 ldi r25,hi8(300) |
| 7988 4560 9093 0000 sts (beeptime)+1,r25 |
| 7989 4564 8093 0000 sts beeptime,r24 |
| 7990 4568 8EE5 ldi r24,lo8(350) |
| 7991 456a 91E0 ldi r25,hi8(350) |
| 7992 456c 9093 0000 sts (BaroExpandActive)+1,r25 |
| 7993 4570 8093 0000 sts BaroExpandActive,r24 |
| 7994 4574 2AC0 rjmp .L593 |
| 7995 .L590: |
| 7996 4576 81E0 ldi r24,lo8(1) |
| 7997 4578 8093 0000 sts BaroAtUpperLimit.29,r24 |
| 7998 457c 26C0 rjmp .L593 |
| 7999 .L589: |
| 8000 457e F092 0000 sts BaroAtUpperLimit.29,r15 |
| 8001 4582 F092 0000 sts BaroAtLowerLimit.30,r15 |
| 8002 4586 21C0 rjmp .L593 |
| 8003 .L584: |
| 8004 4588 8091 0000 lds r24,HoehenWert |
| 8005 458c 9091 0000 lds r25,(HoehenWert)+1 |
| 8006 4590 A091 0000 lds r26,(HoehenWert)+2 |
| 8007 4594 B091 0000 lds r27,(HoehenWert)+3 |
| 8008 4598 14E0 ldi r17,4 |
| 8009 459a 880F 1: lsl r24 |
| 8010 459c 991F rol r25 |
| 8011 459e AA1F rol r26 |
| 8012 45a0 BB1F rol r27 |
| 8013 45a2 1A95 dec r17 |
| 8014 45a4 D1F7 brne 1b |
| 8015 45a6 8093 0000 sts SummenHoehe,r24 |
| 8016 45aa 9093 0000 sts (SummenHoehe)+1,r25 |
| 8017 45ae A093 0000 sts (SummenHoehe)+2,r26 |
| 8018 45b2 B093 0000 sts (SummenHoehe)+3,r27 |
| 8019 45b6 B092 0000 sts (VarioMeter)+1,r11 |
| 8020 45ba A092 0000 sts VarioMeter,r10 |
| 8021 45be 2150 subi r18,lo8(-(-1)) |
| 8022 45c0 3040 sbci r19,hi8(-(-1)) |
| 8023 45c2 3093 0000 sts (BaroExpandActive)+1,r19 |
| 8024 45c6 2093 0000 sts BaroExpandActive,r18 |
| 8025 .L593: |
| 8026 45ca 2091 0000 lds r18,Parameter_MaxHoehe |
| 8027 45ce 41FF sbrs r20,1 |
| 8028 45d0 24C0 rjmp .L594 |
| 8029 45d2 2233 cpi r18,lo8(50) |
| 8030 45d4 D8F4 brsh .L595 |
| 8031 45d6 8091 0000 lds r24,delay.28 |
| 8032 45da 8150 subi r24,lo8(-(-1)) |
| 8033 45dc 8093 0000 sts delay.28,r24 |
| 8034 45e0 8F3F cpi r24,lo8(-1) |
| 8035 45e2 D9F5 brne .L598 |
| 8036 45e4 1092 0000 sts HoehenReglerAktiv,__zero_reg__ |
| 8037 45e8 8091 0000 lds r24,HoehenWert |
| 8038 45ec 9091 0000 lds r25,(HoehenWert)+1 |
| 8039 45f0 A091 0000 lds r26,(HoehenWert)+2 |
| 8040 45f4 B091 0000 lds r27,(HoehenWert)+3 |
| 8041 45f8 8093 0000 sts SollHoehe,r24 |
| 8042 45fc 9093 0000 sts (SollHoehe)+1,r25 |
| 8043 4600 A093 0000 sts (SollHoehe)+2,r26 |
| 8044 4604 B093 0000 sts (SollHoehe)+3,r27 |
| 8045 4608 81E0 ldi r24,lo8(1) |
| 8046 460a 04C0 rjmp .L797 |
| 8047 .L595: |
| 8048 460c 81E0 ldi r24,lo8(1) |
| 8049 460e 8093 0000 sts HoehenReglerAktiv,r24 |
| 8050 4612 88EC ldi r24,lo8(-56) |
| 8051 .L797: |
| 8052 4614 8093 0000 sts delay.28,r24 |
| 8053 4618 20C0 rjmp .L598 |
| 8054 .L594: |
| 8055 461a 8091 0000 lds r24,ExternHoehenValue |
| 8056 461e 9091 0000 lds r25,(ExternHoehenValue)+1 |
| 8057 4622 820F add r24,r18 |
| 8058 4624 911D adc r25,__zero_reg__ |
| 8059 4626 2091 0000 lds r18,EE_Parameter+18 |
| 8060 462a 3327 clr r19 |
| 8061 462c 829F mul r24,r18 |
| 8062 462e F001 movw r30,r0 |
| 8063 4630 839F mul r24,r19 |
| 8064 4632 F00D add r31,r0 |
| 8065 4634 929F mul r25,r18 |
| 8066 4636 F00D add r31,r0 |
| 8067 4638 1124 clr r1 |
| 8068 463a CF01 movw r24,r30 |
| 8069 463c AA27 clr r26 |
| 8070 463e 97FD sbrc r25,7 |
| 8071 4640 A095 com r26 |
| 8072 4642 BA2F mov r27,r26 |
| 8073 4644 8093 0000 sts SollHoehe,r24 |
| 8074 4648 9093 0000 sts (SollHoehe)+1,r25 |
| 8075 464c A093 0000 sts (SollHoehe)+2,r26 |
| 8076 4650 B093 0000 sts (SollHoehe)+3,r27 |
| 8077 4654 81E0 ldi r24,lo8(1) |
| 8078 4656 8093 0000 sts HoehenReglerAktiv,r24 |
| 8079 .L598: |
| 8080 465a 8091 0000 lds r24,IntegralNick |
| 8081 465e 9091 0000 lds r25,(IntegralNick)+1 |
| 8082 4662 A091 0000 lds r26,(IntegralNick)+2 |
| 8083 4666 B091 0000 lds r27,(IntegralNick)+3 |
| 8084 466a E090 0000 lds r14,GIER_GRAD_FAKTOR |
| 8085 466e F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1 |
| 8086 4672 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2 |
| 8087 4676 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3 |
| 8088 467a BC01 movw r22,r24 |
| 8089 467c CD01 movw r24,r26 |
| 8090 467e A801 movw r20,r16 |
| 8091 4680 9701 movw r18,r14 |
| 8092 4682 0E94 0000 call __divmodsi4 |
| 8093 4686 5901 movw r10,r18 |
| 8094 4688 6A01 movw r12,r20 |
| 8095 468a 8091 0000 lds r24,IntegralRoll |
| 8096 468e 9091 0000 lds r25,(IntegralRoll)+1 |
| 8097 4692 A091 0000 lds r26,(IntegralRoll)+2 |
| 8098 4696 B091 0000 lds r27,(IntegralRoll)+3 |
| 8099 469a BC01 movw r22,r24 |
| 8100 469c CD01 movw r24,r26 |
| 8101 469e A801 movw r20,r16 |
| 8102 46a0 9701 movw r18,r14 |
| 8103 46a2 0E94 0000 call __divmodsi4 |
| 8104 46a6 B901 movw r22,r18 |
| 8105 46a8 C501 movw r24,r10 |
| 8106 46aa 0E94 0000 call ihypot |
| 8107 46ae 8C01 movw r16,r24 |
| 8108 46b0 CC97 sbiw r24,60 |
| 8109 46b2 14F0 brlt .L599 |
| 8110 46b4 0CE3 ldi r16,lo8(60) |
| 8111 46b6 10E0 ldi r17,hi8(60) |
| 8112 .L599: |
| 8113 46b8 C801 movw r24,r16 |
| 8114 46ba 0E94 0000 call c_cos_8192 |
| 8115 46be 8C01 movw r16,r24 |
| 8116 46c0 80E2 ldi r24,lo8(32) |
| 8117 46c2 8093 0000 sts VarioCharacter,r24 |
| 8118 46c6 8091 0000 lds r24,HoehenReglerAktiv |
| 8119 46ca 8823 tst r24 |
| 8120 46cc 09F4 brne .+2 |
| 8121 46ce 47C4 rjmp .L600 |
| 8122 46d0 8091 0000 lds r24,FC_StatusFlags |
| 8123 46d4 9927 clr r25 |
| 8124 46d6 9C01 movw r18,r24 |
| 8125 46d8 2071 andi r18,lo8(16) |
| 8126 46da 3070 andi r19,hi8(16) |
| 8127 46dc 84FD sbrc r24,4 |
| 8128 46de 3FC4 rjmp .L600 |
| 8129 46e0 6091 0000 lds r22,EE_Parameter+102 |
| 8130 46e4 60FD sbrc r22,0 |
| 8131 46e6 04C0 rjmp .L602 |
| 8132 46e8 8091 0000 lds r24,EE_Parameter+13 |
| 8133 46ec 81FD sbrc r24,1 |
| 8134 46ee 0CC0 rjmp .L601 |
| 8135 .L602: |
| 8136 46f0 C980 ldd r12,Y+1 |
| 8137 46f2 DA80 ldd r13,Y+2 |
| 8138 46f4 3093 0000 sts (HeightTrimming.22)+1,r19 |
| 8139 46f8 2093 0000 sts HeightTrimming.22,r18 |
| 8140 46fc 8091 0000 lds r24,FC_StatusFlags |
| 8141 4700 806C ori r24,lo8(-64) |
| 8142 4702 8093 0000 sts FC_StatusFlags,r24 |
| 8143 4706 99C1 rjmp .L603 |
| 8144 .L601: |
| 8145 4708 8091 0000 lds r24,FC_StatusFlags |
| 8146 470c 81FF sbrs r24,1 |
| 8147 470e 6BC1 rjmp .L604 |
| 8148 4710 4091 0000 lds r20,StickGasHover.24 |
| 8149 4714 5091 0000 lds r21,(StickGasHover.24)+1 |
| 8150 4718 CA01 movw r24,r20 |
| 8151 471a 0F96 adiw r24,15 |
| 8152 471c 2091 0000 lds r18,StickGas |
| 8153 4720 3091 0000 lds r19,(StickGas)+1 |
| 8154 4724 8217 cp r24,r18 |
| 8155 4726 9307 cpc r25,r19 |
| 8156 4728 BCF5 brge .L605 |
| 8157 472a 8091 0000 lds r24,BaroAtUpperLimit.29 |
| 8158 472e 8823 tst r24 |
| 8159 4730 99F5 brne .L605 |
| 8160 4732 8091 0000 lds r24,FC_StatusFlags |
| 8161 4736 87FF sbrs r24,7 |
| 8162 4738 15C0 rjmp .L606 |
| 8163 473a 8091 0000 lds r24,FC_StatusFlags |
| 8164 473e 8F77 andi r24,lo8(127) |
| 8165 4740 8093 0000 sts FC_StatusFlags,r24 |
| 8166 4744 8091 0000 lds r24,HoehenWert |
| 8167 4748 9091 0000 lds r25,(HoehenWert)+1 |
| 8168 474c A091 0000 lds r26,(HoehenWert)+2 |
| 8169 4750 B091 0000 lds r27,(HoehenWert)+3 |
| 8170 4754 8093 0000 sts SollHoehe,r24 |
| 8171 4758 9093 0000 sts (SollHoehe)+1,r25 |
| 8172 475c A093 0000 sts (SollHoehe)+2,r26 |
| 8173 4760 B093 0000 sts (SollHoehe)+3,r27 |
| 8174 .L606: |
| 8175 4764 8091 0000 lds r24,FC_StatusFlags |
| 8176 4768 8064 ori r24,lo8(64) |
| 8177 476a 8093 0000 sts FC_StatusFlags,r24 |
| 8178 476e 241B sub r18,r20 |
| 8179 4770 350B sbc r19,r21 |
| 8180 4772 2F50 subi r18,lo8(-(-15)) |
| 8181 4774 3040 sbci r19,hi8(-(-15)) |
| 8182 4776 37FF sbrs r19,7 |
| 8183 4778 03C0 rjmp .L607 |
| 8184 477a 3095 com r19 |
| 8185 477c 2195 neg r18 |
| 8186 477e 3F4F sbci r19,lo8(-1) |
| 8187 .L607: |
| 8188 4780 8091 0000 lds r24,HeightTrimming.22 |
| 8189 4784 9091 0000 lds r25,(HeightTrimming.22)+1 |
| 8190 4788 820F add r24,r18 |
| 8191 478a 931F adc r25,r19 |
| 8192 478c 9093 0000 sts (HeightTrimming.22)+1,r25 |
| 8193 4790 8093 0000 sts HeightTrimming.22,r24 |
| 8194 4794 8BE2 ldi r24,lo8(43) |
| 8195 4796 6EC0 rjmp .L798 |
| 8196 .L605: |
| 8197 4798 CA01 movw r24,r20 |
| 8198 479a 0F97 sbiw r24,15 |
| 8199 479c 2817 cp r18,r24 |
| 8200 479e 3907 cpc r19,r25 |
| 8201 47a0 BCF5 brge .L609 |
| 8202 47a2 8091 0000 lds r24,BaroAtLowerLimit.30 |
| 8203 47a6 8823 tst r24 |
| 8204 47a8 99F5 brne .L609 |
| 8205 47aa 8091 0000 lds r24,FC_StatusFlags |
| 8206 47ae 86FF sbrs r24,6 |
| 8207 47b0 15C0 rjmp .L610 |
| 8208 47b2 8091 0000 lds r24,FC_StatusFlags |
| 8209 47b6 8F7B andi r24,lo8(-65) |
| 8210 47b8 8093 0000 sts FC_StatusFlags,r24 |
| 8211 47bc 8091 0000 lds r24,HoehenWert |
| 8212 47c0 9091 0000 lds r25,(HoehenWert)+1 |
| 8213 47c4 A091 0000 lds r26,(HoehenWert)+2 |
| 8214 47c8 B091 0000 lds r27,(HoehenWert)+3 |
| 8215 47cc 8093 0000 sts SollHoehe,r24 |
| 8216 47d0 9093 0000 sts (SollHoehe)+1,r25 |
| 8217 47d4 A093 0000 sts (SollHoehe)+2,r26 |
| 8218 47d8 B093 0000 sts (SollHoehe)+3,r27 |
| 8219 .L610: |
| 8220 47dc 8091 0000 lds r24,FC_StatusFlags |
| 8221 47e0 8068 ori r24,lo8(-128) |
| 8222 47e2 8093 0000 sts FC_StatusFlags,r24 |
| 8223 47e6 241B sub r18,r20 |
| 8224 47e8 350B sbc r19,r21 |
| 8225 47ea 215F subi r18,lo8(-(15)) |
| 8226 47ec 3F4F sbci r19,hi8(-(15)) |
| 8227 47ee 37FF sbrs r19,7 |
| 8228 47f0 03C0 rjmp .L611 |
| 8229 47f2 3095 com r19 |
| 8230 47f4 2195 neg r18 |
| 8231 47f6 3F4F sbci r19,lo8(-1) |
| 8232 .L611: |
| 8233 47f8 8091 0000 lds r24,HeightTrimming.22 |
| 8234 47fc 9091 0000 lds r25,(HeightTrimming.22)+1 |
| 8235 4800 821B sub r24,r18 |
| 8236 4802 930B sbc r25,r19 |
| 8237 4804 9093 0000 sts (HeightTrimming.22)+1,r25 |
| 8238 4808 8093 0000 sts HeightTrimming.22,r24 |
| 8239 480c 8DE2 ldi r24,lo8(45) |
| 8240 480e 32C0 rjmp .L798 |
| 8241 .L609: |
| 8242 4810 8091 0000 lds r24,FC_StatusFlags |
| 8243 4814 807C andi r24,lo8(-64) |
| 8244 4816 69F1 breq .L613 |
| 8245 4818 8091 0000 lds r24,FC_StatusFlags |
| 8246 481c 8F73 andi r24,lo8(63) |
| 8247 481e 8093 0000 sts FC_StatusFlags,r24 |
| 8248 4822 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__ |
| 8249 4826 1092 0000 sts HeightTrimming.22,__zero_reg__ |
| 8250 482a 2091 0000 lds r18,HoehenWert |
| 8251 482e 3091 0000 lds r19,(HoehenWert)+1 |
| 8252 4832 4091 0000 lds r20,(HoehenWert)+2 |
| 8253 4836 5091 0000 lds r21,(HoehenWert)+3 |
| 8254 483a 2093 0000 sts SollHoehe,r18 |
| 8255 483e 3093 0000 sts (SollHoehe)+1,r19 |
| 8256 4842 4093 0000 sts (SollHoehe)+2,r20 |
| 8257 4846 5093 0000 sts (SollHoehe)+3,r21 |
| 8258 484a 61FF sbrs r22,1 |
| 8259 484c 06C0 rjmp .L614 |
| 8260 484e 84EF ldi r24,lo8(500) |
| 8261 4850 91E0 ldi r25,hi8(500) |
| 8262 4852 9093 0000 sts (beeptime)+1,r25 |
| 8263 4856 8093 0000 sts beeptime,r24 |
| 8264 .L614: |
| 8265 485a 8091 0000 lds r24,StartTrigger |
| 8266 485e 8823 tst r24 |
| 8267 4860 41F4 brne .L613 |
| 8268 4862 2333 cpi r18,lo8(51) |
| 8269 4864 3105 cpc r19,__zero_reg__ |
| 8270 4866 4105 cpc r20,__zero_reg__ |
| 8271 4868 5105 cpc r21,__zero_reg__ |
| 8272 486a 1CF0 brlt .L613 |
| 8273 486c 81E0 ldi r24,lo8(1) |
| 8274 486e 8093 0000 sts StartTrigger,r24 |
| 8275 .L613: |
| 8276 4872 8DE3 ldi r24,lo8(61) |
| 8277 .L798: |
| 8278 4874 8093 0000 sts VarioCharacter,r24 |
| 8279 4878 2091 0000 lds r18,HeightTrimming.22 |
| 8280 487c 3091 0000 lds r19,(HeightTrimming.22)+1 |
| 8281 4880 C901 movw r24,r18 |
| 8282 4882 37FF sbrs r19,7 |
| 8283 4884 04C0 rjmp .L617 |
| 8284 4886 8827 clr r24 |
| 8285 4888 9927 clr r25 |
| 8286 488a 821B sub r24,r18 |
| 8287 488c 930B sbc r25,r19 |
| 8288 .L617: |
| 8289 488e 8150 subi r24,lo8(513) |
| 8290 4890 9240 sbci r25,hi8(513) |
| 8291 4892 0CF4 brge .+2 |
| 8292 4894 91C0 rjmp .L616 |
| 8293 4896 8091 0000 lds r24,EE_Parameter+18 |
| 8294 489a 9927 clr r25 |
| 8295 489c 289F mul r18,r24 |
| 8296 489e 7001 movw r14,r0 |
| 8297 48a0 299F mul r18,r25 |
| 8298 48a2 F00C add r15,r0 |
| 8299 48a4 389F mul r19,r24 |
| 8300 48a6 F00C add r15,r0 |
| 8301 48a8 1124 clr r1 |
| 8302 48aa C701 movw r24,r14 |
| 8303 48ac 60E0 ldi r22,lo8(1280) |
| 8304 48ae 75E0 ldi r23,hi8(1280) |
| 8305 48b0 0E94 0000 call __divmodhi4 |
| 8306 48b4 CB01 movw r24,r22 |
| 8307 48b6 AA27 clr r26 |
| 8308 48b8 97FD sbrc r25,7 |
| 8309 48ba A095 com r26 |
| 8310 48bc BA2F mov r27,r26 |
| 8311 48be 2091 0000 lds r18,SollHoehe |
| 8312 48c2 3091 0000 lds r19,(SollHoehe)+1 |
| 8313 48c6 4091 0000 lds r20,(SollHoehe)+2 |
| 8314 48ca 5091 0000 lds r21,(SollHoehe)+3 |
| 8315 48ce 280F add r18,r24 |
| 8316 48d0 391F adc r19,r25 |
| 8317 48d2 4A1F adc r20,r26 |
| 8318 48d4 5B1F adc r21,r27 |
| 8319 48d6 2093 0000 sts SollHoehe,r18 |
| 8320 48da 3093 0000 sts (SollHoehe)+1,r19 |
| 8321 48de 4093 0000 sts (SollHoehe)+2,r20 |
| 8322 48e2 5093 0000 sts (SollHoehe)+3,r21 |
| 8323 48e6 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__ |
| 8324 48ea 1092 0000 sts HeightTrimming.22,__zero_reg__ |
| 8325 48ee C090 0000 lds r12,HoehenWert |
| 8326 48f2 D090 0000 lds r13,(HoehenWert)+1 |
| 8327 48f6 E090 0000 lds r14,(HoehenWert)+2 |
| 8328 48fa F090 0000 lds r15,(HoehenWert)+3 |
| 8329 48fe D701 movw r26,r14 |
| 8330 4900 C601 movw r24,r12 |
| 8331 4902 8050 subi r24,lo8(-(-1024)) |
| 8332 4904 9440 sbci r25,hi8(-(-1024)) |
| 8333 4906 A040 sbci r26,hlo8(-(-1024)) |
| 8334 4908 B040 sbci r27,hhi8(-(-1024)) |
| 8335 490a 8217 cp r24,r18 |
| 8336 490c 9307 cpc r25,r19 |
| 8337 490e A407 cpc r26,r20 |
| 8338 4910 B507 cpc r27,r21 |
| 8339 4912 5CF4 brge .L799 |
| 8340 4914 D701 movw r26,r14 |
| 8341 4916 C601 movw r24,r12 |
| 8342 4918 8050 subi r24,lo8(-(1024)) |
| 8343 491a 9C4F sbci r25,hi8(-(1024)) |
| 8344 491c AF4F sbci r26,hlo8(-(1024)) |
| 8345 491e BF4F sbci r27,hhi8(-(1024)) |
| 8346 4920 2817 cp r18,r24 |
| 8347 4922 3907 cpc r19,r25 |
| 8348 4924 4A07 cpc r20,r26 |
| 8349 4926 5B07 cpc r21,r27 |
| 8350 4928 44F0 brlt .L619 |
| 8351 .L799: |
| 8352 492a 8093 0000 sts SollHoehe,r24 |
| 8353 492e 9093 0000 sts (SollHoehe)+1,r25 |
| 8354 4932 A093 0000 sts (SollHoehe)+2,r26 |
| 8355 4936 B093 0000 sts (SollHoehe)+3,r27 |
| 8356 .L619: |
| 8357 493a 8091 0000 lds r24,EE_Parameter+102 |
| 8358 493e 81FF sbrs r24,1 |
| 8359 4940 06C0 rjmp .L621 |
| 8360 4942 84E6 ldi r24,lo8(100) |
| 8361 4944 90E0 ldi r25,hi8(100) |
| 8362 4946 9093 0000 sts (beeptime)+1,r25 |
| 8363 494a 8093 0000 sts beeptime,r24 |
| 8364 .L621: |
| 8365 494e 8091 0000 lds r24,EE_Parameter+22 |
| 8366 4952 8823 tst r24 |
| 8367 4954 89F5 brne .L616 |
| 8368 4956 4091 0000 lds r20,HoverGas |
| 8369 495a 5091 0000 lds r21,(HoverGas)+1 |
| 8370 495e 57FF sbrs r21,7 |
| 8371 4960 02C0 rjmp .L623 |
| 8372 4962 4D5F subi r20,lo8(-(3)) |
| 8373 4964 5F4F sbci r21,hi8(-(3)) |
| 8374 .L623: |
| 8375 4966 5595 asr r21 |
| 8376 4968 4795 ror r20 |
| 8377 496a 5595 asr r21 |
| 8378 496c 4795 ror r20 |
| 8379 496e 8091 0000 lds r24,UBat |
| 8380 4972 9091 0000 lds r25,(UBat)+1 |
| 8381 4976 2091 0000 lds r18,BattLowVoltageWarning |
| 8382 497a 3327 clr r19 |
| 8383 497c 489F mul r20,r24 |
| 8384 497e B001 movw r22,r0 |
| 8385 4980 499F mul r20,r25 |
| 8386 4982 700D add r23,r0 |
| 8387 4984 589F mul r21,r24 |
| 8388 4986 700D add r23,r0 |
| 8389 4988 1124 clr r1 |
| 8390 498a CB01 movw r24,r22 |
| 8391 498c B901 movw r22,r18 |
| 8392 498e 0E94 0000 call __divmodhi4 |
| 8393 4992 7093 0000 sts (StickGasHover.24)+1,r23 |
| 8394 4996 6093 0000 sts StickGasHover.24,r22 |
| 8395 499a 6634 cpi r22,70 |
| 8396 499c 7105 cpc r23,__zero_reg__ |
| 8397 499e 1CF4 brge .L624 |
| 8398 49a0 86E4 ldi r24,lo8(70) |
| 8399 49a2 90E0 ldi r25,hi8(70) |
| 8400 49a4 05C0 rjmp .L800 |
| 8401 .L624: |
| 8402 49a6 6739 cpi r22,151 |
| 8403 49a8 7105 cpc r23,__zero_reg__ |
| 8404 49aa 34F0 brlt .L616 |
| 8405 49ac 86E9 ldi r24,lo8(150) |
| 8406 49ae 90E0 ldi r25,hi8(150) |
| 8407 .L800: |
| 8408 49b0 9093 0000 sts (StickGasHover.24)+1,r25 |
| 8409 49b4 8093 0000 sts StickGasHover.24,r24 |
| 8410 .L616: |
| 8411 49b8 8091 0000 lds r24,BaroExpandActive |
| 8412 49bc 9091 0000 lds r25,(BaroExpandActive)+1 |
| 8413 49c0 892B or r24,r25 |
| 8414 49c2 B9F1 breq .L628 |
| 8415 49c4 8091 0000 lds r24,HoehenWert |
| 8416 49c8 9091 0000 lds r25,(HoehenWert)+1 |
| 8417 49cc A091 0000 lds r26,(HoehenWert)+2 |
| 8418 49d0 B091 0000 lds r27,(HoehenWert)+3 |
| 8419 49d4 8093 0000 sts SollHoehe,r24 |
| 8420 49d8 9093 0000 sts (SollHoehe)+1,r25 |
| 8421 49dc A093 0000 sts (SollHoehe)+2,r26 |
| 8422 49e0 B093 0000 sts (SollHoehe)+3,r27 |
| 8423 49e4 26C0 rjmp .L628 |
| 8424 .L604: |
| 8425 49e6 8091 0000 lds r24,HoehenWert |
| 8426 49ea 9091 0000 lds r25,(HoehenWert)+1 |
| 8427 49ee A091 0000 lds r26,(HoehenWert)+2 |
| 8428 49f2 B091 0000 lds r27,(HoehenWert)+3 |
| 8429 49f6 8059 subi r24,lo8(-(-400)) |
| 8430 49f8 9140 sbci r25,hi8(-(-400)) |
| 8431 49fa A040 sbci r26,hlo8(-(-400)) |
| 8432 49fc B040 sbci r27,hhi8(-(-400)) |
| 8433 49fe 8093 0000 sts SollHoehe,r24 |
| 8434 4a02 9093 0000 sts (SollHoehe)+1,r25 |
| 8435 4a06 A093 0000 sts (SollHoehe)+2,r26 |
| 8436 4a0a B093 0000 sts (SollHoehe)+3,r27 |
| 8437 4a0e 8091 0000 lds r24,EE_Parameter+22 |
| 8438 4a12 8823 tst r24 |
| 8439 4a14 11F0 breq .L629 |
| 8440 4a16 9927 clr r25 |
| 8441 4a18 02C0 rjmp .L801 |
| 8442 .L629: |
| 8443 4a1a 88E7 ldi r24,lo8(120) |
| 8444 4a1c 90E0 ldi r25,hi8(120) |
| 8445 .L801: |
| 8446 4a1e 9093 0000 sts (StickGasHover.24)+1,r25 |
| 8447 4a22 8093 0000 sts StickGasHover.24,r24 |
| 8448 4a26 8981 ldd r24,Y+1 |
| 8449 4a28 9A81 ldd r25,Y+2 |
| 8450 4a2a 9093 0000 sts (HoverGas)+1,r25 |
| 8451 4a2e 8093 0000 sts HoverGas,r24 |
| 8452 .L628: |
| 8453 4a32 C090 0000 lds r12,HoverGas |
| 8454 4a36 D090 0000 lds r13,(HoverGas)+1 |
| 8455 .L603: |
| 8456 4a3a 2091 0000 lds r18,HoehenWert |
| 8457 4a3e 3091 0000 lds r19,(HoehenWert)+1 |
| 8458 4a42 4091 0000 lds r20,(HoehenWert)+2 |
| 8459 4a46 5091 0000 lds r21,(HoehenWert)+3 |
| 8460 4a4a 2B8B std Y+19,r18 |
| 8461 4a4c 3C8B std Y+20,r19 |
| 8462 4a4e 4D8B std Y+21,r20 |
| 8463 4a50 5E8B std Y+22,r21 |
| 8464 4a52 2091 0000 lds r18,SollHoehe |
| 8465 4a56 3091 0000 lds r19,(SollHoehe)+1 |
| 8466 4a5a 4091 0000 lds r20,(SollHoehe)+2 |
| 8467 4a5e 5091 0000 lds r21,(SollHoehe)+3 |
| 8468 4a62 6B89 ldd r22,Y+19 |
| 8469 4a64 7C89 ldd r23,Y+20 |
| 8470 4a66 8D89 ldd r24,Y+21 |
| 8471 4a68 9E89 ldd r25,Y+22 |
| 8472 4a6a 2617 cp r18,r22 |
| 8473 4a6c 3707 cpc r19,r23 |
| 8474 4a6e 4807 cpc r20,r24 |
| 8475 4a70 5907 cpc r21,r25 |
| 8476 4a72 24F0 brlt .L632 |
| 8477 4a74 8091 0000 lds r24,EE_Parameter+102 |
| 8478 4a78 80FD sbrc r24,0 |
| 8479 4a7a B8C2 rjmp .L690 |
| 8480 .L632: |
| 8481 4a7c 8091 0000 lds r24,BaroExpandActive |
| 8482 4a80 9091 0000 lds r25,(BaroExpandActive)+1 |
| 8483 4a84 892B or r24,r25 |
| 8484 4a86 39F0 breq .L633 |
| 8485 4a88 C090 0000 lds r12,HoverGas |
| 8486 4a8c D090 0000 lds r13,(HoverGas)+1 |
| 8487 4a90 AA24 clr r10 |
| 8488 4a92 BB24 clr r11 |
| 8489 4a94 D9C0 rjmp .L634 |
| 8490 .L633: |
| 8491 4a96 8B89 ldd r24,Y+19 |
| 8492 4a98 9C89 ldd r25,Y+20 |
| 8493 4a9a AD89 ldd r26,Y+21 |
| 8494 4a9c BE89 ldd r27,Y+22 |
| 8495 4a9e 821B sub r24,r18 |
| 8496 4aa0 930B sbc r25,r19 |
| 8497 4aa2 A40B sbc r26,r20 |
| 8498 4aa4 B50B sbc r27,r21 |
| 8499 4aa6 8093 0000 sts tmp_long.1,r24 |
| 8500 4aaa 9093 0000 sts (tmp_long.1)+1,r25 |
| 8501 4aae A093 0000 sts (tmp_long.1)+2,r26 |
| 8502 4ab2 B093 0000 sts (tmp_long.1)+3,r27 |
| 8503 4ab6 8230 cpi r24,lo8(-32766) |
| 8504 4ab8 70E8 ldi r23,hi8(-32766) |
| 8505 4aba 9707 cpc r25,r23 |
| 8506 4abc 7FEF ldi r23,hlo8(-32766) |
| 8507 4abe A707 cpc r26,r23 |
| 8508 4ac0 7FEF ldi r23,hhi8(-32766) |
| 8509 4ac2 B707 cpc r27,r23 |
| 8510 4ac4 2CF4 brge .L635 |
| 8511 4ac6 81E0 ldi r24,lo8(-32767) |
| 8512 4ac8 90E8 ldi r25,hi8(-32767) |
| 8513 4aca AFEF ldi r26,hlo8(-32767) |
| 8514 4acc BFEF ldi r27,hhi8(-32767) |
| 8515 4ace 09C0 rjmp .L802 |
| 8516 .L635: |
| 8517 4ad0 8F5F subi r24,lo8(32767) |
| 8518 4ad2 9F47 sbci r25,hi8(32767) |
| 8519 4ad4 A040 sbci r26,hlo8(32767) |
| 8520 4ad6 B040 sbci r27,hhi8(32767) |
| 8521 4ad8 64F0 brlt .L636 |
| 8522 4ada 8FEF ldi r24,lo8(32767) |
| 8523 4adc 9FE7 ldi r25,hi8(32767) |
| 8524 4ade A0E0 ldi r26,hlo8(32767) |
| 8525 4ae0 B0E0 ldi r27,hhi8(32767) |
| 8526 .L802: |
| 8527 4ae2 8093 0000 sts tmp_long.1,r24 |
| 8528 4ae6 9093 0000 sts (tmp_long.1)+1,r25 |
| 8529 4aea A093 0000 sts (tmp_long.1)+2,r26 |
| 8530 4aee B093 0000 sts (tmp_long.1)+3,r27 |
| 8531 .L636: |
| 8532 4af2 A090 0000 lds r10,tmp_long.1 |
| 8533 4af6 B090 0000 lds r11,(tmp_long.1)+1 |
| 8534 4afa 8091 0000 lds r24,Parameter_Hoehe_P |
| 8535 4afe 282F mov r18,r24 |
| 8536 4b00 3327 clr r19 |
| 8537 4b02 4427 clr r20 |
| 8538 4b04 5527 clr r21 |
| 8539 4b06 8091 0000 lds r24,tmp_long.1 |
| 8540 4b0a 9091 0000 lds r25,(tmp_long.1)+1 |
| 8541 4b0e A091 0000 lds r26,(tmp_long.1)+2 |
| 8542 4b12 B091 0000 lds r27,(tmp_long.1)+3 |
| 8543 4b16 BC01 movw r22,r24 |
| 8544 4b18 CD01 movw r24,r26 |
| 8545 4b1a 0E94 0000 call __mulsi3 |
| 8546 4b1e 97FF sbrs r25,7 |
| 8547 4b20 04C0 rjmp .L638 |
| 8548 4b22 615E subi r22,lo8(-(31)) |
| 8549 4b24 7F4F sbci r23,hi8(-(31)) |
| 8550 4b26 8F4F sbci r24,hlo8(-(31)) |
| 8551 4b28 9F4F sbci r25,hhi8(-(31)) |
| 8552 .L638: |
| 8553 4b2a A5E0 ldi r26,5 |
| 8554 4b2c 9595 1: asr r25 |
| 8555 4b2e 8795 ror r24 |
| 8556 4b30 7795 ror r23 |
| 8557 4b32 6795 ror r22 |
| 8558 4b34 AA95 dec r26 |
| 8559 4b36 D1F7 brne 1b |
| 8560 4b38 6093 0000 sts tmp_long.1,r22 |
| 8561 4b3c 7093 0000 sts (tmp_long.1)+1,r23 |
| 8562 4b40 8093 0000 sts (tmp_long.1)+2,r24 |
| 8563 4b44 9093 0000 sts (tmp_long.1)+3,r25 |
| 8564 4b48 6530 cpi r22,lo8(-507) |
| 8565 4b4a FEEF ldi r31,hi8(-507) |
| 8566 4b4c 7F07 cpc r23,r31 |
| 8567 4b4e FFEF ldi r31,hlo8(-507) |
| 8568 4b50 8F07 cpc r24,r31 |
| 8569 4b52 FFEF ldi r31,hhi8(-507) |
| 8570 4b54 9F07 cpc r25,r31 |
| 8571 4b56 2CF4 brge .L639 |
| 8572 4b58 84E0 ldi r24,lo8(-508) |
| 8573 4b5a 9EEF ldi r25,hi8(-508) |
| 8574 4b5c AFEF ldi r26,hlo8(-508) |
| 8575 4b5e BFEF ldi r27,hhi8(-508) |
| 8576 4b60 09C0 rjmp .L803 |
| 8577 .L639: |
| 8578 4b62 6050 subi r22,lo8(1024) |
| 8579 4b64 7440 sbci r23,hi8(1024) |
| 8580 4b66 8040 sbci r24,hlo8(1024) |
| 8581 4b68 9040 sbci r25,hhi8(1024) |
| 8582 4b6a 64F0 brlt .L640 |
| 8583 4b6c 80E0 ldi r24,lo8(1024) |
| 8584 4b6e 94E0 ldi r25,hi8(1024) |
| 8585 4b70 A0E0 ldi r26,hlo8(1024) |
| 8586 4b72 B0E0 ldi r27,hhi8(1024) |
| 8587 .L803: |
| 8588 4b74 8093 0000 sts tmp_long.1,r24 |
| 8589 4b78 9093 0000 sts (tmp_long.1)+1,r25 |
| 8590 4b7c A093 0000 sts (tmp_long.1)+2,r26 |
| 8591 4b80 B093 0000 sts (tmp_long.1)+3,r27 |
| 8592 .L640: |
| 8593 4b84 8090 0000 lds r8,tmp_long.1 |
| 8594 4b88 9090 0000 lds r9,(tmp_long.1)+1 |
| 8595 4b8c 2091 0000 lds r18,VarioMeter |
| 8596 4b90 3091 0000 lds r19,(VarioMeter)+1 |
| 8597 4b94 37FF sbrs r19,7 |
| 8598 4b96 02C0 rjmp .L642 |
| 8599 4b98 295F subi r18,lo8(-(7)) |
| 8600 4b9a 3F4F sbci r19,hi8(-(7)) |
| 8601 .L642: |
| 8602 4b9c F3E0 ldi r31,3 |
| 8603 4b9e 3595 1: asr r19 |
| 8604 4ba0 2795 ror r18 |
| 8605 4ba2 FA95 dec r31 |
| 8606 4ba4 E1F7 brne 1b |
| 8607 4ba6 4FEF ldi r20,hi8(-126) |
| 8608 4ba8 2238 cpi r18,lo8(-126) |
| 8609 4baa 3407 cpc r19,r20 |
| 8610 4bac 1CF4 brge .L643 |
| 8611 4bae 21E8 ldi r18,lo8(-127) |
| 8612 4bb0 3FEF ldi r19,hi8(-127) |
| 8613 4bb2 05C0 rjmp .L644 |
| 8614 .L643: |
| 8615 4bb4 2038 cpi r18,128 |
| 8616 4bb6 3105 cpc r19,__zero_reg__ |
| 8617 4bb8 14F0 brlt .L644 |
| 8618 4bba 20E8 ldi r18,lo8(128) |
| 8619 4bbc 30E0 ldi r19,hi8(128) |
| 8620 .L644: |
| 8621 4bbe C901 movw r24,r18 |
| 8622 4bc0 AA27 clr r26 |
| 8623 4bc2 97FD sbrc r25,7 |
| 8624 4bc4 A095 com r26 |
| 8625 4bc6 BA2F mov r27,r26 |
| 8626 4bc8 2091 0000 lds r18,Parameter_Luftdruck_D |
| 8627 4bcc 3327 clr r19 |
| 8628 4bce 4427 clr r20 |
| 8629 4bd0 5527 clr r21 |
| 8630 4bd2 BC01 movw r22,r24 |
| 8631 4bd4 CD01 movw r24,r26 |
| 8632 4bd6 0E94 0000 call __mulsi3 |
| 8633 4bda 97FF sbrs r25,7 |
| 8634 4bdc 04C0 rjmp .L646 |
| 8635 4bde 6D5F subi r22,lo8(-(3)) |
| 8636 4be0 7F4F sbci r23,hi8(-(3)) |
| 8637 4be2 8F4F sbci r24,hlo8(-(3)) |
| 8638 4be4 9F4F sbci r25,hhi8(-(3)) |
| 8639 .L646: |
| 8640 4be6 E2E0 ldi r30,2 |
| 8641 4be8 9595 1: asr r25 |
| 8642 4bea 8795 ror r24 |
| 8643 4bec 7795 ror r23 |
| 8644 4bee 6795 ror r22 |
| 8645 4bf0 EA95 dec r30 |
| 8646 4bf2 D1F7 brne 1b |
| 8647 4bf4 9B01 movw r18,r22 |
| 8648 4bf6 5FEF ldi r21,hi8(-255) |
| 8649 4bf8 6130 cpi r22,lo8(-255) |
| 8650 4bfa 7507 cpc r23,r21 |
| 8651 4bfc 1CF4 brge .L647 |
| 8652 4bfe 20E0 ldi r18,lo8(-256) |
| 8653 4c00 3FEF ldi r19,hi8(-256) |
| 8654 4c02 06C0 rjmp .L648 |
| 8655 .L647: |
| 8656 4c04 6F3F cpi r22,255 |
| 8657 4c06 7105 cpc r23,__zero_reg__ |
| 8658 4c08 19F0 breq .L648 |
| 8659 4c0a 14F0 brlt .L648 |
| 8660 4c0c 20E0 ldi r18,lo8(256) |
| 8661 4c0e 31E0 ldi r19,hi8(256) |
| 8662 .L648: |
| 8663 4c10 8091 0000 lds r24,FC_StatusFlags |
| 8664 4c14 807C andi r24,lo8(-64) |
| 8665 4c16 49F0 breq .L650 |
| 8666 4c18 C901 movw r24,r18 |
| 8667 4c1a 37FD sbrc r19,7 |
| 8668 4c1c 0396 adiw r24,3 |
| 8669 .L651: |
| 8670 4c1e 9C01 movw r18,r24 |
| 8671 4c20 3595 asr r19 |
| 8672 4c22 2795 ror r18 |
| 8673 4c24 3595 asr r19 |
| 8674 4c26 2795 ror r18 |
| 8675 4c28 0DC0 rjmp .L652 |
| 8676 .L650: |
| 8677 4c2a 8091 0000 lds r24,EE_Parameter+102 |
| 8678 4c2e 80FF sbrs r24,0 |
| 8679 4c30 09C0 rjmp .L652 |
| 8680 4c32 C901 movw r24,r18 |
| 8681 4c34 37FD sbrc r19,7 |
| 8682 4c36 0796 adiw r24,7 |
| 8683 .L654: |
| 8684 4c38 9C01 movw r18,r24 |
| 8685 4c3a 43E0 ldi r20,3 |
| 8686 4c3c 3595 1: asr r19 |
| 8687 4c3e 2795 ror r18 |
| 8688 4c40 4A95 dec r20 |
| 8689 4c42 E1F7 brne 1b |
| 8690 .L652: |
| 8691 4c44 820E add r8,r18 |
| 8692 4c46 931E adc r9,r19 |
| 8693 .L634: |
| 8694 4c48 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung |
| 8695 4c4c 2223 tst r18 |
| 8696 4c4e 09F4 brne .+2 |
| 8697 4c50 54C0 rjmp .L655 |
| 8698 4c52 6091 0000 lds r22,Mess_Integral_Hoch |
| 8699 4c56 7091 0000 lds r23,(Mess_Integral_Hoch)+1 |
| 8700 4c5a 8091 0000 lds r24,(Mess_Integral_Hoch)+2 |
| 8701 4c5e 9091 0000 lds r25,(Mess_Integral_Hoch)+3 |
| 8702 4c62 97FF sbrs r25,7 |
| 8703 4c64 04C0 rjmp .L656 |
| 8704 4c66 6158 subi r22,lo8(-(127)) |
| 8705 4c68 7F4F sbci r23,hi8(-(127)) |
| 8706 4c6a 8F4F sbci r24,hlo8(-(127)) |
| 8707 4c6c 9F4F sbci r25,hhi8(-(127)) |
| 8708 .L656: |
| 8709 4c6e 37E0 ldi r19,7 |
| 8710 4c70 9595 1: asr r25 |
| 8711 4c72 8795 ror r24 |
| 8712 4c74 7795 ror r23 |
| 8713 4c76 6795 ror r22 |
| 8714 4c78 3A95 dec r19 |
| 8715 4c7a D1F7 brne 1b |
| 8716 4c7c 3327 clr r19 |
| 8717 4c7e 4427 clr r20 |
| 8718 4c80 5527 clr r21 |
| 8719 4c82 0E94 0000 call __mulsi3 |
| 8720 4c86 97FF sbrs r25,7 |
| 8721 4c88 04C0 rjmp .L657 |
| 8722 4c8a 615E subi r22,lo8(-(31)) |
| 8723 4c8c 7F4F sbci r23,hi8(-(31)) |
| 8724 4c8e 8F4F sbci r24,hlo8(-(31)) |
| 8725 4c90 9F4F sbci r25,hhi8(-(31)) |
| 8726 .L657: |
| 8727 4c92 B5E0 ldi r27,5 |
| 8728 4c94 9595 1: asr r25 |
| 8729 4c96 8795 ror r24 |
| 8730 4c98 7795 ror r23 |
| 8731 4c9a 6795 ror r22 |
| 8732 4c9c BA95 dec r27 |
| 8733 4c9e D1F7 brne 1b |
| 8734 4ca0 6093 0000 sts tmp_long.1,r22 |
| 8735 4ca4 7093 0000 sts (tmp_long.1)+1,r23 |
| 8736 4ca8 8093 0000 sts (tmp_long.1)+2,r24 |
| 8737 4cac 9093 0000 sts (tmp_long.1)+3,r25 |
| 8738 4cb0 6138 cpi r22,lo8(-127) |
| 8739 4cb2 AFEF ldi r26,hi8(-127) |
| 8740 4cb4 7A07 cpc r23,r26 |
| 8741 4cb6 AFEF ldi r26,hlo8(-127) |
| 8742 4cb8 8A07 cpc r24,r26 |
| 8743 4cba AFEF ldi r26,hhi8(-127) |
| 8744 4cbc 9A07 cpc r25,r26 |
| 8745 4cbe 2CF4 brge .L658 |
| 8746 4cc0 80E8 ldi r24,lo8(-128) |
| 8747 4cc2 9FEF ldi r25,hi8(-128) |
| 8748 4cc4 AFEF ldi r26,hlo8(-128) |
| 8749 4cc6 BFEF ldi r27,hhi8(-128) |
| 8750 4cc8 0AC0 rjmp .L804 |
| 8751 .L658: |
| 8752 4cca 6F3F cpi r22,lo8(255) |
| 8753 4ccc 7105 cpc r23,__zero_reg__ |
| 8754 4cce 8105 cpc r24,__zero_reg__ |
| 8755 4cd0 9105 cpc r25,__zero_reg__ |
| 8756 4cd2 69F0 breq .L659 |
| 8757 4cd4 64F0 brlt .L659 |
| 8758 4cd6 80E0 ldi r24,lo8(256) |
| 8759 4cd8 91E0 ldi r25,hi8(256) |
| 8760 4cda A0E0 ldi r26,hlo8(256) |
| 8761 4cdc B0E0 ldi r27,hhi8(256) |
| 8762 .L804: |
| 8763 4cde 8093 0000 sts tmp_long.1,r24 |
| 8764 4ce2 9093 0000 sts (tmp_long.1)+1,r25 |
| 8765 4ce6 A093 0000 sts (tmp_long.1)+2,r26 |
| 8766 4cea B093 0000 sts (tmp_long.1)+3,r27 |
| 8767 .L659: |
| 8768 4cee 8091 0000 lds r24,tmp_long.1 |
| 8769 4cf2 9091 0000 lds r25,(tmp_long.1)+1 |
| 8770 4cf6 880E add r8,r24 |
| 8771 4cf8 991E adc r9,r25 |
| 8772 .L655: |
| 8773 4cfa 8091 0000 lds r24,Parameter_Hoehe_GPS_Z |
| 8774 4cfe 282F mov r18,r24 |
| 8775 4d00 3327 clr r19 |
| 8776 4d02 8091 0000 lds r24,FromNaviCtrl_Value+4 |
| 8777 4d06 9927 clr r25 |
| 8778 4d08 87FD sbrc r24,7 |
| 8779 4d0a 9095 com r25 |
| 8780 4d0c 289F mul r18,r24 |
| 8781 4d0e F001 movw r30,r0 |
| 8782 4d10 299F mul r18,r25 |
| 8783 4d12 F00D add r31,r0 |
| 8784 4d14 389F mul r19,r24 |
| 8785 4d16 F00D add r31,r0 |
| 8786 4d18 1124 clr r1 |
| 8787 4d1a 9F01 movw r18,r30 |
| 8788 4d1c F7FF sbrs r31,7 |
| 8789 4d1e 02C0 rjmp .L661 |
| 8790 4d20 2158 subi r18,lo8(-(127)) |
| 8791 4d22 3F4F sbci r19,hi8(-(127)) |
| 8792 .L661: |
| 8793 4d24 220F lsl r18 |
| 8794 4d26 232F mov r18,r19 |
| 8795 4d28 221F rol r18 |
| 8796 4d2a 330B sbc r19,r19 |
| 8797 4d2c FFEF ldi r31,hi8(-127) |
| 8798 4d2e 2138 cpi r18,lo8(-127) |
| 8799 4d30 3F07 cpc r19,r31 |
| 8800 4d32 1CF4 brge .L662 |
| 8801 4d34 20E8 ldi r18,lo8(-128) |
| 8802 4d36 3FEF ldi r19,hi8(-128) |
| 8803 4d38 06C0 rjmp .L663 |
| 8804 .L662: |
| 8805 4d3a 2F3F cpi r18,255 |
| 8806 4d3c 3105 cpc r19,__zero_reg__ |
| 8807 4d3e 19F0 breq .L663 |
| 8808 4d40 14F0 brlt .L663 |
| 8809 4d42 20E0 ldi r18,lo8(256) |
| 8810 4d44 31E0 ldi r19,hi8(256) |
| 8811 .L663: |
| 8812 4d46 820E add r8,r18 |
| 8813 4d48 931E adc r9,r19 |
| 8814 4d4a C401 movw r24,r8 |
| 8815 4d4c AA27 clr r26 |
| 8816 4d4e 97FD sbrc r25,7 |
| 8817 4d50 A095 com r26 |
| 8818 4d52 BA2F mov r27,r26 |
| 8819 4d54 E090 0000 lds r14,HoverGas |
| 8820 4d58 F090 0000 lds r15,(HoverGas)+1 |
| 8821 4d5c 9701 movw r18,r14 |
| 8822 4d5e 4427 clr r20 |
| 8823 4d60 37FD sbrc r19,7 |
| 8824 4d62 4095 com r20 |
| 8825 4d64 542F mov r21,r20 |
| 8826 4d66 BC01 movw r22,r24 |
| 8827 4d68 CD01 movw r24,r26 |
| 8828 4d6a 0E94 0000 call __mulsi3 |
| 8829 4d6e 97FF sbrs r25,7 |
| 8830 4d70 04C0 rjmp .L665 |
| 8831 4d72 6150 subi r22,lo8(-(511)) |
| 8832 4d74 7E4F sbci r23,hi8(-(511)) |
| 8833 4d76 8F4F sbci r24,hlo8(-(511)) |
| 8834 4d78 9F4F sbci r25,hhi8(-(511)) |
| 8835 .L665: |
| 8836 4d7a F9E0 ldi r31,9 |
| 8837 4d7c 9595 1: asr r25 |
| 8838 4d7e 8795 ror r24 |
| 8839 4d80 7795 ror r23 |
| 8840 4d82 6795 ror r22 |
| 8841 4d84 FA95 dec r31 |
| 8842 4d86 D1F7 brne 1b |
| 8843 4d88 C61A sub r12,r22 |
| 8844 4d8a D70A sbc r13,r23 |
| 8845 4d8c 8091 0000 lds r24,HeightTrimming.22 |
| 8846 4d90 9091 0000 lds r25,(HeightTrimming.22)+1 |
| 8847 4d94 892B or r24,r25 |
| 8848 4d96 09F0 breq .+2 |
| 8849 4d98 60C0 rjmp .L666 |
| 8850 4d9a 1E14 cp __zero_reg__,r14 |
| 8851 4d9c 1F04 cpc __zero_reg__,r15 |
| 8852 4d9e 0CF0 brlt .+2 |
| 8853 4da0 5CC0 rjmp .L666 |
| 8854 4da2 9501 movw r18,r10 |
| 8855 4da4 B7FE sbrs r11,7 |
| 8856 4da6 03C0 rjmp .L667 |
| 8857 4da8 3095 com r19 |
| 8858 4daa 2195 neg r18 |
| 8859 4dac 3F4F sbci r19,lo8(-1) |
| 8860 .L667: |
| 8861 4dae 2D33 cpi r18,61 |
| 8862 4db0 3105 cpc r19,__zero_reg__ |
| 8863 4db2 40F4 brsh .L668 |
| 8864 4db4 8091 0000 lds r24,HoverGasMin.25 |
| 8865 4db8 9091 0000 lds r25,(HoverGasMin.25)+1 |
| 8866 4dbc 8C15 cp r24,r12 |
| 8867 4dbe 9D05 cpc r25,r13 |
| 8868 4dc0 74F5 brge .L806 |
| 8869 4dc2 26C0 rjmp .L815 |
| 8870 .L668: |
| 8871 4dc4 2C53 subi r18,lo8(-(-60)) |
| 8872 4dc6 3040 sbci r19,hi8(-(-60)) |
| 8873 4dc8 E5E0 ldi r30,5 |
| 8874 4dca 3695 1: lsr r19 |
| 8875 4dcc 2795 ror r18 |
| 8876 4dce EA95 dec r30 |
| 8877 4dd0 E1F7 brne 1b |
| 8878 4dd2 2031 cpi r18,16 |
| 8879 4dd4 3105 cpc r19,__zero_reg__ |
| 8880 4dd6 10F0 brlo .L673 |
| 8881 4dd8 2FE0 ldi r18,lo8(15) |
| 8882 4dda 30E0 ldi r19,hi8(15) |
| 8883 .L673: |
| 8884 4ddc 4091 0000 lds r20,HoverGasMin.25 |
| 8885 4de0 5091 0000 lds r21,(HoverGasMin.25)+1 |
| 8886 4de4 1A14 cp __zero_reg__,r10 |
| 8887 4de6 1B04 cpc __zero_reg__,r11 |
| 8888 4de8 E4F4 brge .L674 |
| 8889 4dea 80E1 ldi r24,lo8(16) |
| 8890 4dec 90E0 ldi r25,hi8(16) |
| 8891 4dee 821B sub r24,r18 |
| 8892 4df0 930B sbc r25,r19 |
| 8893 4df2 489F mul r20,r24 |
| 8894 4df4 9001 movw r18,r0 |
| 8895 4df6 499F mul r20,r25 |
| 8896 4df8 300D add r19,r0 |
| 8897 4dfa 589F mul r21,r24 |
| 8898 4dfc 300D add r19,r0 |
| 8899 4dfe 1124 clr r1 |
| 8900 4e00 74E0 ldi r23,4 |
| 8901 4e02 3695 1: lsr r19 |
| 8902 4e04 2795 ror r18 |
| 8903 4e06 7A95 dec r23 |
| 8904 4e08 E1F7 brne 1b |
| 8905 4e0a 2C15 cp r18,r12 |
| 8906 4e0c 3D05 cpc r19,r13 |
| 8907 4e0e 20F5 brsh .L805 |
| 8908 .L815: |
| 8909 4e10 8091 0000 lds r24,HoverGasMax.26 |
| 8910 4e14 9091 0000 lds r25,(HoverGasMax.26)+1 |
| 8911 4e18 C816 cp r12,r24 |
| 8912 4e1a D906 cpc r13,r25 |
| 8913 4e1c F4F0 brlt .L666 |
| 8914 .L806: |
| 8915 4e1e 6C01 movw r12,r24 |
| 8916 4e20 1CC0 rjmp .L666 |
| 8917 .L674: |
| 8918 4e22 205F subi r18,lo8(-(16)) |
| 8919 4e24 3F4F sbci r19,hi8(-(16)) |
| 8920 4e26 8091 0000 lds r24,HoverGasMax.26 |
| 8921 4e2a 9091 0000 lds r25,(HoverGasMax.26)+1 |
| 8922 4e2e 829F mul r24,r18 |
| 8923 4e30 B001 movw r22,r0 |
| 8924 4e32 839F mul r24,r19 |
| 8925 4e34 700D add r23,r0 |
| 8926 4e36 929F mul r25,r18 |
| 8927 4e38 700D add r23,r0 |
| 8928 4e3a 1124 clr r1 |
| 8929 4e3c 9B01 movw r18,r22 |
| 8930 4e3e 64E0 ldi r22,4 |
| 8931 4e40 3695 1: lsr r19 |
| 8932 4e42 2795 ror r18 |
| 8933 4e44 6A95 dec r22 |
| 8934 4e46 E1F7 brne 1b |
| 8935 4e48 4C15 cp r20,r12 |
| 8936 4e4a 5D05 cpc r21,r13 |
| 8937 4e4c 14F0 brlt .L679 |
| 8938 4e4e 6A01 movw r12,r20 |
| 8939 4e50 04C0 rjmp .L666 |
| 8940 .L679: |
| 8941 4e52 C216 cp r12,r18 |
| 8942 4e54 D306 cpc r13,r19 |
| 8943 4e56 08F0 brlo .L666 |
| 8944 .L805: |
| 8945 4e58 6901 movw r12,r18 |
| 8946 .L666: |
| 8947 4e5a C601 movw r24,r12 |
| 8948 4e5c AA27 clr r26 |
| 8949 4e5e 97FD sbrc r25,7 |
| 8950 4e60 A095 com r26 |
| 8951 4e62 BA2F mov r27,r26 |
| 8952 4e64 2DE0 ldi r18,13 |
| 8953 4e66 880F 1: lsl r24 |
| 8954 4e68 991F rol r25 |
| 8955 4e6a AA1F rol r26 |
| 8956 4e6c BB1F rol r27 |
| 8957 4e6e 2A95 dec r18 |
| 8958 4e70 D1F7 brne 1b |
| 8959 4e72 9801 movw r18,r16 |
| 8960 4e74 4427 clr r20 |
| 8961 4e76 37FD sbrc r19,7 |
| 8962 4e78 4095 com r20 |
| 8963 4e7a 542F mov r21,r20 |
| 8964 4e7c BC01 movw r22,r24 |
| 8965 4e7e CD01 movw r24,r26 |
| 8966 4e80 0E94 0000 call __divmodsi4 |
| 8967 4e84 2093 0000 sts tmp_long2.2,r18 |
| 8968 4e88 3093 0000 sts (tmp_long2.2)+1,r19 |
| 8969 4e8c 4093 0000 sts (tmp_long2.2)+2,r20 |
| 8970 4e90 5093 0000 sts (tmp_long2.2)+3,r21 |
| 8971 4e94 C090 0000 lds r12,tmp_long2.2 |
| 8972 4e98 D090 0000 lds r13,(tmp_long2.2)+1 |
| 8973 4e9c 8091 0000 lds r24,FilterHCGas.23 |
| 8974 4ea0 9091 0000 lds r25,(FilterHCGas.23)+1 |
| 8975 4ea4 9C01 movw r18,r24 |
| 8976 4ea6 220F lsl r18 |
| 8977 4ea8 331F rol r19 |
| 8978 4eaa 280F add r18,r24 |
| 8979 4eac 391F adc r19,r25 |
| 8980 4eae 2C0D add r18,r12 |
| 8981 4eb0 3D1D adc r19,r13 |
| 8982 4eb2 37FF sbrs r19,7 |
| 8983 4eb4 02C0 rjmp .L682 |
| 8984 4eb6 2D5F subi r18,lo8(-(3)) |
| 8985 4eb8 3F4F sbci r19,hi8(-(3)) |
| 8986 .L682: |
| 8987 4eba A901 movw r20,r18 |
| 8988 4ebc 5595 asr r21 |
| 8989 4ebe 4795 ror r20 |
| 8990 4ec0 5595 asr r21 |
| 8991 4ec2 4795 ror r20 |
| 8992 4ec4 5093 0000 sts (FilterHCGas.23)+1,r21 |
| 8993 4ec8 4093 0000 sts FilterHCGas.23,r20 |
| 8994 4ecc 8091 0000 lds r24,EE_Parameter+14 |
| 8995 4ed0 282F mov r18,r24 |
| 8996 4ed2 3327 clr r19 |
| 8997 4ed4 220F lsl r18 |
| 8998 4ed6 331F rol r19 |
| 8999 4ed8 220F lsl r18 |
| 9000 4eda 331F rol r19 |
| 9001 4edc 2417 cp r18,r20 |
| 9002 4ede 3507 cpc r19,r21 |
| 9003 4ee0 6CF4 brge .L807 |
| 9004 4ee2 8091 0000 lds r24,MAX_GAS |
| 9005 4ee6 282F mov r18,r24 |
| 9006 4ee8 3327 clr r19 |
| 9007 4eea 220F lsl r18 |
| 9008 4eec 331F rol r19 |
| 9009 4eee 220F lsl r18 |
| 9010 4ef0 331F rol r19 |
| 9011 4ef2 2055 subi r18,lo8(-(-80)) |
| 9012 4ef4 3040 sbci r19,hi8(-(-80)) |
| 9013 4ef6 4217 cp r20,r18 |
| 9014 4ef8 5307 cpc r21,r19 |
| 9015 4efa 24F0 brlt .L684 |
| 9016 .L807: |
| 9017 4efc 3093 0000 sts (FilterHCGas.23)+1,r19 |
| 9018 4f00 2093 0000 sts FilterHCGas.23,r18 |
| 9019 .L684: |
| 9020 4f04 8091 0000 lds r24,EE_Parameter+102 |
| 9021 4f08 80FF sbrs r24,0 |
| 9022 4f0a 14C0 rjmp .L686 |
| 9023 4f0c 8091 0000 lds r24,FilterHCGas.23 |
| 9024 4f10 9091 0000 lds r25,(FilterHCGas.23)+1 |
| 9025 4f14 A981 ldd r26,Y+1 |
| 9026 4f16 BA81 ldd r27,Y+2 |
| 9027 4f18 8A17 cp r24,r26 |
| 9028 4f1a 9B07 cpc r25,r27 |
| 9029 4f1c 24F0 brlt .L687 |
| 9030 4f1e B093 0000 sts (FilterHCGas.23)+1,r27 |
| 9031 4f22 A093 0000 sts FilterHCGas.23,r26 |
| 9032 .L687: |
| 9033 4f26 E091 0000 lds r30,FilterHCGas.23 |
| 9034 4f2a F091 0000 lds r31,(FilterHCGas.23)+1 |
| 9035 4f2e FA83 std Y+2,r31 |
| 9036 4f30 E983 std Y+1,r30 |
| 9037 4f32 5CC0 rjmp .L690 |
| 9038 .L686: |
| 9039 4f34 2981 ldd r18,Y+1 |
| 9040 4f36 3A81 ldd r19,Y+2 |
| 9041 4f38 2E19 sub r18,r14 |
| 9042 4f3a 3F09 sbc r19,r15 |
| 9043 4f3c 37FF sbrs r19,7 |
| 9044 4f3e 02C0 rjmp .L689 |
| 9045 4f40 2D5F subi r18,lo8(-(3)) |
| 9046 4f42 3F4F sbci r19,hi8(-(3)) |
| 9047 .L689: |
| 9048 4f44 3595 asr r19 |
| 9049 4f46 2795 ror r18 |
| 9050 4f48 3595 asr r19 |
| 9051 4f4a 2795 ror r18 |
| 9052 4f4c E090 0000 lds r14,FilterHCGas.23 |
| 9053 4f50 F090 0000 lds r15,(FilterHCGas.23)+1 |
| 9054 4f54 E20E add r14,r18 |
| 9055 4f56 F31E adc r15,r19 |
| 9056 4f58 FA82 std Y+2,r15 |
| 9057 4f5a E982 std Y+1,r14 |
| 9058 4f5c 47C0 rjmp .L690 |
| 9059 .L600: |
| 9060 4f5e 8091 0000 lds r24,EE_Parameter+22 |
| 9061 4f62 8823 tst r24 |
| 9062 4f64 01F5 brne .L691 |
| 9063 4f66 6091 0000 lds r22,HoverGas |
| 9064 4f6a 7091 0000 lds r23,(HoverGas)+1 |
| 9065 4f6e 77FF sbrs r23,7 |
| 9066 4f70 02C0 rjmp .L692 |
| 9067 4f72 6D5F subi r22,lo8(-(3)) |
| 9068 4f74 7F4F sbci r23,hi8(-(3)) |
| 9069 .L692: |
| 9070 4f76 7595 asr r23 |
| 9071 4f78 6795 ror r22 |
| 9072 4f7a 7595 asr r23 |
| 9073 4f7c 6795 ror r22 |
| 9074 4f7e 4091 0000 lds r20,UBat |
| 9075 4f82 5091 0000 lds r21,(UBat)+1 |
| 9076 4f86 8091 0000 lds r24,BattLowVoltageWarning |
| 9077 4f8a 282F mov r18,r24 |
| 9078 4f8c 3327 clr r19 |
| 9079 4f8e 649F mul r22,r20 |
| 9080 4f90 C001 movw r24,r0 |
| 9081 4f92 659F mul r22,r21 |
| 9082 4f94 900D add r25,r0 |
| 9083 4f96 749F mul r23,r20 |
| 9084 4f98 900D add r25,r0 |
| 9085 4f9a 1124 clr r1 |
| 9086 4f9c B901 movw r22,r18 |
| 9087 4f9e 0E94 0000 call __divmodhi4 |
| 9088 4fa2 CB01 movw r24,r22 |
| 9089 4fa4 01C0 rjmp .L808 |
| 9090 .L691: |
| 9091 4fa6 9927 clr r25 |
| 9092 .L808: |
| 9093 4fa8 9093 0000 sts (StickGasHover.24)+1,r25 |
| 9094 4fac 8093 0000 sts StickGasHover.24,r24 |
| 9095 4fb0 8091 0000 lds r24,StickGasHover.24 |
| 9096 4fb4 9091 0000 lds r25,(StickGasHover.24)+1 |
| 9097 4fb8 8734 cpi r24,71 |
| 9098 4fba 9105 cpc r25,__zero_reg__ |
| 9099 4fbc 1CF4 brge .L694 |
| 9100 4fbe 86E4 ldi r24,lo8(70) |
| 9101 4fc0 90E0 ldi r25,hi8(70) |
| 9102 4fc2 05C0 rjmp .L809 |
| 9103 .L694: |
| 9104 4fc4 8639 cpi r24,150 |
| 9105 4fc6 9105 cpc r25,__zero_reg__ |
| 9106 4fc8 34F0 brlt .L695 |
| 9107 4fca 86E9 ldi r24,lo8(150) |
| 9108 4fcc 90E0 ldi r25,hi8(150) |
| 9109 .L809: |
| 9110 4fce 9093 0000 sts (StickGasHover.24)+1,r25 |
| 9111 4fd2 8093 0000 sts StickGasHover.24,r24 |
| 9112 .L695: |
| 9113 4fd6 2981 ldd r18,Y+1 |
| 9114 4fd8 3A81 ldd r19,Y+2 |
| 9115 4fda 3093 0000 sts (FilterHCGas.23)+1,r19 |
| 9116 4fde 2093 0000 sts FilterHCGas.23,r18 |
| 9117 4fe2 8091 0000 lds r24,FC_StatusFlags |
| 9118 4fe6 806C ori r24,lo8(-64) |
| 9119 4fe8 8093 0000 sts FC_StatusFlags,r24 |
| 9120 .L690: |
| 9121 4fec 8091 0000 lds r24,FC_StatusFlags |
| 9122 4ff0 9927 clr r25 |
| 9123 4ff2 9C01 movw r18,r24 |
| 9124 4ff4 2270 andi r18,lo8(2) |
| 9125 4ff6 3070 andi r19,hi8(2) |
| 9126 4ff8 81FF sbrs r24,1 |
| 9127 4ffa 1CC1 rjmp .L697 |
| 9128 4ffc 8091 0000 lds r24,HoverGasFilter.27 |
| 9129 5000 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9130 5004 A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9131 5008 B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9132 500c 0097 sbiw r24,0 |
| 9133 500e A105 cpc r26,__zero_reg__ |
| 9134 5010 B105 cpc r27,__zero_reg__ |
| 9135 5012 21F0 breq .L699 |
| 9136 5014 8091 0000 lds r24,StartTrigger |
| 9137 5018 8130 cpi r24,lo8(1) |
| 9138 501a B1F4 brne .L698 |
| 9139 .L699: |
| 9140 501c 4981 ldd r20,Y+1 |
| 9141 501e 5A81 ldd r21,Y+2 |
| 9142 5020 CA01 movw r24,r20 |
| 9143 5022 AA27 clr r26 |
| 9144 5024 97FD sbrc r25,7 |
| 9145 5026 A095 com r26 |
| 9146 5028 BA2F mov r27,r26 |
| 9147 502a 2EE0 ldi r18,14 |
| 9148 502c 880F 1: lsl r24 |
| 9149 502e 991F rol r25 |
| 9150 5030 AA1F rol r26 |
| 9151 5032 BB1F rol r27 |
| 9152 5034 2A95 dec r18 |
| 9153 5036 D1F7 brne 1b |
| 9154 5038 8093 0000 sts HoverGasFilter.27,r24 |
| 9155 503c 9093 0000 sts (HoverGasFilter.27)+1,r25 |
| 9156 5040 A093 0000 sts (HoverGasFilter.27)+2,r26 |
| 9157 5044 B093 0000 sts (HoverGasFilter.27)+3,r27 |
| 9158 .L698: |
| 9159 5048 8091 0000 lds r24,StartTrigger |
| 9160 504c 8130 cpi r24,lo8(1) |
| 9161 504e 19F4 brne .L700 |
| 9162 5050 82E0 ldi r24,lo8(2) |
| 9163 5052 8093 0000 sts StartTrigger,r24 |
| 9164 .L700: |
| 9165 5056 6981 ldd r22,Y+1 |
| 9166 5058 7A81 ldd r23,Y+2 |
| 9167 505a CB01 movw r24,r22 |
| 9168 505c AA27 clr r26 |
| 9169 505e 97FD sbrc r25,7 |
| 9170 5060 A095 com r26 |
| 9171 5062 BA2F mov r27,r26 |
| 9172 5064 9801 movw r18,r16 |
| 9173 5066 4427 clr r20 |
| 9174 5068 37FD sbrc r19,7 |
| 9175 506a 4095 com r20 |
| 9176 506c 542F mov r21,r20 |
| 9177 506e BC01 movw r22,r24 |
| 9178 5070 CD01 movw r24,r26 |
| 9179 5072 0E94 0000 call __mulsi3 |
| 9180 5076 DC01 movw r26,r24 |
| 9181 5078 CB01 movw r24,r22 |
| 9182 507a 8093 0000 sts tmp_long2.2,r24 |
| 9183 507e 9093 0000 sts (tmp_long2.2)+1,r25 |
| 9184 5082 A093 0000 sts (tmp_long2.2)+2,r26 |
| 9185 5086 B093 0000 sts (tmp_long2.2)+3,r27 |
| 9186 508a B7FF sbrs r27,7 |
| 9187 508c 04C0 rjmp .L701 |
| 9188 508e 8150 subi r24,lo8(-(8191)) |
| 9189 5090 904E sbci r25,hi8(-(8191)) |
| 9190 5092 AF4F sbci r26,hlo8(-(8191)) |
| 9191 5094 BF4F sbci r27,hhi8(-(8191)) |
| 9192 .L701: |
| 9193 5096 7C01 movw r14,r24 |
| 9194 5098 8D01 movw r16,r26 |
| 9195 509a FDE0 ldi r31,13 |
| 9196 509c 1595 1: asr r17 |
| 9197 509e 0795 ror r16 |
| 9198 50a0 F794 ror r15 |
| 9199 50a2 E794 ror r14 |
| 9200 50a4 FA95 dec r31 |
| 9201 50a6 D1F7 brne 1b |
| 9202 50a8 E092 0000 sts tmp_long2.2,r14 |
| 9203 50ac F092 0000 sts (tmp_long2.2)+1,r15 |
| 9204 50b0 0093 0000 sts (tmp_long2.2)+2,r16 |
| 9205 50b4 1093 0000 sts (tmp_long2.2)+3,r17 |
| 9206 50b8 6091 0000 lds r22,modell_fliegt |
| 9207 50bc 7091 0000 lds r23,(modell_fliegt)+1 |
| 9208 50c0 8FE0 ldi r24,hi8(4000) |
| 9209 50c2 603A cpi r22,lo8(4000) |
| 9210 50c4 7807 cpc r23,r24 |
| 9211 50c6 50F5 brsh .L702 |
| 9212 50c8 8091 0000 lds r24,HoverGasFilter.27 |
| 9213 50cc 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9214 50d0 A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9215 50d4 B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9216 50d8 9C01 movw r18,r24 |
| 9217 50da AD01 movw r20,r26 |
| 9218 50dc EAE0 ldi r30,10 |
| 9219 50de 5695 1: lsr r21 |
| 9220 50e0 4795 ror r20 |
| 9221 50e2 3795 ror r19 |
| 9222 50e4 2795 ror r18 |
| 9223 50e6 EA95 dec r30 |
| 9224 50e8 D1F7 brne 1b |
| 9225 50ea 821B sub r24,r18 |
| 9226 50ec 930B sbc r25,r19 |
| 9227 50ee A40B sbc r26,r20 |
| 9228 50f0 B50B sbc r27,r21 |
| 9229 50f2 A801 movw r20,r16 |
| 9230 50f4 9701 movw r18,r14 |
| 9231 50f6 F4E0 ldi r31,4 |
| 9232 50f8 220F 1: lsl r18 |
| 9233 50fa 331F rol r19 |
| 9234 50fc 441F rol r20 |
| 9235 50fe 551F rol r21 |
| 9236 5100 FA95 dec r31 |
| 9237 5102 D1F7 brne 1b |
| 9238 5104 820F add r24,r18 |
| 9239 5106 931F adc r25,r19 |
| 9240 5108 A41F adc r26,r20 |
| 9241 510a B51F adc r27,r21 |
| 9242 510c 8093 0000 sts HoverGasFilter.27,r24 |
| 9243 5110 9093 0000 sts (HoverGasFilter.27)+1,r25 |
| 9244 5114 A093 0000 sts (HoverGasFilter.27)+2,r26 |
| 9245 5118 B093 0000 sts (HoverGasFilter.27)+3,r27 |
| 9246 .L702: |
| 9247 511c 6054 subi r22,lo8(8000) |
| 9248 511e 7F41 sbci r23,hi8(8000) |
| 9249 5120 18F5 brsh .L703 |
| 9250 5122 8091 0000 lds r24,HoverGasFilter.27 |
| 9251 5126 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9252 512a A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9253 512e B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9254 5132 9C01 movw r18,r24 |
| 9255 5134 AD01 movw r20,r26 |
| 9256 5136 ECE0 ldi r30,12 |
| 9257 5138 5695 1: lsr r21 |
| 9258 513a 4795 ror r20 |
| 9259 513c 3795 ror r19 |
| 9260 513e 2795 ror r18 |
| 9261 5140 EA95 dec r30 |
| 9262 5142 D1F7 brne 1b |
| 9263 5144 821B sub r24,r18 |
| 9264 5146 930B sbc r25,r19 |
| 9265 5148 A40B sbc r26,r20 |
| 9266 514a B50B sbc r27,r21 |
| 9267 514c A801 movw r20,r16 |
| 9268 514e 9701 movw r18,r14 |
| 9269 5150 72E0 ldi r23,2 |
| 9270 5152 220F 1: lsl r18 |
| 9271 5154 331F rol r19 |
| 9272 5156 441F rol r20 |
| 9273 5158 551F rol r21 |
| 9274 515a 7A95 dec r23 |
| 9275 515c D1F7 brne 1b |
| 9276 515e 820F add r24,r18 |
| 9277 5160 931F adc r25,r19 |
| 9278 5162 A41F adc r26,r20 |
| 9279 5164 B51F adc r27,r21 |
| 9280 5166 29C0 rjmp .L810 |
| 9281 .L703: |
| 9282 5168 8091 0000 lds r24,VarioMeter |
| 9283 516c 9091 0000 lds r25,(VarioMeter)+1 |
| 9284 5170 8091 0000 lds r24,VarioMeter |
| 9285 5174 9091 0000 lds r25,(VarioMeter)+1 |
| 9286 5178 97FF sbrs r25,7 |
| 9287 517a 03C0 rjmp .L706 |
| 9288 517c 9095 com r25 |
| 9289 517e 8195 neg r24 |
| 9290 5180 9F4F sbci r25,lo8(-1) |
| 9291 .L706: |
| 9292 5182 8436 cpi r24,100 |
| 9293 5184 9105 cpc r25,__zero_reg__ |
| 9294 5186 0CF5 brge .L704 |
| 9295 5188 8091 0000 lds r24,HoverGasFilter.27 |
| 9296 518c 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9297 5190 A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9298 5194 B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9299 5198 9C01 movw r18,r24 |
| 9300 519a AD01 movw r20,r26 |
| 9301 519c 6EE0 ldi r22,14 |
| 9302 519e 5695 1: lsr r21 |
| 9303 51a0 4795 ror r20 |
| 9304 51a2 3795 ror r19 |
| 9305 51a4 2795 ror r18 |
| 9306 51a6 6A95 dec r22 |
| 9307 51a8 D1F7 brne 1b |
| 9308 51aa 821B sub r24,r18 |
| 9309 51ac 930B sbc r25,r19 |
| 9310 51ae A40B sbc r26,r20 |
| 9311 51b0 B50B sbc r27,r21 |
| 9312 51b2 8E0D add r24,r14 |
| 9313 51b4 9F1D adc r25,r15 |
| 9314 51b6 A01F adc r26,r16 |
| 9315 51b8 B11F adc r27,r17 |
| 9316 .L810: |
| 9317 51ba 8093 0000 sts HoverGasFilter.27,r24 |
| 9318 51be 9093 0000 sts (HoverGasFilter.27)+1,r25 |
| 9319 51c2 A093 0000 sts (HoverGasFilter.27)+2,r26 |
| 9320 51c6 B093 0000 sts (HoverGasFilter.27)+3,r27 |
| 9321 .L704: |
| 9322 51ca 8091 0000 lds r24,HoverGasFilter.27 |
| 9323 51ce 9091 0000 lds r25,(HoverGasFilter.27)+1 |
| 9324 51d2 A091 0000 lds r26,(HoverGasFilter.27)+2 |
| 9325 51d6 B091 0000 lds r27,(HoverGasFilter.27)+3 |
| 9326 51da 1EE0 ldi r17,14 |
| 9327 51dc B695 1: lsr r27 |
| 9328 51de A795 ror r26 |
| 9329 51e0 9795 ror r25 |
| 9330 51e2 8795 ror r24 |
| 9331 51e4 1A95 dec r17 |
| 9332 51e6 D1F7 brne 1b |
| 9333 51e8 9093 0000 sts (HoverGas)+1,r25 |
| 9334 51ec 8093 0000 sts HoverGas,r24 |
| 9335 51f0 4091 0000 lds r20,EE_Parameter+20 |
| 9336 51f4 4423 tst r20 |
| 9337 51f6 99F0 breq .L707 |
| 9338 51f8 5527 clr r21 |
| 9339 51fa 9C01 movw r18,r24 |
| 9340 51fc BA01 movw r22,r20 |
| 9341 51fe 0E94 0000 call __divmodhi4 |
| 9342 5202 C901 movw r24,r18 |
| 9343 5204 861B sub r24,r22 |
| 9344 5206 970B sbc r25,r23 |
| 9345 5208 9093 0000 sts (HoverGasMin.25)+1,r25 |
| 9346 520c 8093 0000 sts HoverGasMin.25,r24 |
| 9347 5210 260F add r18,r22 |
| 9348 5212 371F adc r19,r23 |
| 9349 5214 3093 0000 sts (HoverGasMax.26)+1,r19 |
| 9350 5218 2093 0000 sts HoverGasMax.26,r18 |
| 9351 521c 1FC0 rjmp .L710 |
| 9352 .L707: |
| 9353 521e 1092 0000 sts (HoverGasMin.25)+1,__zero_reg__ |
| 9354 5222 1092 0000 sts HoverGasMin.25,__zero_reg__ |
| 9355 5226 8FEF ldi r24,lo8(1023) |
| 9356 5228 93E0 ldi r25,hi8(1023) |
| 9357 522a 9093 0000 sts (HoverGasMax.26)+1,r25 |
| 9358 522e 8093 0000 sts HoverGasMax.26,r24 |
| 9359 5232 14C0 rjmp .L710 |
| 9360 .L697: |
| 9361 5234 1092 0000 sts StartTrigger,__zero_reg__ |
| 9362 5238 1092 0000 sts HoverGasFilter.27,__zero_reg__ |
| 9363 523c 1092 0000 sts (HoverGasFilter.27)+1,__zero_reg__ |
| 9364 5240 1092 0000 sts (HoverGasFilter.27)+2,__zero_reg__ |
| 9365 5244 1092 0000 sts (HoverGasFilter.27)+3,__zero_reg__ |
| 9366 5248 3093 0000 sts (HoverGas)+1,r19 |
| 9367 524c 2093 0000 sts HoverGas,r18 |
| 9368 5250 05C0 rjmp .L710 |
| 9369 .L583: |
| 9370 5252 8091 0000 lds r24,FC_StatusFlags |
| 9371 5256 806C ori r24,lo8(-64) |
| 9372 5258 8093 0000 sts FC_StatusFlags,r24 |
| 9373 .L710: |
| 9374 525c 2090 0000 lds r2,MIN_GAS |
| 9375 5260 222D mov r18,r2 |
| 9376 5262 3327 clr r19 |
| 9377 5264 220F lsl r18 |
| 9378 5266 331F rol r19 |
| 9379 5268 220F lsl r18 |
| 9380 526a 331F rol r19 |
| 9381 526c 285D subi r18,lo8(-(40)) |
| 9382 526e 3F4F sbci r19,hi8(-(40)) |
| 9383 5270 A981 ldd r26,Y+1 |
| 9384 5272 BA81 ldd r27,Y+2 |
| 9385 5274 2A17 cp r18,r26 |
| 9386 5276 3B07 cpc r19,r27 |
| 9387 5278 14F0 brlt .L711 |
| 9388 527a 3A83 std Y+2,r19 |
| 9389 527c 2983 std Y+1,r18 |
| 9390 .L711: |
| 9391 527e 3090 0000 lds r3,MAX_GAS |
| 9392 5282 832D mov r24,r3 |
| 9393 5284 9927 clr r25 |
| 9394 5286 880F lsl r24 |
| 9395 5288 991F rol r25 |
| 9396 528a 880F lsl r24 |
| 9397 528c 991F rol r25 |
| 9398 528e 8055 subi r24,lo8(-(-80)) |
| 9399 5290 9040 sbci r25,hi8(-(-80)) |
| 9400 5292 E981 ldd r30,Y+1 |
| 9401 5294 FA81 ldd r31,Y+2 |
| 9402 5296 8E17 cp r24,r30 |
| 9403 5298 9F07 cpc r25,r31 |
| 9404 529a 14F4 brge .L712 |
| 9405 529c 9A83 std Y+2,r25 |
| 9406 529e 8983 std Y+1,r24 |
| 9407 .L712: |
| 9408 52a0 8091 0000 lds r24,MissingMotor |
| 9409 52a4 8823 tst r24 |
| 9410 52a6 21F4 brne .L714 |
| 9411 52a8 8091 0000 lds r24,Capacity+8 |
| 9412 52ac 8F3F cpi r24,lo8(-1) |
| 9413 52ae A1F0 breq .L713 |
| 9414 .L714: |
| 9415 52b0 8091 0000 lds r24,modell_fliegt |
| 9416 52b4 9091 0000 lds r25,(modell_fliegt)+1 |
| 9417 52b8 0297 sbiw r24,2 |
| 9418 52ba C097 sbiw r24,48 |
| 9419 52bc 68F4 brsh .L713 |
| 9420 52be E980 ldd r14,Y+1 |
| 9421 52c0 FA80 ldd r15,Y+2 |
| 9422 52c2 1E14 cp __zero_reg__,r14 |
| 9423 52c4 1F04 cpc __zero_reg__,r15 |
| 9424 52c6 44F4 brge .L713 |
| 9425 52c8 81E0 ldi r24,lo8(1) |
| 9426 52ca 90E0 ldi r25,hi8(1) |
| 9427 52cc 9093 0000 sts (modell_fliegt)+1,r25 |
| 9428 52d0 8093 0000 sts modell_fliegt,r24 |
| 9429 52d4 3A83 std Y+2,r19 |
| 9430 52d6 2983 std Y+1,r18 |
| 9431 .L713: |
| 9432 52d8 0981 ldd r16,Y+1 |
| 9433 52da 1A81 ldd r17,Y+2 |
| 9434 52dc 1093 0000 sts (DebugOut+16)+1,r17 |
| 9435 52e0 0093 0000 sts DebugOut+16,r16 |
| 9436 52e4 8091 0000 lds r24,sollGier.0 |
| 9437 52e8 9091 0000 lds r25,(sollGier.0)+1 |
| 9438 52ec A091 0000 lds r26,(sollGier.0)+2 |
| 9439 52f0 B091 0000 lds r27,(sollGier.0)+3 |
| 9440 52f4 F2E0 ldi r31,2 |
| 9441 52f6 880F 1: lsl r24 |
| 9442 52f8 991F rol r25 |
| 9443 52fa AA1F rol r26 |
| 9444 52fc BB1F rol r27 |
| 9445 52fe FA95 dec r31 |
| 9446 5300 D1F7 brne 1b |
| 9447 5302 0091 0000 lds r16,MesswertGier |
| 9448 5306 1091 0000 lds r17,(MesswertGier)+1 |
| 9449 530a 081B sub r16,r24 |
| 9450 530c 190B sbc r17,r25 |
| 9451 530e 2981 ldd r18,Y+1 |
| 9452 5310 3A81 ldd r19,Y+2 |
| 9453 5312 213A cpi r18,161 |
| 9454 5314 3105 cpc r19,__zero_reg__ |
| 9455 5316 8CF0 brlt .L716 |
| 9456 5318 C901 movw r24,r18 |
| 9457 531a 37FD sbrc r19,7 |
| 9458 531c 0196 adiw r24,1 |
| 9459 .L718: |
| 9460 531e 9595 asr r25 |
| 9461 5320 8795 ror r24 |
| 9462 5322 8017 cp r24,r16 |
| 9463 5324 9107 cpc r25,r17 |
| 9464 5326 0CF4 brge .L717 |
| 9465 5328 8C01 movw r16,r24 |
| 9466 .L717: |
| 9467 532a 9095 com r25 |
| 9468 532c 8195 neg r24 |
| 9469 532e 9F4F sbci r25,lo8(-1) |
| 9470 5330 0817 cp r16,r24 |
| 9471 5332 1907 cpc r17,r25 |
| 9472 5334 6CF4 brge .L723 |
| 9473 5336 8C01 movw r16,r24 |
| 9474 5338 0BC0 rjmp .L723 |
| 9475 .L716: |
| 9476 533a 0135 cpi r16,81 |
| 9477 533c 1105 cpc r17,__zero_reg__ |
| 9478 533e 14F0 brlt .L724 |
| 9479 5340 00E5 ldi r16,lo8(80) |
| 9480 5342 10E0 ldi r17,hi8(80) |
| 9481 .L724: |
| 9482 5344 3FEF ldi r19,hi8(-80) |
| 9483 5346 003B cpi r16,lo8(-80) |
| 9484 5348 1307 cpc r17,r19 |
| 9485 534a 14F4 brge .L723 |
| 9486 534c 00EB ldi r16,lo8(-80) |
| 9487 534e 1FEF ldi r17,hi8(-80) |
| 9488 .L723: |
| 9489 5350 232D mov r18,r3 |
| 9490 5352 3327 clr r19 |
| 9491 5354 220F lsl r18 |
| 9492 5356 331F rol r19 |
| 9493 5358 220F lsl r18 |
| 9494 535a 331F rol r19 |
| 9495 535c C901 movw r24,r18 |
| 9496 535e 4981 ldd r20,Y+1 |
| 9497 5360 5A81 ldd r21,Y+2 |
| 9498 5362 841B sub r24,r20 |
| 9499 5364 950B sbc r25,r21 |
| 9500 5366 8017 cp r24,r16 |
| 9501 5368 9107 cpc r25,r17 |
| 9502 536a 0CF4 brge .L726 |
| 9503 536c 8C01 movw r16,r24 |
| 9504 .L726: |
| 9505 536e 6981 ldd r22,Y+1 |
| 9506 5370 7A81 ldd r23,Y+2 |
| 9507 5372 621B sub r22,r18 |
| 9508 5374 730B sbc r23,r19 |
| 9509 5376 0617 cp r16,r22 |
| 9510 5378 1707 cpc r17,r23 |
| 9511 537a 0CF4 brge .L727 |
| 9512 537c 8B01 movw r16,r22 |
| 9513 .L727: |
| 9514 537e 8091 0000 lds r24,MesswertNick |
| 9515 5382 9091 0000 lds r25,(MesswertNick)+1 |
| 9516 5386 6091 0000 lds r22,StickNick |
| 9517 538a 7091 0000 lds r23,(StickNick)+1 |
| 9518 538e 861B sub r24,r22 |
| 9519 5390 970B sbc r25,r23 |
| 9520 5392 9093 0000 sts (DiffNick)+1,r25 |
| 9521 5396 8093 0000 sts DiffNick,r24 |
| 9522 539a D090 0000 lds r13,IntegralFaktor |
| 9523 539e 2091 0000 lds r18,SummeNick |
| 9524 53a2 3091 0000 lds r19,(SummeNick)+1 |
| 9525 53a6 4091 0000 lds r20,(SummeNick)+2 |
| 9526 53aa 5091 0000 lds r21,(SummeNick)+3 |
| 9527 53ae DD20 tst r13 |
| 9528 53b0 41F0 breq .L728 |
| 9529 53b2 661A sub r6,r22 |
| 9530 53b4 770A sbc r7,r23 |
| 9531 53b6 C301 movw r24,r6 |
| 9532 53b8 AA27 clr r26 |
| 9533 53ba 97FD sbrc r25,7 |
| 9534 53bc A095 com r26 |
| 9535 53be BA2F mov r27,r26 |
| 9536 53c0 04C0 rjmp .L811 |
| 9537 .L728: |
| 9538 53c2 AA27 clr r26 |
| 9539 53c4 97FD sbrc r25,7 |
| 9540 53c6 A095 com r26 |
| 9541 53c8 BA2F mov r27,r26 |
| 9542 .L811: |
| 9543 53ca 280F add r18,r24 |
| 9544 53cc 391F adc r19,r25 |
| 9545 53ce 4A1F adc r20,r26 |
| 9546 53d0 5B1F adc r21,r27 |
| 9547 53d2 2093 0000 sts SummeNick,r18 |
| 9548 53d6 3093 0000 sts (SummeNick)+1,r19 |
| 9549 53da 4093 0000 sts (SummeNick)+2,r20 |
| 9550 53de 5093 0000 sts (SummeNick)+3,r21 |
| 9551 53e2 8091 0000 lds r24,SummeNick |
| 9552 53e6 9091 0000 lds r25,(SummeNick)+1 |
| 9553 53ea A091 0000 lds r26,(SummeNick)+2 |
| 9554 53ee B091 0000 lds r27,(SummeNick)+3 |
| 9555 53f2 8150 subi r24,lo8(64001) |
| 9556 53f4 9A4F sbci r25,hi8(64001) |
| 9557 53f6 A040 sbci r26,hlo8(64001) |
| 9558 53f8 B040 sbci r27,hhi8(64001) |
| 9559 53fa 64F0 brlt .L730 |
| 9560 53fc 80E0 ldi r24,lo8(64000) |
| 9561 53fe 9AEF ldi r25,hi8(64000) |
| 9562 5400 A0E0 ldi r26,hlo8(64000) |
| 9563 5402 B0E0 ldi r27,hhi8(64000) |
| 9564 5404 8093 0000 sts SummeNick,r24 |
| 9565 5408 9093 0000 sts (SummeNick)+1,r25 |
| 9566 540c A093 0000 sts (SummeNick)+2,r26 |
| 9567 5410 B093 0000 sts (SummeNick)+3,r27 |
| 9568 .L730: |
| 9569 5414 8091 0000 lds r24,SummeNick |
| 9570 5418 9091 0000 lds r25,(SummeNick)+1 |
| 9571 541c A091 0000 lds r26,(SummeNick)+2 |
| 9572 5420 B091 0000 lds r27,(SummeNick)+3 |
| 9573 5424 8050 subi r24,lo8(-64000) |
| 9574 5426 9640 sbci r25,hi8(-64000) |
| 9575 5428 AF4F sbci r26,hlo8(-64000) |
| 9576 542a BF4F sbci r27,hhi8(-64000) |
| 9577 542c 64F4 brge .L731 |
| 9578 542e 80E0 ldi r24,lo8(-64000) |
| 9579 5430 96E0 ldi r25,hi8(-64000) |
| 9580 5432 AFEF ldi r26,hlo8(-64000) |
| 9581 5434 BFEF ldi r27,hhi8(-64000) |
| 9582 5436 8093 0000 sts SummeNick,r24 |
| 9583 543a 9093 0000 sts (SummeNick)+1,r25 |
| 9584 543e A093 0000 sts (SummeNick)+2,r26 |
| 9585 5442 B093 0000 sts (SummeNick)+3,r27 |
| 9586 .L731: |
| 9587 5446 C090 0000 lds r12,EE_Parameter+35 |
| 9588 544a 2091 0000 lds r18,DiffNick |
| 9589 544e 3091 0000 lds r19,(DiffNick)+1 |
| 9590 5452 F8E0 ldi r31,lo8(8) |
| 9591 5454 FC15 cp r31,r12 |
| 9592 5456 98F0 brlo .L732 |
| 9593 5458 8C2D mov r24,r12 |
| 9594 545a 9927 clr r25 |
| 9595 545c 829F mul r24,r18 |
| 9596 545e 7001 movw r14,r0 |
| 9597 5460 839F mul r24,r19 |
| 9598 5462 F00C add r15,r0 |
| 9599 5464 929F mul r25,r18 |
| 9600 5466 F00C add r15,r0 |
| 9601 5468 1124 clr r1 |
| 9602 546a C701 movw r24,r14 |
| 9603 546c F7FC sbrc r15,7 |
| 9604 546e 0796 adiw r24,7 |
| 9605 .L733: |
| 9606 5470 7C01 movw r14,r24 |
| 9607 5472 63E0 ldi r22,3 |
| 9608 5474 F594 1: asr r15 |
| 9609 5476 E794 ror r14 |
| 9610 5478 6A95 dec r22 |
| 9611 547a E1F7 brne 1b |
| 9612 547c 12C0 rjmp .L734 |
| 9613 .L732: |
| 9614 547e 8C2D mov r24,r12 |
| 9615 5480 8695 lsr r24 |
| 9616 5482 9927 clr r25 |
| 9617 5484 829F mul r24,r18 |
| 9618 5486 A001 movw r20,r0 |
| 9619 5488 839F mul r24,r19 |
| 9620 548a 500D add r21,r0 |
| 9621 548c 929F mul r25,r18 |
| 9622 548e 500D add r21,r0 |
| 9623 5490 1124 clr r1 |
| 9624 5492 CA01 movw r24,r20 |
| 9625 5494 57FD sbrc r21,7 |
| 9626 5496 0396 adiw r24,3 |
| 9627 .L735: |
| 9628 5498 7C01 movw r14,r24 |
| 9629 549a F594 asr r15 |
| 9630 549c E794 ror r14 |
| 9631 549e F594 asr r15 |
| 9632 54a0 E794 ror r14 |
| 9633 .L734: |
| 9634 54a2 A090 0000 lds r10,Ki |
| 9635 54a6 B090 0000 lds r11,(Ki)+1 |
| 9636 54aa 9501 movw r18,r10 |
| 9637 54ac 4427 clr r20 |
| 9638 54ae 37FD sbrc r19,7 |
| 9639 54b0 4095 com r20 |
| 9640 54b2 542F mov r21,r20 |
| 9641 54b4 8091 0000 lds r24,SummeNick |
| 9642 54b8 9091 0000 lds r25,(SummeNick)+1 |
| 9643 54bc A091 0000 lds r26,(SummeNick)+2 |
| 9644 54c0 B091 0000 lds r27,(SummeNick)+3 |
| 9645 54c4 BC01 movw r22,r24 |
| 9646 54c6 CD01 movw r24,r26 |
| 9647 54c8 0E94 0000 call __divmodsi4 |
| 9648 54cc E20E add r14,r18 |
| 9649 54ce F31E adc r15,r19 |
| 9650 54d0 9090 0000 lds r9,Parameter_DynamicStability |
| 9651 54d4 692D mov r22,r9 |
| 9652 54d6 7727 clr r23 |
| 9653 54d8 8827 clr r24 |
| 9654 54da 9927 clr r25 |
| 9655 54dc 9801 movw r18,r16 |
| 9656 54de 17FF sbrs r17,7 |
| 9657 54e0 04C0 rjmp .L736 |
| 9658 54e2 2227 clr r18 |
| 9659 54e4 3327 clr r19 |
| 9660 54e6 201B sub r18,r16 |
| 9661 54e8 310B sbc r19,r17 |
| 9662 .L736: |
| 9663 54ea 37FF sbrs r19,7 |
| 9664 54ec 02C0 rjmp .L737 |
| 9665 54ee 2F5F subi r18,lo8(-(1)) |
| 9666 54f0 3F4F sbci r19,hi8(-(1)) |
| 9667 .L737: |
| 9668 54f2 3595 asr r19 |
| 9669 54f4 2795 ror r18 |
| 9670 54f6 A981 ldd r26,Y+1 |
| 9671 54f8 BA81 ldd r27,Y+2 |
| 9672 54fa 2A0F add r18,r26 |
| 9673 54fc 3B1F adc r19,r27 |
| 9674 54fe 4427 clr r20 |
| 9675 5500 37FD sbrc r19,7 |
| 9676 5502 4095 com r20 |
| 9677 5504 542F mov r21,r20 |
| 9678 5506 0E94 0000 call __mulsi3 |
| 9679 550a 97FF sbrs r25,7 |
| 9680 550c 04C0 rjmp .L738 |
| 9681 550e 615C subi r22,lo8(-(63)) |
| 9682 5510 7F4F sbci r23,hi8(-(63)) |
| 9683 5512 8F4F sbci r24,hlo8(-(63)) |
| 9684 5514 9F4F sbci r25,hhi8(-(63)) |
| 9685 .L738: |
| 9686 5516 26E0 ldi r18,6 |
| 9687 5518 9595 1: asr r25 |
| 9688 551a 8795 ror r24 |
| 9689 551c 7795 ror r23 |
| 9690 551e 6795 ror r22 |
| 9691 5520 2A95 dec r18 |
| 9692 5522 D1F7 brne 1b |
| 9693 5524 9B01 movw r18,r22 |
| 9694 5526 6E15 cp r22,r14 |
| 9695 5528 7F05 cpc r23,r15 |
| 9696 552a 0CF4 brge .L739 |
| 9697 552c 7B01 movw r14,r22 |
| 9698 .L739: |
| 9699 552e 3095 com r19 |
| 9700 5530 2195 neg r18 |
| 9701 5532 3F4F sbci r19,lo8(-1) |
| 9702 5534 E216 cp r14,r18 |
| 9703 5536 F306 cpc r15,r19 |
| 9704 5538 0CF4 brge .L740 |
| 9705 553a 7901 movw r14,r18 |
| 9706 .L740: |
| 9707 553c 8091 0000 lds r24,MesswertRoll |
| 9708 5540 9091 0000 lds r25,(MesswertRoll)+1 |
| 9709 5544 6091 0000 lds r22,StickRoll |
| 9710 5548 7091 0000 lds r23,(StickRoll)+1 |
| 9711 554c 861B sub r24,r22 |
| 9712 554e 970B sbc r25,r23 |
| 9713 5550 9093 0000 sts (DiffRoll)+1,r25 |
| 9714 5554 8093 0000 sts DiffRoll,r24 |
| 9715 5558 2091 0000 lds r18,SummeRoll |
| 9716 555c 3091 0000 lds r19,(SummeRoll)+1 |
| 9717 5560 4091 0000 lds r20,(SummeRoll)+2 |
| 9718 5564 5091 0000 lds r21,(SummeRoll)+3 |
| 9719 5568 DD20 tst r13 |
| 9720 556a 41F0 breq .L741 |
| 9721 556c 461A sub r4,r22 |
| 9722 556e 570A sbc r5,r23 |
| 9723 5570 C201 movw r24,r4 |
| 9724 5572 AA27 clr r26 |
| 9725 5574 97FD sbrc r25,7 |
| 9726 5576 A095 com r26 |
| 9727 5578 BA2F mov r27,r26 |
| 9728 557a 04C0 rjmp .L812 |
| 9729 .L741: |
| 9730 557c AA27 clr r26 |
| 9731 557e 97FD sbrc r25,7 |
| 9732 5580 A095 com r26 |
| 9733 5582 BA2F mov r27,r26 |
| 9734 .L812: |
| 9735 5584 280F add r18,r24 |
| 9736 5586 391F adc r19,r25 |
| 9737 5588 4A1F adc r20,r26 |
| 9738 558a 5B1F adc r21,r27 |
| 9739 558c 2093 0000 sts SummeRoll,r18 |
| 9740 5590 3093 0000 sts (SummeRoll)+1,r19 |
| 9741 5594 4093 0000 sts (SummeRoll)+2,r20 |
| 9742 5598 5093 0000 sts (SummeRoll)+3,r21 |
| 9743 559c 8091 0000 lds r24,SummeRoll |
| 9744 55a0 9091 0000 lds r25,(SummeRoll)+1 |
| 9745 55a4 A091 0000 lds r26,(SummeRoll)+2 |
| 9746 55a8 B091 0000 lds r27,(SummeRoll)+3 |
| 9747 55ac 8150 subi r24,lo8(64001) |
| 9748 55ae 9A4F sbci r25,hi8(64001) |
| 9749 55b0 A040 sbci r26,hlo8(64001) |
| 9750 55b2 B040 sbci r27,hhi8(64001) |
| 9751 55b4 64F0 brlt .L743 |
| 9752 55b6 80E0 ldi r24,lo8(64000) |
| 9753 55b8 9AEF ldi r25,hi8(64000) |
| 9754 55ba A0E0 ldi r26,hlo8(64000) |
| 9755 55bc B0E0 ldi r27,hhi8(64000) |
| 9756 55be 8093 0000 sts SummeRoll,r24 |
| 9757 55c2 9093 0000 sts (SummeRoll)+1,r25 |
| 9758 55c6 A093 0000 sts (SummeRoll)+2,r26 |
| 9759 55ca B093 0000 sts (SummeRoll)+3,r27 |
| 9760 .L743: |
| 9761 55ce 8091 0000 lds r24,SummeRoll |
| 9762 55d2 9091 0000 lds r25,(SummeRoll)+1 |
| 9763 55d6 A091 0000 lds r26,(SummeRoll)+2 |
| 9764 55da B091 0000 lds r27,(SummeRoll)+3 |
| 9765 55de 8050 subi r24,lo8(-64000) |
| 9766 55e0 9640 sbci r25,hi8(-64000) |
| 9767 55e2 AF4F sbci r26,hlo8(-64000) |
| 9768 55e4 BF4F sbci r27,hhi8(-64000) |
| 9769 55e6 64F4 brge .L744 |
| 9770 55e8 80E0 ldi r24,lo8(-64000) |
| 9771 55ea 96E0 ldi r25,hi8(-64000) |
| 9772 55ec AFEF ldi r26,hlo8(-64000) |
| 9773 55ee BFEF ldi r27,hhi8(-64000) |
| 9774 55f0 8093 0000 sts SummeRoll,r24 |
| 9775 55f4 9093 0000 sts (SummeRoll)+1,r25 |
| 9776 55f8 A093 0000 sts (SummeRoll)+2,r26 |
| 9777 55fc B093 0000 sts (SummeRoll)+3,r27 |
| 9778 .L744: |
| 9779 5600 2091 0000 lds r18,DiffRoll |
| 9780 5604 3091 0000 lds r19,(DiffRoll)+1 |
| 9781 5608 48E0 ldi r20,lo8(8) |
| 9782 560a 4C15 cp r20,r12 |
| 9783 560c 98F0 brlo .L745 |
| 9784 560e 8C2D mov r24,r12 |
| 9785 5610 9927 clr r25 |
| 9786 5612 829F mul r24,r18 |
| 9787 5614 B001 movw r22,r0 |
| 9788 5616 839F mul r24,r19 |
| 9789 5618 700D add r23,r0 |
| 9790 561a 929F mul r25,r18 |
| 9791 561c 700D add r23,r0 |
| 9792 561e 1124 clr r1 |
| 9793 5620 CB01 movw r24,r22 |
| 9794 5622 77FD sbrc r23,7 |
| 9795 5624 0796 adiw r24,7 |
| 9796 .L746: |
| 9797 5626 6C01 movw r12,r24 |
| 9798 5628 B3E0 ldi r27,3 |
| 9799 562a D594 1: asr r13 |
| 9800 562c C794 ror r12 |
| 9801 562e BA95 dec r27 |
| 9802 5630 E1F7 brne 1b |
| 9803 5632 12C0 rjmp .L747 |
| 9804 .L745: |
| 9805 5634 C694 lsr r12 |
| 9806 5636 8C2D mov r24,r12 |
| 9807 5638 9927 clr r25 |
| 9808 563a 829F mul r24,r18 |
| 9809 563c D001 movw r26,r0 |
| 9810 563e 839F mul r24,r19 |
| 9811 5640 B00D add r27,r0 |
| 9812 5642 929F mul r25,r18 |
| 9813 5644 B00D add r27,r0 |
| 9814 5646 1124 clr r1 |
| 9815 5648 CD01 movw r24,r26 |
| 9816 564a B7FD sbrc r27,7 |
| 9817 564c 0396 adiw r24,3 |
| 9818 .L748: |
| 9819 564e 6C01 movw r12,r24 |
| 9820 5650 D594 asr r13 |
| 9821 5652 C794 ror r12 |
| 9822 5654 D594 asr r13 |
| 9823 5656 C794 ror r12 |
| 9824 .L747: |
| 9825 5658 9501 movw r18,r10 |
| 9826 565a 4427 clr r20 |
| 9827 565c 37FD sbrc r19,7 |
| 9828 565e 4095 com r20 |
| 9829 5660 542F mov r21,r20 |
| 9830 5662 8091 0000 lds r24,SummeRoll |
| 9831 5666 9091 0000 lds r25,(SummeRoll)+1 |
| 9832 566a A091 0000 lds r26,(SummeRoll)+2 |
| 9833 566e B091 0000 lds r27,(SummeRoll)+3 |
| 9834 5672 BC01 movw r22,r24 |
| 9835 5674 CD01 movw r24,r26 |
| 9836 5676 0E94 0000 call __divmodsi4 |
| 9837 567a C20E add r12,r18 |
| 9838 567c D31E adc r13,r19 |
| 9839 567e 692D mov r22,r9 |
| 9840 5680 7727 clr r23 |
| 9841 5682 8827 clr r24 |
| 9842 5684 9927 clr r25 |
| 9843 5686 9801 movw r18,r16 |
| 9844 5688 17FF sbrs r17,7 |
| 9845 568a 04C0 rjmp .L749 |
| 9846 568c 2227 clr r18 |
| 9847 568e 3327 clr r19 |
| 9848 5690 201B sub r18,r16 |
| 9849 5692 310B sbc r19,r17 |
| 9850 .L749: |
| 9851 5694 37FF sbrs r19,7 |
| 9852 5696 02C0 rjmp .L750 |
| 9853 5698 2F5F subi r18,lo8(-(1)) |
| 9854 569a 3F4F sbci r19,hi8(-(1)) |
| 9855 .L750: |
| 9856 569c 3595 asr r19 |
| 9857 569e 2795 ror r18 |
| 9858 56a0 E981 ldd r30,Y+1 |
| 9859 56a2 FA81 ldd r31,Y+2 |
| 9860 56a4 2E0F add r18,r30 |
| 9861 56a6 3F1F adc r19,r31 |
| 9862 56a8 4427 clr r20 |
| 9863 56aa 37FD sbrc r19,7 |
| 9864 56ac 4095 com r20 |
| 9865 56ae 542F mov r21,r20 |
| 9866 56b0 0E94 0000 call __mulsi3 |
| 9867 56b4 97FF sbrs r25,7 |
| 9868 56b6 04C0 rjmp .L751 |
| 9869 56b8 615C subi r22,lo8(-(63)) |
| 9870 56ba 7F4F sbci r23,hi8(-(63)) |
| 9871 56bc 8F4F sbci r24,hlo8(-(63)) |
| 9872 56be 9F4F sbci r25,hhi8(-(63)) |
| 9873 .L751: |
| 9874 56c0 E6E0 ldi r30,6 |
| 9875 56c2 9595 1: asr r25 |
| 9876 56c4 8795 ror r24 |
| 9877 56c6 7795 ror r23 |
| 9878 56c8 6795 ror r22 |
| 9879 56ca EA95 dec r30 |
| 9880 56cc D1F7 brne 1b |
| 9881 56ce 9B01 movw r18,r22 |
| 9882 56d0 6C15 cp r22,r12 |
| 9883 56d2 7D05 cpc r23,r13 |
| 9884 56d4 0CF4 brge .L752 |
| 9885 56d6 6B01 movw r12,r22 |
| 9886 .L752: |
| 9887 56d8 3095 com r19 |
| 9888 56da 2195 neg r18 |
| 9889 56dc 3F4F sbci r19,lo8(-1) |
| 9890 56de C216 cp r12,r18 |
| 9891 56e0 D306 cpc r13,r19 |
| 9892 56e2 0CF4 brge .L753 |
| 9893 56e4 6901 movw r12,r18 |
| 9894 .L753: |
| 9895 56e6 60E0 ldi r22,lo8(Motor) |
| 9896 56e8 862E mov r8,r22 |
| 9897 56ea 60E0 ldi r22,hi8(Motor) |
| 9898 56ec 962E mov r9,r22 |
| 9899 56ee 50E0 ldi r21,lo8(Mixer+13) |
| 9900 56f0 A52E mov r10,r21 |
| 9901 56f2 50E0 ldi r21,hi8(Mixer+13) |
| 9902 56f4 B52E mov r11,r21 |
| 9903 56f6 4BE0 ldi r20,lo8(11) |
| 9904 56f8 542E mov r5,r20 |
| 9905 56fa 30E0 ldi r19,lo8(tmp_motorwert) |
| 9906 56fc 632E mov r6,r19 |
| 9907 56fe 30E0 ldi r19,hi8(tmp_motorwert) |
| 9908 5700 732E mov r7,r19 |
| 9909 .L785: |
| 9910 5702 D501 movw r26,r10 |
| 9911 5704 2C91 ld r18,X |
| 9912 5706 1216 cp __zero_reg__,r18 |
| 9913 5708 0CF0 brlt .+2 |
| 9914 570a 14C1 rjmp .L757 |
| 9915 570c 2034 cpi r18,lo8(64) |
| 9916 570e 29F4 brne .L758 |
| 9917 5710 E981 ldd r30,Y+1 |
| 9918 5712 FA81 ldd r31,Y+2 |
| 9919 5714 F88F std Y+24,r31 |
| 9920 5716 EF8B std Y+23,r30 |
| 9921 5718 1FC0 rjmp .L759 |
| 9922 .L758: |
| 9923 571a 4981 ldd r20,Y+1 |
| 9924 571c 5A81 ldd r21,Y+2 |
| 9925 571e CA01 movw r24,r20 |
| 9926 5720 AA27 clr r26 |
| 9927 5722 97FD sbrc r25,7 |
| 9928 5724 A095 com r26 |
| 9929 5726 BA2F mov r27,r26 |
| 9930 5728 3327 clr r19 |
| 9931 572a 27FD sbrc r18,7 |
| 9932 572c 3095 com r19 |
| 9933 572e 432F mov r20,r19 |
| 9934 5730 532F mov r21,r19 |
| 9935 5732 BC01 movw r22,r24 |
| 9936 5734 CD01 movw r24,r26 |
| 9937 5736 0E94 0000 call __mulsi3 |
| 9938 573a 97FF sbrs r25,7 |
| 9939 573c 04C0 rjmp .L760 |
| 9940 573e 615C subi r22,lo8(-(63)) |
| 9941 5740 7F4F sbci r23,hi8(-(63)) |
| 9942 5742 8F4F sbci r24,hlo8(-(63)) |
| 9943 5744 9F4F sbci r25,hhi8(-(63)) |
| 9944 .L760: |
| 9945 5746 26E0 ldi r18,6 |
| 9946 5748 9595 1: asr r25 |
| 9947 574a 8795 ror r24 |
| 9948 574c 7795 ror r23 |
| 9949 574e 6795 ror r22 |
| 9950 5750 2A95 dec r18 |
| 9951 5752 D1F7 brne 1b |
| 9952 5754 788F std Y+24,r23 |
| 9953 5756 6F8B std Y+23,r22 |
| 9954 .L759: |
| 9955 5758 F501 movw r30,r10 |
| 9956 575a 2181 ldd r18,Z+1 |
| 9957 575c 2034 cpi r18,lo8(64) |
| 9958 575e 39F4 brne .L761 |
| 9959 5760 2F89 ldd r18,Y+23 |
| 9960 5762 388D ldd r19,Y+24 |
| 9961 5764 2E0D add r18,r14 |
| 9962 5766 3F1D adc r19,r15 |
| 9963 5768 388F std Y+24,r19 |
| 9964 576a 2F8B std Y+23,r18 |
| 9965 576c 2AC0 rjmp .L762 |
| 9966 .L761: |
| 9967 576e 203C cpi r18,lo8(-64) |
| 9968 5770 39F4 brne .L763 |
| 9969 5772 4F89 ldd r20,Y+23 |
| 9970 5774 588D ldd r21,Y+24 |
| 9971 5776 4E19 sub r20,r14 |
| 9972 5778 5F09 sbc r21,r15 |
| 9973 577a 588F std Y+24,r21 |
| 9974 577c 4F8B std Y+23,r20 |
| 9975 577e 21C0 rjmp .L762 |
| 9976 .L763: |
| 9977 5780 C701 movw r24,r14 |
| 9978 5782 AA27 clr r26 |
| 9979 5784 97FD sbrc r25,7 |
| 9980 5786 A095 com r26 |
| 9981 5788 BA2F mov r27,r26 |
| 9982 578a 3327 clr r19 |
| 9983 578c 27FD sbrc r18,7 |
| 9984 578e 3095 com r19 |
| 9985 5790 432F mov r20,r19 |
| 9986 5792 532F mov r21,r19 |
| 9987 5794 BC01 movw r22,r24 |
| 9988 5796 CD01 movw r24,r26 |
| 9989 5798 0E94 0000 call __mulsi3 |
| 9990 579c 97FF sbrs r25,7 |
| 9991 579e 04C0 rjmp .L765 |
| 9992 57a0 615C subi r22,lo8(-(63)) |
| 9993 57a2 7F4F sbci r23,hi8(-(63)) |
| 9994 57a4 8F4F sbci r24,hlo8(-(63)) |
| 9995 57a6 9F4F sbci r25,hhi8(-(63)) |
| 9996 .L765: |
| 9997 57a8 B6E0 ldi r27,6 |
| 9998 57aa 9595 1: asr r25 |
| 9999 57ac 8795 ror r24 |
| 10000 57ae 7795 ror r23 |
| 10001 57b0 6795 ror r22 |
| 10002 57b2 BA95 dec r27 |
| 10003 57b4 D1F7 brne 1b |
| 10004 57b6 AF89 ldd r26,Y+23 |
| 10005 57b8 B88D ldd r27,Y+24 |
| 10006 57ba A60F add r26,r22 |
| 10007 57bc B71F adc r27,r23 |
| 10008 57be B88F std Y+24,r27 |
| 10009 57c0 AF8B std Y+23,r26 |
| 10010 .L762: |
| 10011 57c2 F501 movw r30,r10 |
| 10012 57c4 2281 ldd r18,Z+2 |
| 10013 57c6 2034 cpi r18,lo8(64) |
| 10014 57c8 39F4 brne .L766 |
| 10015 57ca 2F89 ldd r18,Y+23 |
| 10016 57cc 388D ldd r19,Y+24 |
| 10017 57ce 2C0D add r18,r12 |
| 10018 57d0 3D1D adc r19,r13 |
| 10019 57d2 388F std Y+24,r19 |
| 10020 57d4 2F8B std Y+23,r18 |
| 10021 57d6 2AC0 rjmp .L767 |
| 10022 .L766: |
| 10023 57d8 203C cpi r18,lo8(-64) |
| 10024 57da 39F4 brne .L768 |
| 10025 57dc 4F89 ldd r20,Y+23 |
| 10026 57de 588D ldd r21,Y+24 |
| 10027 57e0 4C19 sub r20,r12 |
| 10028 57e2 5D09 sbc r21,r13 |
| 10029 57e4 588F std Y+24,r21 |
| 10030 57e6 4F8B std Y+23,r20 |
| 10031 57e8 21C0 rjmp .L767 |
| 10032 .L768: |
| 10033 57ea C601 movw r24,r12 |
| 10034 57ec AA27 clr r26 |
| 10035 57ee 97FD sbrc r25,7 |
| 10036 57f0 A095 com r26 |
| 10037 57f2 BA2F mov r27,r26 |
| 10038 57f4 3327 clr r19 |
| 10039 57f6 27FD sbrc r18,7 |
| 10040 57f8 3095 com r19 |
| 10041 57fa 432F mov r20,r19 |
| 10042 57fc 532F mov r21,r19 |
| 10043 57fe BC01 movw r22,r24 |
| 10044 5800 CD01 movw r24,r26 |
| 10045 5802 0E94 0000 call __mulsi3 |
| 10046 5806 97FF sbrs r25,7 |
| 10047 5808 04C0 rjmp .L770 |
| 10048 580a 615C subi r22,lo8(-(63)) |
| 10049 580c 7F4F sbci r23,hi8(-(63)) |
| 10050 580e 8F4F sbci r24,hlo8(-(63)) |
| 10051 5810 9F4F sbci r25,hhi8(-(63)) |
| 10052 .L770: |
| 10053 5812 A6E0 ldi r26,6 |
| 10054 5814 9595 1: asr r25 |
| 10055 5816 8795 ror r24 |
| 10056 5818 7795 ror r23 |
| 10057 581a 6795 ror r22 |
| 10058 581c AA95 dec r26 |
| 10059 581e D1F7 brne 1b |
| 10060 5820 AF89 ldd r26,Y+23 |
| 10061 5822 B88D ldd r27,Y+24 |
| 10062 5824 A60F add r26,r22 |
| 10063 5826 B71F adc r27,r23 |
| 10064 5828 B88F std Y+24,r27 |
| 10065 582a AF8B std Y+23,r26 |
| 10066 .L767: |
| 10067 582c F501 movw r30,r10 |
| 10068 582e 2381 ldd r18,Z+3 |
| 10069 5830 2034 cpi r18,lo8(64) |
| 10070 5832 39F4 brne .L771 |
| 10071 5834 2F89 ldd r18,Y+23 |
| 10072 5836 388D ldd r19,Y+24 |
| 10073 5838 200F add r18,r16 |
| 10074 583a 311F adc r19,r17 |
| 10075 583c 388F std Y+24,r19 |
| 10076 583e 2F8B std Y+23,r18 |
| 10077 5840 2AC0 rjmp .L772 |
| 10078 .L771: |
| 10079 5842 203C cpi r18,lo8(-64) |
| 10080 5844 39F4 brne .L773 |
| 10081 5846 4F89 ldd r20,Y+23 |
| 10082 5848 588D ldd r21,Y+24 |
| 10083 584a 401B sub r20,r16 |
| 10084 584c 510B sbc r21,r17 |
| 10085 584e 588F std Y+24,r21 |
| 10086 5850 4F8B std Y+23,r20 |
| 10087 5852 21C0 rjmp .L772 |
| 10088 .L773: |
| 10089 5854 C801 movw r24,r16 |
| 10090 5856 AA27 clr r26 |
| 10091 5858 97FD sbrc r25,7 |
| 10092 585a A095 com r26 |
| 10093 585c BA2F mov r27,r26 |
| 10094 585e 3327 clr r19 |
| 10095 5860 27FD sbrc r18,7 |
| 10096 5862 3095 com r19 |
| 10097 5864 432F mov r20,r19 |
| 10098 5866 532F mov r21,r19 |
| 10099 5868 BC01 movw r22,r24 |
| 10100 586a CD01 movw r24,r26 |
| 10101 586c 0E94 0000 call __mulsi3 |
| 10102 5870 97FF sbrs r25,7 |
| 10103 5872 04C0 rjmp .L775 |
| 10104 5874 615C subi r22,lo8(-(63)) |
| 10105 5876 7F4F sbci r23,hi8(-(63)) |
| 10106 5878 8F4F sbci r24,hlo8(-(63)) |
| 10107 587a 9F4F sbci r25,hhi8(-(63)) |
| 10108 .L775: |
| 10109 587c F6E0 ldi r31,6 |
| 10110 587e 9595 1: asr r25 |
| 10111 5880 8795 ror r24 |
| 10112 5882 7795 ror r23 |
| 10113 5884 6795 ror r22 |
| 10114 5886 FA95 dec r31 |
| 10115 5888 D1F7 brne 1b |
| 10116 588a AF89 ldd r26,Y+23 |
| 10117 588c B88D ldd r27,Y+24 |
| 10118 588e A60F add r26,r22 |
| 10119 5890 B71F adc r27,r23 |
| 10120 5892 B88F std Y+24,r27 |
| 10121 5894 AF8B std Y+23,r26 |
| 10122 .L772: |
| 10123 5896 F301 movw r30,r6 |
| 10124 5898 8081 ld r24,Z |
| 10125 589a 9181 ldd r25,Z+1 |
| 10126 589c 2F89 ldd r18,Y+23 |
| 10127 589e 388D ldd r19,Y+24 |
| 10128 58a0 8217 cp r24,r18 |
| 10129 58a2 9307 cpc r25,r19 |
| 10130 58a4 64F4 brge .L776 |
| 10131 58a6 B901 movw r22,r18 |
| 10132 58a8 680F add r22,r24 |
| 10133 58aa 791F adc r23,r25 |
| 10134 58ac 77FF sbrs r23,7 |
| 10135 58ae 02C0 rjmp .L777 |
| 10136 58b0 6F5F subi r22,lo8(-(1)) |
| 10137 58b2 7F4F sbci r23,hi8(-(1)) |
| 10138 .L777: |
| 10139 58b4 7595 asr r23 |
| 10140 58b6 6795 ror r22 |
| 10141 58b8 788F std Y+24,r23 |
| 10142 58ba 6F8B std Y+23,r22 |
| 10143 58bc 08C0 rjmp .L778 |
| 10144 .L776: |
| 10145 58be 4F89 ldd r20,Y+23 |
| 10146 58c0 588D ldd r21,Y+24 |
| 10147 58c2 440F add r20,r20 |
| 10148 58c4 551F adc r21,r21 |
| 10149 58c6 481B sub r20,r24 |
| 10150 58c8 590B sbc r21,r25 |
| 10151 58ca 588F std Y+24,r21 |
| 10152 58cc 4F8B std Y+23,r20 |
| 10153 .L778: |
| 10154 58ce 822D mov r24,r2 |
| 10155 58d0 9927 clr r25 |
| 10156 58d2 880F lsl r24 |
| 10157 58d4 991F rol r25 |
| 10158 58d6 880F lsl r24 |
| 10159 58d8 991F rol r25 |
| 10160 58da 6F89 ldd r22,Y+23 |
| 10161 58dc 788D ldd r23,Y+24 |
| 10162 58de 8617 cp r24,r22 |
| 10163 58e0 9707 cpc r25,r23 |
| 10164 58e2 5CF4 brge .L813 |
| 10165 58e4 832D mov r24,r3 |
| 10166 58e6 9927 clr r25 |
| 10167 58e8 880F lsl r24 |
| 10168 58ea 991F rol r25 |
| 10169 58ec 880F lsl r24 |
| 10170 58ee 991F rol r25 |
| 10171 58f0 AF89 ldd r26,Y+23 |
| 10172 58f2 B88D ldd r27,Y+24 |
| 10173 58f4 A817 cp r26,r24 |
| 10174 58f6 B907 cpc r27,r25 |
| 10175 58f8 14F0 brlt .L780 |
| 10176 .L813: |
| 10177 58fa 988F std Y+24,r25 |
| 10178 58fc 8F8B std Y+23,r24 |
| 10179 .L780: |
| 10180 58fe 8F89 ldd r24,Y+23 |
| 10181 5900 988D ldd r25,Y+24 |
| 10182 5902 97FD sbrc r25,7 |
| 10183 5904 0396 adiw r24,3 |
| 10184 .L782: |
| 10185 5906 9595 asr r25 |
| 10186 5908 8795 ror r24 |
| 10187 590a 9595 asr r25 |
| 10188 590c 8795 ror r24 |
| 10189 590e F401 movw r30,r8 |
| 10190 5910 8183 std Z+1,r24 |
| 10191 5912 880F lsl r24 |
| 10192 5914 991F rol r25 |
| 10193 5916 880F lsl r24 |
| 10194 5918 991F rol r25 |
| 10195 591a 2F89 ldd r18,Y+23 |
| 10196 591c 388D ldd r19,Y+24 |
| 10197 591e 281B sub r18,r24 |
| 10198 5920 390B sbc r19,r25 |
| 10199 5922 C901 movw r24,r18 |
| 10200 5924 880F lsl r24 |
| 10201 5926 8283 std Z+2,r24 |
| 10202 5928 EF89 ldd r30,Y+23 |
| 10203 592a F88D ldd r31,Y+24 |
| 10204 592c D301 movw r26,r6 |
| 10205 592e ED93 st X+,r30 |
| 10206 5930 FC93 st X,r31 |
| 10207 5932 03C0 rjmp .L756 |
| 10208 .L757: |
| 10209 5934 F401 movw r30,r8 |
| 10210 5936 1182 std Z+1,__zero_reg__ |
| 10211 5938 1282 std Z+2,__zero_reg__ |
| 10212 .L756: |
| 10213 593a 5A94 dec r5 |
| 10214 593c 22E0 ldi r18,lo8(2) |
| 10215 593e 30E0 ldi r19,hi8(2) |
| 10216 5940 620E add r6,r18 |
| 10217 5942 731E adc r7,r19 |
| 10218 5944 44E0 ldi r20,lo8(4) |
| 10219 5946 50E0 ldi r21,hi8(4) |
| 10220 5948 A40E add r10,r20 |
| 10221 594a B51E adc r11,r21 |
| 10222 594c 68E0 ldi r22,lo8(8) |
| 10223 594e 70E0 ldi r23,hi8(8) |
| 10224 5950 860E add r8,r22 |
| 10225 5952 971E adc r9,r23 |
| 10226 5954 57FE sbrs r5,7 |
| 10227 5956 D5CE rjmp .L785 |
| 10228 /* epilogue: frame size=24 */ |
| 10229 5958 E2E1 ldi r30,18 |
| 10230 595a C85E subi r28,-24 |
| 10231 595c 0C94 0000 jmp __epilogue_restores__+0 |
| 10232 /* epilogue end (size=4) */ |
| 10233 /* function MotorRegler size 7701 (7691) */ |
| 10235 .comm TrimNick,2,1 |
| 10236 .comm TrimRoll,2,1 |
| 10237 .comm ErsatzKompass,4,1 |
| 10238 .comm ErsatzKompassInGrad,2,1 |
| 10239 .comm MesswertNick,2,1 |
| 10240 .comm MesswertRoll,2,1 |
| 10241 .comm MesswertGier,2,1 |
| 10242 .comm Mittelwert_AccNick,2,1 |
| 10243 .comm Mittelwert_AccRoll,2,1 |
| 10244 .comm NaviAccNick,2,1 |
| 10245 .comm NaviAccRoll,2,1 |
| 10246 .comm h,1,1 |
| 10247 .comm m,1,1 |
| 10248 .comm s,1,1 |
| 10249 .comm DiffNick,2,1 |
| 10250 .comm DiffRoll,2,1 |
| 10251 .comm Parameter_Servo3,1,1 |
| 10252 .comm Parameter_Servo4,1,1 |
| 10253 .comm Parameter_Servo5,1,1 |
| 10254 .comm Parameter_J16Bitmask,1,1 |
| 10255 .comm Parameter_J16Timing,1,1 |
| 10256 .comm Parameter_J17Bitmask,1,1 |
| 10257 .comm Parameter_J17Timing,1,1 |
| 10258 .comm loop1,1,1 |
| 10259 .comm loop2,1,1 |
| 10260 .comm loop3,1,1 |
| 10261 .comm pos1,1,1 |
| 10262 .comm pos2,1,1 |
| 10263 .comm pos3,1,1 |
| 10264 .comm Motors0,1,1 |
| 10265 .comm Motors1,1,1 |
| 10266 .comm Motors2,1,1 |
| 10267 .comm Motors3,1,1 |
| 10268 .comm Motors4,1,1 |
| 10269 .comm Motors5,1,1 |
| 10270 .comm Motors6,1,1 |
| 10271 .comm Motors7,1,1 |
| 10272 .comm Motors0max,1,1 |
| 10273 .comm Motors1max,1,1 |
| 10274 .comm Motors2max,1,1 |
| 10275 .comm Motors3max,1,1 |
| 10276 .comm Motors4max,1,1 |
| 10277 .comm Motors5max,1,1 |
| 10278 .comm Motors6max,1,1 |
| 10279 .comm Motors7max,1,1 |
| 10280 .comm MotorsTmax,2,1 |
| 10281 .comm MesswertGierBias,2,1 |
| 10282 .comm RohMesswertNick,2,1 |
| 10283 .comm RohMesswertRoll,2,1 |
| 10284 .comm MittelIntegralNick,4,1 |
| 10285 .comm MittelIntegralRoll,4,1 |
| 10286 .comm MittelIntegralNick2,4,1 |
| 10287 .comm MittelIntegralRoll2,4,1 |
| 10288 .comm MAX_GAS,1,1 |
| 10289 .comm MIN_GAS,1,1 |
| 10290 .comm GyroFaktor,1,1 |
| 10291 .comm GyroFaktorGier,1,1 |
| 10292 .comm IntegralFaktor,1,1 |
| 10293 .comm IntegralFaktorGier,1,1 |
| 10294 .comm Parameter_NaviGpsModeControl,1,1 |
| 10295 .comm Parameter_NaviGpsGain,1,1 |
| 10296 .comm Parameter_NaviGpsP,1,1 |
| 10297 .comm Parameter_NaviGpsI,1,1 |
| 10298 .comm Parameter_NaviGpsD,1,1 |
| 10299 .comm Parameter_NaviGpsACC,1,1 |
| 10300 .comm Parameter_NaviOperatingRadius,1,1 |
| 10301 .comm Parameter_NaviWindCorrection,1,1 |
| 10302 .comm Parameter_NaviSpeedCompensation,1,1 |
| 10303 .comm Parameter_ExternalControl,1,1 |
| 10304 .comm KopplungsteilNickRoll,2,1 |
| 10305 .comm KopplungsteilRollNick,2,1 |
| 10306 .comm tmp_motorwert,24,1 |
| 10307 /* File "fc.c": code 11593 = 0x2d49 (11536), prologues 29, epilogues 28 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 fc.c |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:14 .data:00000000 VarioCharacter |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:19 .data:00000001 GIER_GRAD_FAKTOR |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:26 .bss:00000000 FC_StatusFlags |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:32 .bss:00000001 modell_fliegt |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:38 .bss:00000003 MaxStickRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:44 .bss:00000005 MaxStickNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:50 .data:00000005 ExternHoehenValue |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:57 .bss:00000007 ExternStickGier |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:63 .bss:00000009 ExternStickRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:69 .bss:0000000b ExternStickNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:75 .data:00000007 sintab |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:112 .bss:0000000d CareFree |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:118 .data:00000026 Parameter_DynamicStability |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:123 .data:00000027 Parameter_CouplingYawCorrection |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:128 .data:00000028 Parameter_AchsKopplung2 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:133 .data:00000029 Parameter_AchsKopplung1 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:138 .data:0000002a Parameter_LoopGasLimit |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:143 .data:0000002b Parameter_ServoRollControl |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:148 .data:0000002c Parameter_ServoNickControl |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:155 .bss:0000000e Parameter_UserParam8 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:161 .bss:0000000f Parameter_UserParam7 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:167 .bss:00000010 Parameter_UserParam6 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:173 .bss:00000011 Parameter_UserParam5 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:179 .bss:00000012 Parameter_UserParam4 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:185 .bss:00000013 Parameter_UserParam3 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:191 .bss:00000014 Parameter_UserParam2 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:197 .bss:00000015 Parameter_UserParam1 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:203 .data:0000002d Parameter_I_Faktor |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:208 .data:0000002e Parameter_Gier_P |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:213 .data:0000002f Parameter_Gyro_Gier_I |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:218 .data:00000030 Parameter_Gyro_Gier_P |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:223 .data:00000031 Parameter_Gyro_I |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:228 .data:00000032 Parameter_Gyro_P |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:233 .data:00000033 Parameter_Gyro_D |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:238 .data:00000034 Parameter_Hoehe_GPS_Z |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:243 .data:00000035 Parameter_KompassWirkung |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:248 .data:00000036 Parameter_Hoehe_ACC_Wirkung |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:253 .data:00000037 Parameter_Hoehe_P |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:258 .data:00000038 Parameter_MaxHoehe |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:263 .data:00000039 Parameter_Luftdruck_D |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:270 .bss:00000016 Looping_Oben |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:276 .bss:00000017 Looping_Unten |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:282 .bss:00000018 Looping_Rechts |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:288 .bss:00000019 Looping_Links |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:294 .bss:0000001a Looping_Roll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:300 .bss:0000001b Looping_Nick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:306 .data:0000003a Ki |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:313 .bss:0000001c HoverGas |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:319 .bss:0000001e LageKorrekturNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:325 .bss:00000020 LageKorrekturRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:331 .bss:00000022 SollHoehe |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:337 .bss:00000026 HoehenWert |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:343 .bss:0000002a StartTrigger |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:349 .bss:0000002b MotorenEin |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:355 .bss:0000002c StickGas |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:361 .bss:0000002e StickGier |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:367 .bss:00000030 StickRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:373 .bss:00000032 StickNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:379 .bss:00000034 SenderOkay |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:385 .bss:00000035 Poti |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:391 .bss:0000003e GierGyroFehler |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:397 .data:0000003c Umschlag180Roll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:402 .data:00000040 Umschlag180Nick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:409 .bss:00000040 TrichterFlug |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:415 .bss:00000041 HoehenReglerAktiv |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:421 .data:00000044 KompassSignalSchlecht |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:428 .bss:00000042 KompassRichtung |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:434 .bss:00000044 KompassStartwert |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:440 .bss:00000046 KompassValue |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:446 .bss:00000048 Mess_Integral_Hoch |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:452 .bss:0000004c SummeRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:458 .bss:00000050 SummeNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:464 .bss:00000054 Mess_Integral_Gier2 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:470 .bss:00000058 Mess_Integral_Gier |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:476 .bss:0000005c Mess_IntegralRoll2 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:482 .bss:00000060 Mess_IntegralRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:488 .bss:00000064 Mess_IntegralNick2 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:494 .bss:00000068 Mess_IntegralNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:500 .bss:0000006c Integral_Gier |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:506 .bss:00000070 IntegralAccZ |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:512 .bss:00000074 IntegralAccRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:518 .bss:00000078 IntegralAccNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:524 .bss:0000007c IntegralRoll2 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:530 .bss:00000080 IntegralRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:536 .bss:00000084 IntegralNick2 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:542 .bss:00000088 IntegralNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:548 .bss:0000008c ControlHeading |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:554 .bss:0000008d NeutralAccZ |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:560 .bss:0000008f NaviCntAcc |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:566 .bss:00000091 NeutralAccY |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:572 .bss:00000093 NeutralAccX |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:578 .bss:00000095 StartNeutralNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:584 .bss:00000097 StartNeutralRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:590 .bss:00000099 AdNeutralGier |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:596 .bss:0000009b AdNeutralRoll |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:602 .bss:0000009d AdNeutralNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:608 .bss:0000009f BaroExpandActive |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:614 .data:00000046 updatemotors |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:621 .bss:000000a1 pos4 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:627 .bss:000000a2 CurrentOffset |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:633 .data:00000047 keynumber |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:638 .data:00000049 settingdest |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:643 .text:00000000 CopyDebugValues |
| *COM*:00000002 Mittelwert_AccNick |
| *COM*:00000002 Mittelwert_AccRoll |
| *COM*:00000004 ErsatzKompass |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:821 .text:00000214 Piep |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:860 .text:00000256 CalibrierMittelwert |
| *COM*:00000002 MesswertNick |
| *COM*:00000002 MesswertRoll |
| *COM*:00000002 MesswertGier |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1002 .progmem.data:00000000 __c.39 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1007 .text:00000398 SetNeutral |
| .bss:000000a4 tmpl.31 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1508 .bss:000000a8 tmpl2.32 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1509 .bss:000000ac tmpl3.33 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1510 .bss:000000b0 tmpl4.34 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1511 .bss:000000b4 oldNick.35 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1512 .bss:000000b6 oldRoll.36 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1513 .bss:000000b8 d2Roll.37 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1514 .bss:000000ba d2Nick.38 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1518 .text:000008f4 Mittelwert |
| *COM*:00000002 RohMesswertNick |
| *COM*:00000002 RohMesswertRoll |
| *COM*:00000002 NaviAccNick |
| *COM*:00000002 NaviAccRoll |
| *COM*:00000002 KopplungsteilNickRoll |
| *COM*:00000002 KopplungsteilRollNick |
| *COM*:00000002 TrimRoll |
| *COM*:00000002 TrimNick |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3083 .text:00001858 SendMotorData |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3143 .text:000018d2 ParameterZuordnung |
| *COM*:00000001 Parameter_J16Timing |
| *COM*:00000001 Parameter_J17Timing |
| *COM*:00000001 Parameter_Servo3 |
| *COM*:00000001 Parameter_Servo4 |
| *COM*:00000001 Parameter_Servo5 |
| *COM*:00000001 Parameter_ExternalControl |
| *COM*:00000001 MAX_GAS |
| *COM*:00000001 MIN_GAS |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:1515 .bss:000000bc sollGier.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3769 .bss:000000c0 tmp_long.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3770 .bss:000000c4 tmp_long2.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3771 .bss:000000c8 IntegralFehlerNick.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3772 .bss:000000cc IntegralFehlerRoll.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3773 .bss:000000d0 RcLostTimer.5 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3774 .bss:000000d2 delay_neutral.6 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3775 .bss:000000d3 delay_einschalten.7 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3776 .bss:000000d4 delay_ausschalten.8 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3777 .bss:000000d5 calibration_done.9 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3778 .bss:000000d6 NeueKompassRichtungMerken.10 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3779 .bss:000000d7 ausgleichNick.11 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3780 .bss:000000db ausgleichRoll.12 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3781 .bss:000000df stick_nick.13 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3782 .bss:000000e1 stick_roll.14 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3783 .bss:000000e3 cnt.15 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3784 .bss:000000e5 last_n_p.16 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3785 .bss:000000e6 last_n_n.17 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3786 .bss:000000e7 last_r_p.18 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3787 .bss:000000e8 last_r_n.19 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3788 .bss:000000e9 MittelIntegralNick_Alt.20 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3789 .bss:000000ed MittelIntegralRoll_Alt.21 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3790 .bss:000000f1 HeightTrimming.22 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3791 .bss:000000f3 FilterHCGas.23 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3796 .data:0000004a StickGasHover.24 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3792 .bss:000000f5 HoverGasMin.25 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3801 .data:0000004c HoverGasMax.26 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3798 .bss:000000f7 HoverGasFilter.27 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3806 .data:0000004e delay.28 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3803 .bss:000000fb BaroAtUpperLimit.29 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3808 .bss:000000fc BaroAtLowerLimit.30 |
| C:\Users\Thomas\AppData\Local\Temp/ccWWbaaa.s:3813 .text:00001e0c MotorRegler |
| *COM*:00000001 GyroFaktor |
| *COM*:00000001 IntegralFaktor |
| *COM*:00000001 GyroFaktorGier |
| *COM*:00000001 IntegralFaktorGier |
| *COM*:00000004 MittelIntegralNick |
| *COM*:00000004 MittelIntegralRoll |
| *COM*:00000004 MittelIntegralNick2 |
| *COM*:00000004 MittelIntegralRoll2 |
| *COM*:00000002 DiffNick |
| *COM*:00000002 DiffRoll |
| *COM*:00000018 tmp_motorwert |
| *COM*:00000002 ErsatzKompassInGrad |
| *COM*:00000001 h |
| *COM*:00000001 m |
| *COM*:00000001 s |
| *COM*:00000001 Parameter_J16Bitmask |
| *COM*:00000001 Parameter_J17Bitmask |
| *COM*:00000001 loop1 |
| *COM*:00000001 loop2 |
| *COM*:00000001 loop3 |
| *COM*:00000001 pos1 |
| *COM*:00000001 pos2 |
| *COM*:00000001 pos3 |
| *COM*:00000001 Motors0 |
| *COM*:00000001 Motors1 |
| *COM*:00000001 Motors2 |
| *COM*:00000001 Motors3 |
| *COM*:00000001 Motors4 |
| *COM*:00000001 Motors5 |
| *COM*:00000001 Motors6 |
| *COM*:00000001 Motors7 |
| *COM*:00000001 Motors0max |
| *COM*:00000001 Motors1max |
| *COM*:00000001 Motors2max |
| *COM*:00000001 Motors3max |
| *COM*:00000001 Motors4max |
| *COM*:00000001 Motors5max |
| *COM*:00000001 Motors6max |
| *COM*:00000001 Motors7max |
| *COM*:00000002 MotorsTmax |
| *COM*:00000002 MesswertGierBias |
| *COM*:00000001 Parameter_NaviGpsModeControl |
| *COM*:00000001 Parameter_NaviGpsGain |
| *COM*:00000001 Parameter_NaviGpsP |
| *COM*:00000001 Parameter_NaviGpsI |
| *COM*:00000001 Parameter_NaviGpsD |
| *COM*:00000001 Parameter_NaviGpsACC |
| *COM*:00000001 Parameter_NaviOperatingRadius |
| *COM*:00000001 Parameter_NaviWindCorrection |
| *COM*:00000001 Parameter_NaviSpeedCompensation |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| __divmodsi4 |
| DebugOut |
| AdWertGier |
| AdWertAccHoch |
| UBat |
| Motor |
| ServoNickValue |
| Capacity |
| GPS_Nick |
| GPS_Roll |
| VersionInfo |
| beeptime |
| Delay_ms |
| PlatinenVersion |
| SucheGyroOffset |
| AdWertNick |
| AdWertRoll |
| AdWertAccNick |
| AdWertAccRoll |
| PPM_in |
| __mulsi3 |
| __prologue_saves__ |
| ExpandBaro |
| Delay_ms_Mess |
| MessLuftdruck |
| SucheLuftruckOffset |
| __divmodhi4 |
| Aktuell_az |
| SetParamWord |
| GetParamWord |
| uart_putchar |
| _printf_P |
| Luftdruck |
| StartLuftdruck |
| VarioMeter |
| GPS_Neutral |
| SendVersionToNavi |
| LED_Init |
| FromNaviCtrl_Value |
| ServoActive |
| __epilogue_restores__ |
| AdWertNickFilter |
| AdWertRollFilter |
| AdReady |
| HiResNick |
| HiResRoll |
| MotorTest |
| PC_MotortestActive |
| I2C_TransferActive |
| motor_write |
| twi_state |
| BLFlags |
| FromNaviCtrl |
| BeepMuster |
| PPM_diff |
| SetActiveParamSet |
| WinkelOut |
| GetActiveParamSet |
| ParamSet_ReadFromEEProm |
| LipoDetection |
| LIBFC_ReceiverInit |
| NewPpmData |
| FromNC_Rotate_C |
| FromNC_Rotate_S |
| GPS_Nick2 |
| GPS_Roll2 |
| __floatsisf |
| __addsf3 |
| __fixunssfsi |
| ExternControl |
| ZaehlMessungen |
| BattLowVoltageWarning |
| __udivmodhi4 |
| DruckOffsetSetting |
| SummenHoehe |
| ihypot |
| c_cos_8192 |
| MissingMotor |
| Mixer |
| /branches/metro/v0.82a metro_Akku+/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="analog.c"></File><File path="analog.h"></File><File path="capacity.c"></File><File path="capacity.h"></File><File path="debug.c"></File><File path="debug.h"></File><File path="eeprom.c"></File><File path="eeprom.h"></File><File path="fc.c"></File><File path="fc.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="isqrt.h"></File><File path="isqrt.S"></File><File path="jetimenu.c"></File><File path="jetimenu.h"></File><File path="led.c"></File><File path="led.h"></File><File path="libfc.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="menu.c"></File><File path="menu.h"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="old_macros.h"></File><File path="printf_P.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="Settings.h"></File><File path="Spektrum.c"></File><File path="Spektrum.h"></File><File path="spi.c"></File><File path="spi.h"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="twimaster.c"></File><File path="twimaster.h"></File><File path="uart.c"></File><File path="uart.h"></File></Project> |
| /branches/metro/v0.82a metro_Akku+/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/metro/v0.82a metro_Akku+/gps.h |
|---|
| 0,0 → 1,7 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern signed int GPS_Nick2; |
| extern signed int GPS_Roll2; |
| void GPS_Neutral(void); |
| void GPS_BerechneZielrichtung(void); |
| /branches/metro/v0.82a metro_Akku+/isqrt.S |
|---|
| 0,0 → 1,203 |
| ;-----------------------------------------------------------------------------; |
| ; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008 |
| ; http://elm-chan.org/docs/avrlib/sqrt32.S |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t isqrt32 (uint32_t n); |
| ; uint8_t isqrt16 (uint16_t n); |
| ; uint16_t ihypot (int16_t x, int16_t y); |
| ;-----------------------------------------------------------------------------: |
| ; 32bit integer squareroot |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t isqrt32 ( |
| ; uint32_t n |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of n. |
| ; |
| ; Size = 53 words |
| ; Clock = 532..548 cycles |
| ; Stack = 0 byte |
| .global isqrt32 |
| .func isqrt32 |
| isqrt32: |
| clr r0 |
| clr r18 |
| clr r19 |
| clr r20 |
| ldi r21, 1 |
| clr r27 |
| clr r30 |
| clr r31 |
| ldi r26, 16 |
| 1: lsl r22 |
| rol r23 |
| rol r24 |
| rol r25 |
| rol r0 |
| rol r18 |
| rol r19 |
| rol r20 |
| lsl r22 |
| rol r23 |
| rol r24 |
| rol r25 |
| rol r0 |
| rol r18 |
| rol r19 |
| rol r20 |
| brpl 2f |
| add r0, r21 |
| adc r18, r27 |
| adc r19, r30 |
| adc r20, r31 |
| rjmp 3f |
| 2: sub r0, r21 |
| sbc r18, r27 |
| sbc r19, r30 |
| sbc r20, r31 |
| 3: lsl r21 |
| rol r27 |
| rol r30 |
| andi r21, 0b11111000 |
| ori r21, 0b00000101 |
| sbrc r20, 7 |
| subi r21, 2 |
| dec r26 |
| brne 1b |
| lsr r30 |
| ror r27 |
| ror r21 |
| lsr r30 |
| ror r27 |
| ror r21 |
| mov r24, r21 |
| mov r25, r27 |
| ret |
| .endfunc |
| ;-----------------------------------------------------------------------------: |
| ; 16bit integer squareroot |
| ;-----------------------------------------------------------------------------; |
| ; uint8_t isqrt16 ( |
| ; uint16_t n |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of n. |
| ; |
| ; Size = 33 words |
| ; Clock = 181..189 cycles |
| ; Stack = 0 byte |
| .global isqrt16 |
| .func isqrt16 |
| isqrt16: |
| clr r18 |
| clr r19 |
| ldi r20, 1 |
| clr r21 |
| ldi r22, 8 |
| 1: lsl r24 |
| rol r25 |
| rol r18 |
| rol r19 |
| lsl r24 |
| rol r25 |
| rol r18 |
| rol r19 |
| brpl 2f |
| add r18, r20 |
| adc r19, r21 |
| rjmp 3f |
| 2: sub r18, r20 |
| sbc r19, r21 |
| 3: lsl r20 |
| rol r21 |
| andi r20, 0b11111000 |
| ori r20, 0b00000101 |
| sbrc r19, 7 |
| subi r20, 2 |
| dec r22 |
| brne 1b |
| lsr r21 |
| ror r20 |
| lsr r21 |
| ror r20 |
| mov r24, r20 |
| ret |
| .endfunc |
| ;-----------------------------------------------------------------------------: |
| ; 16bit integer hypot (megaAVR is required) |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t ihypot ( |
| ; int16_t x, |
| ; int16_t y |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of (x*x + y*y) |
| ; |
| ; Size = 42 words |
| ; Clock = 581..597 cycles |
| ; Stack = 0 byte |
| .global ihypot |
| .func ihypot |
| ihypot: |
| clr r26 |
| sbrs r25, 7 |
| rjmp 1f |
| com r24 |
| com r25 |
| adc r24, r26 |
| adc r25, r26 |
| 1: sbrs r23, 7 |
| rjmp 2f |
| com r22 |
| com r23 |
| adc r22, r26 |
| adc r23, r26 |
| 2: mul r22, r22 |
| movw r18, r0 |
| mul r23, r23 |
| movw r20, r0 |
| mul r22, r23 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| mul r24, r24 |
| movw r30, r0 |
| mul r25, r25 |
| add r18, r30 |
| adc r19, r31 |
| adc r20, r0 |
| adc r21, r1 |
| mul r24, r25 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| movw r24, r20 |
| movw r22, r18 |
| clr r1 |
| rjmp isqrt32 |
| .endfunc |
| /branches/metro/v0.82a metro_Akku+/isqrt.h |
|---|
| 0,0 → 1,11 |
| #ifndef _ISQRT_H |
| #define _ISQRT_H |
| #include <inttypes.h> |
| // coded in assembler file |
| extern uint16_t isqrt32(uint32_t n); |
| extern uint8_t isqrt16(uint16_t n); |
| extern uint16_t ihypot(int16_t x, int16_t y); |
| #endif // _ISQRT_H |
| /branches/metro/v0.82a metro_Akku+/isqrt.lst |
|---|
| 0,0 → 1,211 |
| 1 # 1 "isqrt.S" |
| 2 # 1 "<built-in>" |
| 1 ;-----------------------------------------------------------------------------; |
| 0 |
| 0 |
| 2 ;-----------------------------------------------------------------------------; |
| 3 ; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008 |
| 4 ; http://elm-chan.org/docs/avrlib/sqrt32.S |
| 5 ;-----------------------------------------------------------------------------; |
| 6 ; uint16_t isqrt32 (uint32_t n); |
| 7 ; uint8_t isqrt16 (uint16_t n); |
| 8 ; uint16_t ihypot (int16_t x, int16_t y); |
| 9 |
| 10 ;-----------------------------------------------------------------------------: |
| 11 ; 32bit integer squareroot |
| 12 ;-----------------------------------------------------------------------------; |
| 13 ; uint16_t isqrt32 ( |
| 14 ; uint32_t n |
| 15 ; ); |
| 16 ; |
| 17 ; Return Value: |
| 18 ; Squareroot of n. |
| 19 ; |
| 20 ; Size = 53 words |
| 21 ; Clock = 532..548 cycles |
| 22 ; Stack = 0 byte |
| 23 |
| 24 .global isqrt32 |
| 25 .func isqrt32 |
| 26 |
| 27:isqrt.S **** isqrt32: |
| 28:isqrt.S **** clr r0 |
| 29:isqrt.S **** clr r18 |
| 30:isqrt.S **** clr r19 |
| 31:isqrt.S **** clr r20 |
| 32:isqrt.S **** ldi r21, 1 |
| 33:isqrt.S **** clr r27 |
| 34:isqrt.S **** clr r30 |
| 35:isqrt.S **** clr r31 |
| 36:isqrt.S **** ldi r26, 16 |
| 37:isqrt.S **** 1: lsl r22 |
| 38:isqrt.S **** rol r23 |
| 39:isqrt.S **** rol r24 |
| 40:isqrt.S **** rol r25 |
| 41:isqrt.S **** rol r0 |
| 42:isqrt.S **** rol r18 |
| 43:isqrt.S **** rol r19 |
| 44:isqrt.S **** rol r20 |
| 45:isqrt.S **** lsl r22 |
| 46:isqrt.S **** rol r23 |
| 47:isqrt.S **** rol r24 |
| 48:isqrt.S **** rol r25 |
| 49:isqrt.S **** rol r0 |
| 50:isqrt.S **** rol r18 |
| 51:isqrt.S **** rol r19 |
| 52:isqrt.S **** rol r20 |
| 53:isqrt.S **** brpl 2f |
| 54:isqrt.S **** add r0, r21 |
| 55:isqrt.S **** adc r18, r27 |
| 56:isqrt.S **** adc r19, r30 |
| 57:isqrt.S **** adc r20, r31 |
| 58:isqrt.S **** rjmp 3f |
| 59:isqrt.S **** 2: sub r0, r21 |
| 60:isqrt.S **** sbc r18, r27 |
| 61:isqrt.S **** sbc r19, r30 |
| 62:isqrt.S **** sbc r20, r31 |
| 63:isqrt.S **** 3: lsl r21 |
| 64:isqrt.S **** rol r27 |
| 65:isqrt.S **** rol r30 |
| 66:isqrt.S **** andi r21, 0b11111000 |
| 67:isqrt.S **** ori r21, 0b00000101 |
| 68:isqrt.S **** sbrc r20, 7 |
| 69:isqrt.S **** subi r21, 2 |
| 70:isqrt.S **** dec r26 |
| 71:isqrt.S **** brne 1b |
| 72:isqrt.S **** lsr r30 |
| 73:isqrt.S **** ror r27 |
| 74:isqrt.S **** ror r21 |
| 75:isqrt.S **** lsr r30 |
| 76:isqrt.S **** ror r27 |
| 77:isqrt.S **** ror r21 |
| 78:isqrt.S **** mov r24, r21 |
| 79:isqrt.S **** mov r25, r27 |
| 80 ret |
| 81 .endfunc |
| 82 |
| 83 |
| 84 |
| 85 ;-----------------------------------------------------------------------------: |
| 86 ; 16bit integer squareroot |
| 87 ;-----------------------------------------------------------------------------; |
| 88 ; uint8_t isqrt16 ( |
| 89 ; uint16_t n |
| 90 ; ); |
| 91 ; |
| 92 ; Return Value: |
| 93 ; Squareroot of n. |
| 94 ; |
| 95 ; Size = 33 words |
| 96 ; Clock = 181..189 cycles |
| 97 ; Stack = 0 byte |
| 98 |
| 99 .global isqrt16 |
| 100 .func isqrt16 |
| 101 |
| 102:isqrt.S **** isqrt16: |
| 103:isqrt.S **** clr r18 |
| 104:isqrt.S **** clr r19 |
| 105:isqrt.S **** ldi r20, 1 |
| 106:isqrt.S **** clr r21 |
| 107:isqrt.S **** ldi r22, 8 |
| 108:isqrt.S **** 1: lsl r24 |
| 109:isqrt.S **** rol r25 |
| 110:isqrt.S **** rol r18 |
| 111:isqrt.S **** rol r19 |
| 112:isqrt.S **** lsl r24 |
| 113:isqrt.S **** rol r25 |
| 114:isqrt.S **** rol r18 |
| 115:isqrt.S **** rol r19 |
| 116:isqrt.S **** brpl 2f |
| 117:isqrt.S **** add r18, r20 |
| 118:isqrt.S **** adc r19, r21 |
| 119:isqrt.S **** rjmp 3f |
| 120:isqrt.S **** 2: sub r18, r20 |
| 121:isqrt.S **** sbc r19, r21 |
| 122:isqrt.S **** 3: lsl r20 |
| 123:isqrt.S **** rol r21 |
| 124:isqrt.S **** andi r20, 0b11111000 |
| 125:isqrt.S **** ori r20, 0b00000101 |
| 126:isqrt.S **** sbrc r19, 7 |
| 127:isqrt.S **** subi r20, 2 |
| 128:isqrt.S **** dec r22 |
| 129:isqrt.S **** brne 1b |
| 130:isqrt.S **** lsr r21 |
| 131:isqrt.S **** ror r20 |
| 132:isqrt.S **** lsr r21 |
| 133:isqrt.S **** ror r20 |
| 134:isqrt.S **** mov r24, r20 |
| 135 ret |
| 136 .endfunc |
| 137 |
| 138 |
| 139 |
| 140 ;-----------------------------------------------------------------------------: |
| 141 ; 16bit integer hypot (megaAVR is required) |
| 142 ;-----------------------------------------------------------------------------; |
| 143 ; uint16_t ihypot ( |
| 144 ; int16_t x, |
| 145 ; int16_t y |
| 146 ; ); |
| 147 ; |
| 148 ; Return Value: |
| 149 ; Squareroot of (x*x + y*y) |
| 150 ; |
| 151 ; Size = 42 words |
| 152 ; Clock = 581..597 cycles |
| 153 ; Stack = 0 byte |
| 154 |
| 155 .global ihypot |
| 156 .func ihypot |
| 157 |
| 158:isqrt.S **** ihypot: |
| 159:isqrt.S **** clr r26 |
| 160:isqrt.S **** sbrs r25, 7 |
| 161:isqrt.S **** rjmp 1f |
| 162:isqrt.S **** com r24 |
| 163:isqrt.S **** com r25 |
| 164:isqrt.S **** adc r24, r26 |
| 165:isqrt.S **** adc r25, r26 |
| 166:isqrt.S **** 1: sbrs r23, 7 |
| 167:isqrt.S **** rjmp 2f |
| 168:isqrt.S **** com r22 |
| 169:isqrt.S **** com r23 |
| 170:isqrt.S **** adc r22, r26 |
| 171:isqrt.S **** adc r23, r26 |
| 172:isqrt.S **** 2: mul r22, r22 |
| 173:isqrt.S **** movw r18, r0 |
| 174:isqrt.S **** mul r23, r23 |
| 175:isqrt.S **** movw r20, r0 |
| 176:isqrt.S **** mul r22, r23 |
| 177:isqrt.S **** add r19, r0 |
| 178:isqrt.S **** adc r20, r1 |
| 179:isqrt.S **** adc r21, r26 |
| 180:isqrt.S **** add r19, r0 |
| 181:isqrt.S **** adc r20, r1 |
| 182:isqrt.S **** adc r21, r26 |
| 183:isqrt.S **** mul r24, r24 |
| 184:isqrt.S **** movw r30, r0 |
| 185:isqrt.S **** mul r25, r25 |
| 186:isqrt.S **** add r18, r30 |
| 187:isqrt.S **** adc r19, r31 |
| 188:isqrt.S **** adc r20, r0 |
| 189:isqrt.S **** adc r21, r1 |
| 190:isqrt.S **** mul r24, r25 |
| 191:isqrt.S **** add r19, r0 |
| 192:isqrt.S **** adc r20, r1 |
| 193:isqrt.S **** adc r21, r26 |
| 194:isqrt.S **** add r19, r0 |
| 195:isqrt.S **** adc r20, r1 |
| 196:isqrt.S **** adc r21, r26 |
| 197:isqrt.S **** movw r24, r20 |
| 198:isqrt.S **** movw r22, r18 |
| 199:isqrt.S **** clr r1 |
| 200 rjmp isqrt32 |
| DEFINED SYMBOLS |
| *ABS*:00000000 isqrt.S |
| isqrt.S:26 .text:00000000 isqrt32 |
| isqrt.S:101 .text:0000006a isqrt16 |
| isqrt.S:157 .text:000000ac ihypot |
| NO UNDEFINED SYMBOLS |
| /branches/metro/v0.82a metro_Akku+/jetimenu.c |
|---|
| 0,0 → 1,162 |
| #include "jetimenu.h" |
| #include "libfc.h" |
| #include "printf_P.h" |
| #include "main.h" |
| #include "spi.h" |
| #include "capacity.h" |
| #define JETIBOX_KEY_RIGHT 0x1F |
| #define JETIBOX_KEY_UP 0x2F |
| #define JETIBOX_KEY_DOWN 0x4F |
| #define JETIBOX_KEY_LEFT 0x8F |
| #define JETIBOX_KEY_NONE 0x0F |
| #define JETIBOX_KEY_UNDEF 0x00 |
| #define JetiBox_printfxy(x,y,format, args...) { LIBFC_JetiBox_SetPos(y * 16 + x); _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
| #define JetiBox_printf(format, args...) { _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
| // ----------------------------------------------------------- |
| // the menu functions |
| // ----------------------------------------------------------- |
| void Menu_Status(uint8_t key) |
| { //0123456789ABCDEF |
| JetiBox_printfxy(0,0,"%2i.%1iV",UBat/10, UBat%10); |
| if(NaviDataOkay) |
| { |
| // JetiBox_printfxy(6,0,"%03dm %03d%c", GPSInfo.HomeDistance/10,GPSInfo.HomeBearing, 0xDF); |
| JetiBox_printfxy(6,0,"%3d%c %03dm",(int)(ErsatzKompass / GIER_GRAD_FAKTOR), 0xDF, GPSInfo.HomeDistance/10); |
| } |
| else |
| { |
| JetiBox_printfxy(6,0,"Status"); |
| } |
| if(NC_ErrorCode) JetiBox_printfxy(6,0,"ERROR: %2d",NC_ErrorCode); |
| JetiBox_printfxy(0,1,"%4i %2i:%02i",Capacity.RemainCapacity,FlugSekunden/60,FlugSekunden%60); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| JetiBox_printfxy(10,1,"%4im%c", (int16_t)(HoehenWert/100),VarioCharacter); |
| } |
| } |
| void Menu_Temperature(uint8_t key) |
| { //0123456789ABCDEF |
| JetiBox_printfxy(0,0,"%3i %3i %3i %3i", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature); |
| JetiBox_printfxy(0,1,"%3i %3i %3i %3i", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature); |
| if(RequiredMotors <= 4) |
| { |
| JetiBox_printfxy(0,1,"Temperatures "); |
| } |
| else |
| if(RequiredMotors <= 6) |
| { |
| JetiBox_printfxy(8,1,"\%cC ",0xdf); |
| } |
| } |
| void Menu_Battery(uint8_t key) |
| { //0123456789ABCDEF |
| JetiBox_printfxy(0,0,"%2i.%1iV %3i.%1iA", UBat/10, UBat%10, Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| JetiBox_printfxy(0,1,"%4iW %6imAh",Capacity.ActualPower, Capacity.RemainCapacity); |
| } |
| void Menu_PosInfo(uint8_t key) |
| { |
| if(NaviDataOkay) |
| { |
| JetiBox_printfxy(0,0,"%2um/s Sat:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
| switch (GPSInfo.SatFix) |
| { |
| case SATFIX_3D: |
| JetiBox_printfxy(12,0," 3D"); |
| break; |
| case SATFIX_2D: |
| case SATFIX_NONE: |
| default: |
| JetiBox_printfxy(12,0,"NoFx"); |
| break; |
| } |
| if(GPSInfo.Flags & FLAG_DIFFSOLN) |
| { |
| JetiBox_printfxy(12,0,"DGPS"); |
| } |
| JetiBox_printfxy(0,1,"Home:%3dm %3d%c", GPSInfo.HomeDistance/10, GPSInfo.HomeBearing, 0xDF); |
| } |
| else |
| { //0123456789ABCDEF |
| JetiBox_printfxy(2,0,"No NaviCtrl!"); |
| } |
| } |
| // ----------------------------------------------------------- |
| // the menu topology |
| // ----------------------------------------------------------- |
| typedef void (*pFctMenu) (uint8_t); // the menu item handler function pointer |
| typedef struct{ |
| int8_t left; |
| int8_t right; |
| int8_t up; |
| int8_t down; |
| pFctMenu pHandler; |
| } MENU_ENTRY; |
| // the menu navigation structure |
| /* | |
| 3 - 0 - 1 - 2 - 3 - 0 |
| */ |
| const MENU_ENTRY JetiBox_Menu[] PROGMEM= |
| { // l r u d pHandler |
| {3, 1, 0, 0, &Menu_Status }, // 0 |
| {0, 2, 1, 1, &Menu_Temperature }, // 1 |
| {1, 3, 2, 2, &Menu_Battery }, // 2 |
| {2, 0, 3, 3, &Menu_PosInfo }, // 3 |
| }; |
| // ----------------------------------------------------------- |
| // Update display buffer |
| // ----------------------------------------------------------- |
| unsigned char JetiBox_Update(unsigned char key) |
| { |
| static uint8_t item = 0, last_item = 0; // the menu item |
| // navigate within the menu by key action |
| last_item = item; |
| switch(key) |
| { |
| case JETIBOX_KEY_LEFT: |
| if (item == 0) return (1); // switch back to jeti expander menu |
| else item = pgm_read_byte(&JetiBox_Menu[item].left); //trigger to left menu item |
| break; |
| case JETIBOX_KEY_RIGHT: |
| item = pgm_read_byte(&JetiBox_Menu[item].right); //trigger to right menu item |
| break; |
| case JETIBOX_KEY_UP: |
| item = pgm_read_byte(&JetiBox_Menu[item].up); //trigger to up menu item |
| break; |
| case JETIBOX_KEY_DOWN: |
| item = pgm_read_byte(&JetiBox_Menu[item].down); //trigger to down menu item |
| break; |
| default: |
| break; |
| } |
| // if the menu item has been changed, do not pass the key to the item handler |
| // to avoid jumping over to items |
| if(item != last_item) key = JETIBOX_KEY_UNDEF; |
| LIBFC_JetiBox_Clear(); |
| //execute menu item handler |
| ((pFctMenu)(pgm_read_word(&(JetiBox_Menu[item].pHandler))))(key); |
| return (0); |
| } |
| /branches/metro/v0.82a metro_Akku+/jetimenu.d |
|---|
| 0,0 → 1,3 |
| jetimenu.o jetimenu.d : jetimenu.c jetimenu.h libfc.h printf_P.h main.h old_macros.h \ |
| timer0.h uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h \ |
| spektrum.h capacity.h eeprom.h debug.h |
| /branches/metro/v0.82a metro_Akku+/jetimenu.h |
|---|
| 0,0 → 1,6 |
| #ifndef _JETIMENU_H |
| #define _JETIMENU_H |
| extern unsigned char JetiBox_Update(unsigned char key); |
| #endif //_JETIMENU_H |
| /branches/metro/v0.82a metro_Akku+/jetimenu.lst |
|---|
| 0,0 → 1,839 |
| 1 .file "jetimenu.c" |
| 2 .arch atmega644p |
| 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 .global JetiBox_Menu |
| 11 .section .progmem.data,"a",@progbits |
| 14 JetiBox_Menu: |
| 15 0000 03 .byte 3 |
| 16 0001 01 .byte 1 |
| 17 0002 00 .byte 0 |
| 18 0003 00 .byte 0 |
| 19 0004 0000 .word pm(Menu_Status) |
| 20 0006 00 .byte 0 |
| 21 0007 02 .byte 2 |
| 22 0008 01 .byte 1 |
| 23 0009 01 .byte 1 |
| 24 000a 0000 .word pm(Menu_Temperature) |
| 25 000c 01 .byte 1 |
| 26 000d 03 .byte 3 |
| 27 000e 02 .byte 2 |
| 28 000f 02 .byte 2 |
| 29 0010 0000 .word pm(Menu_Battery) |
| 30 0012 02 .byte 2 |
| 31 0013 00 .byte 0 |
| 32 0014 03 .byte 3 |
| 33 0015 03 .byte 3 |
| 34 0016 0000 .word pm(Menu_PosInfo) |
| 37 __c.14: |
| 38 0018 2532 692E .string "%2i.%1iV" |
| 38 2531 6956 |
| 38 00 |
| 41 __c.15: |
| 42 0021 2533 6425 .string "%3d%c %03dm" |
| 42 6320 2530 |
| 42 3364 6D00 |
| 45 __c.16: |
| 46 002d 5374 6174 .string "Status" |
| 46 7573 00 |
| 49 __c.17: |
| 50 0034 4552 524F .string "ERROR: %2d" |
| 50 523A 2025 |
| 50 3264 00 |
| 53 __c.18: |
| 54 003f 2534 6920 .string "%4i %2i:%02i" |
| 54 2532 693A |
| 54 2530 3269 |
| 54 00 |
| 57 __c.19: |
| 58 004c 2534 696D .string "%4im%c" |
| 58 2563 00 |
| 59 .text |
| 60 .global Menu_Status |
| 62 Menu_Status: |
| 63 /* prologue: frame size=0 */ |
| 64 0000 CF93 push r28 |
| 65 0002 DF93 push r29 |
| 66 /* prologue end (size=2) */ |
| 67 0004 80E0 ldi r24,lo8(0) |
| 68 0006 0E94 0000 call LIBFC_JetiBox_SetPos |
| 69 000a 8091 0000 lds r24,UBat |
| 70 000e 9091 0000 lds r25,(UBat)+1 |
| 71 0012 6AE0 ldi r22,lo8(10) |
| 72 0014 70E0 ldi r23,hi8(10) |
| 73 0016 0E94 0000 call __divmodhi4 |
| 74 001a 9F93 push r25 |
| 75 001c 8F93 push r24 |
| 76 001e 8091 0000 lds r24,UBat |
| 77 0022 9091 0000 lds r25,(UBat)+1 |
| 78 0026 6AE0 ldi r22,lo8(10) |
| 79 0028 70E0 ldi r23,hi8(10) |
| 80 002a 0E94 0000 call __divmodhi4 |
| 81 002e 7F93 push r23 |
| 82 0030 6F93 push r22 |
| 83 0032 80E0 ldi r24,lo8(__c.14) |
| 84 0034 90E0 ldi r25,hi8(__c.14) |
| 85 0036 9F93 push r25 |
| 86 0038 8F93 push r24 |
| 87 003a C0E0 ldi r28,lo8(pm(LIBFC_JetiBox_Putchar)) |
| 88 003c D0E0 ldi r29,hi8(pm(LIBFC_JetiBox_Putchar)) |
| 89 003e DF93 push r29 |
| 90 0040 CF93 push r28 |
| 91 0042 E091 0000 lds r30,_printf_P |
| 92 0046 F091 0000 lds r31,(_printf_P)+1 |
| 93 004a 0995 icall |
| 94 004c 2DB7 in r18,__SP_L__ |
| 95 004e 3EB7 in r19,__SP_H__ |
| 96 0050 285F subi r18,lo8(-(8)) |
| 97 0052 3F4F sbci r19,hi8(-(8)) |
| 98 0054 2DBF out __SP_L__,r18 |
| 99 0056 8091 0000 lds r24,NaviDataOkay |
| 100 005a 8823 tst r24 |
| 101 005c B9F1 breq .L2 |
| 102 005e 86E0 ldi r24,lo8(6) |
| 103 0060 0E94 0000 call LIBFC_JetiBox_SetPos |
| 104 0064 8091 0000 lds r24,GPSInfo+4 |
| 105 0068 9091 0000 lds r25,(GPSInfo+4)+1 |
| 106 006c 6AE0 ldi r22,lo8(10) |
| 107 006e 70E0 ldi r23,hi8(10) |
| 108 0070 0E94 0000 call __udivmodhi4 |
| 109 0074 7F93 push r23 |
| 110 0076 6F93 push r22 |
| 111 0078 8FED ldi r24,lo8(223) |
| 112 007a 90E0 ldi r25,hi8(223) |
| 113 007c 9F93 push r25 |
| 114 007e 8F93 push r24 |
| 115 0080 8091 0000 lds r24,ErsatzKompass |
| 116 0084 9091 0000 lds r25,(ErsatzKompass)+1 |
| 117 0088 A091 0000 lds r26,(ErsatzKompass)+2 |
| 118 008c B091 0000 lds r27,(ErsatzKompass)+3 |
| 119 0090 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 120 0094 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 121 0098 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 122 009c 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 123 00a0 BC01 movw r22,r24 |
| 124 00a2 CD01 movw r24,r26 |
| 125 00a4 0E94 0000 call __divmodsi4 |
| 126 00a8 3F93 push r19 |
| 127 00aa 2F93 push r18 |
| 128 00ac 80E0 ldi r24,lo8(__c.15) |
| 129 00ae 90E0 ldi r25,hi8(__c.15) |
| 130 00b0 9F93 push r25 |
| 131 00b2 8F93 push r24 |
| 132 00b4 DF93 push r29 |
| 133 00b6 CF93 push r28 |
| 134 00b8 E091 0000 lds r30,_printf_P |
| 135 00bc F091 0000 lds r31,(_printf_P)+1 |
| 136 00c0 0995 icall |
| 137 00c2 8DB7 in r24,__SP_L__ |
| 138 00c4 9EB7 in r25,__SP_H__ |
| 139 00c6 0A96 adiw r24,10 |
| 140 00c8 8DBF out __SP_L__,r24 |
| 141 00ca 12C0 rjmp .L3 |
| 142 .L2: |
| 143 00cc 86E0 ldi r24,lo8(6) |
| 144 00ce 0E94 0000 call LIBFC_JetiBox_SetPos |
| 145 00d2 80E0 ldi r24,lo8(__c.16) |
| 146 00d4 90E0 ldi r25,hi8(__c.16) |
| 147 00d6 9F93 push r25 |
| 148 00d8 8F93 push r24 |
| 149 00da DF93 push r29 |
| 150 00dc CF93 push r28 |
| 151 00de E091 0000 lds r30,_printf_P |
| 152 00e2 F091 0000 lds r31,(_printf_P)+1 |
| 153 00e6 0995 icall |
| 154 00e8 0F90 pop __tmp_reg__ |
| 155 00ea 0F90 pop __tmp_reg__ |
| 156 00ec 0F90 pop __tmp_reg__ |
| 157 00ee 0F90 pop __tmp_reg__ |
| 158 .L3: |
| 159 00f0 8091 0000 lds r24,NC_ErrorCode |
| 160 00f4 8823 tst r24 |
| 161 00f6 C1F0 breq .L4 |
| 162 00f8 86E0 ldi r24,lo8(6) |
| 163 00fa 0E94 0000 call LIBFC_JetiBox_SetPos |
| 164 00fe 8091 0000 lds r24,NC_ErrorCode |
| 165 0102 9927 clr r25 |
| 166 0104 9F93 push r25 |
| 167 0106 8F93 push r24 |
| 168 0108 80E0 ldi r24,lo8(__c.17) |
| 169 010a 90E0 ldi r25,hi8(__c.17) |
| 170 010c 9F93 push r25 |
| 171 010e 8F93 push r24 |
| 172 0110 DF93 push r29 |
| 173 0112 CF93 push r28 |
| 174 0114 E091 0000 lds r30,_printf_P |
| 175 0118 F091 0000 lds r31,(_printf_P)+1 |
| 176 011c 0995 icall |
| 177 011e 2DB7 in r18,__SP_L__ |
| 178 0120 3EB7 in r19,__SP_H__ |
| 179 0122 2A5F subi r18,lo8(-(6)) |
| 180 0124 3F4F sbci r19,hi8(-(6)) |
| 181 0126 2DBF out __SP_L__,r18 |
| 182 .L4: |
| 183 0128 80E1 ldi r24,lo8(16) |
| 184 012a 0E94 0000 call LIBFC_JetiBox_SetPos |
| 185 012e 8091 0000 lds r24,FlugSekunden |
| 186 0132 9091 0000 lds r25,(FlugSekunden)+1 |
| 187 0136 6CE3 ldi r22,lo8(60) |
| 188 0138 70E0 ldi r23,hi8(60) |
| 189 013a 0E94 0000 call __udivmodhi4 |
| 190 013e 9F93 push r25 |
| 191 0140 8F93 push r24 |
| 192 0142 8091 0000 lds r24,FlugSekunden |
| 193 0146 9091 0000 lds r25,(FlugSekunden)+1 |
| 194 014a 6CE3 ldi r22,lo8(60) |
| 195 014c 70E0 ldi r23,hi8(60) |
| 196 014e 0E94 0000 call __udivmodhi4 |
| 197 0152 7F93 push r23 |
| 198 0154 6F93 push r22 |
| 199 0156 8091 0000 lds r24,Capacity+6 |
| 200 015a 9091 0000 lds r25,(Capacity+6)+1 |
| 201 015e 9F93 push r25 |
| 202 0160 8F93 push r24 |
| 203 0162 80E0 ldi r24,lo8(__c.18) |
| 204 0164 90E0 ldi r25,hi8(__c.18) |
| 205 0166 9F93 push r25 |
| 206 0168 8F93 push r24 |
| 207 016a C0E0 ldi r28,lo8(pm(LIBFC_JetiBox_Putchar)) |
| 208 016c D0E0 ldi r29,hi8(pm(LIBFC_JetiBox_Putchar)) |
| 209 016e DF93 push r29 |
| 210 0170 CF93 push r28 |
| 211 0172 E091 0000 lds r30,_printf_P |
| 212 0176 F091 0000 lds r31,(_printf_P)+1 |
| 213 017a 0995 icall |
| 214 017c 8091 0000 lds r24,EE_Parameter+13 |
| 215 0180 2DB7 in r18,__SP_L__ |
| 216 0182 3EB7 in r19,__SP_H__ |
| 217 0184 265F subi r18,lo8(-(10)) |
| 218 0186 3F4F sbci r19,hi8(-(10)) |
| 219 0188 2DBF out __SP_L__,r18 |
| 220 018a 80FF sbrs r24,0 |
| 221 018c 29C0 rjmp .L1 |
| 222 018e 8AE1 ldi r24,lo8(26) |
| 223 0190 0E94 0000 call LIBFC_JetiBox_SetPos |
| 224 0194 8091 0000 lds r24,VarioCharacter |
| 225 0198 9927 clr r25 |
| 226 019a 9F93 push r25 |
| 227 019c 8F93 push r24 |
| 228 019e 8091 0000 lds r24,HoehenWert |
| 229 01a2 9091 0000 lds r25,(HoehenWert)+1 |
| 230 01a6 A091 0000 lds r26,(HoehenWert)+2 |
| 231 01aa B091 0000 lds r27,(HoehenWert)+3 |
| 232 01ae BC01 movw r22,r24 |
| 233 01b0 CD01 movw r24,r26 |
| 234 01b2 24E6 ldi r18,lo8(100) |
| 235 01b4 30E0 ldi r19,hi8(100) |
| 236 01b6 40E0 ldi r20,hlo8(100) |
| 237 01b8 50E0 ldi r21,hhi8(100) |
| 238 01ba 0E94 0000 call __divmodsi4 |
| 239 01be 3F93 push r19 |
| 240 01c0 2F93 push r18 |
| 241 01c2 80E0 ldi r24,lo8(__c.19) |
| 242 01c4 90E0 ldi r25,hi8(__c.19) |
| 243 01c6 9F93 push r25 |
| 244 01c8 8F93 push r24 |
| 245 01ca DF93 push r29 |
| 246 01cc CF93 push r28 |
| 247 01ce E091 0000 lds r30,_printf_P |
| 248 01d2 F091 0000 lds r31,(_printf_P)+1 |
| 249 01d6 0995 icall |
| 250 01d8 8DB7 in r24,__SP_L__ |
| 251 01da 9EB7 in r25,__SP_H__ |
| 252 01dc 0896 adiw r24,8 |
| 253 01de 8DBF out __SP_L__,r24 |
| 254 .L1: |
| 255 /* epilogue: frame size=0 */ |
| 256 01e0 DF91 pop r29 |
| 257 01e2 CF91 pop r28 |
| 258 01e4 0895 ret |
| 259 /* epilogue end (size=3) */ |
| 260 /* function Menu_Status size 243 (238) */ |
| 262 .section .progmem.data |
| 265 __c.10: |
| 266 0053 2533 6920 .string "%3i %3i %3i %3i" |
| 266 2533 6920 |
| 266 2533 6920 |
| 266 2533 6900 |
| 269 __c.11: |
| 270 0063 2533 6920 .string "%3i %3i %3i %3i" |
| 270 2533 6920 |
| 270 2533 6920 |
| 270 2533 6900 |
| 273 __c.12: |
| 274 0073 5465 6D70 .string "Temperatures " |
| 274 6572 6174 |
| 274 7572 6573 |
| 274 2020 2020 |
| 274 00 |
| 277 __c.13: |
| 278 0084 2563 4320 .string "%cC " |
| 278 2020 2020 |
| 278 00 |
| 279 .text |
| 280 .global Menu_Temperature |
| 282 Menu_Temperature: |
| 283 /* prologue: frame size=0 */ |
| 284 01e6 CF93 push r28 |
| 285 01e8 DF93 push r29 |
| 286 /* prologue end (size=2) */ |
| 287 01ea 80E0 ldi r24,lo8(0) |
| 288 01ec 0E94 0000 call LIBFC_JetiBox_SetPos |
| 289 01f0 8091 0000 lds r24,Motor+31 |
| 290 01f4 9927 clr r25 |
| 291 01f6 87FD sbrc r24,7 |
| 292 01f8 9095 com r25 |
| 293 01fa 9F93 push r25 |
| 294 01fc 8F93 push r24 |
| 295 01fe 8091 0000 lds r24,Motor+23 |
| 296 0202 9927 clr r25 |
| 297 0204 87FD sbrc r24,7 |
| 298 0206 9095 com r25 |
| 299 0208 9F93 push r25 |
| 300 020a 8F93 push r24 |
| 301 020c 8091 0000 lds r24,Motor+15 |
| 302 0210 9927 clr r25 |
| 303 0212 87FD sbrc r24,7 |
| 304 0214 9095 com r25 |
| 305 0216 9F93 push r25 |
| 306 0218 8F93 push r24 |
| 307 021a 8091 0000 lds r24,Motor+7 |
| 308 021e 9927 clr r25 |
| 309 0220 87FD sbrc r24,7 |
| 310 0222 9095 com r25 |
| 311 0224 9F93 push r25 |
| 312 0226 8F93 push r24 |
| 313 0228 80E0 ldi r24,lo8(__c.10) |
| 314 022a 90E0 ldi r25,hi8(__c.10) |
| 315 022c 9F93 push r25 |
| 316 022e 8F93 push r24 |
| 317 0230 C0E0 ldi r28,lo8(pm(LIBFC_JetiBox_Putchar)) |
| 318 0232 D0E0 ldi r29,hi8(pm(LIBFC_JetiBox_Putchar)) |
| 319 0234 DF93 push r29 |
| 320 0236 CF93 push r28 |
| 321 0238 E091 0000 lds r30,_printf_P |
| 322 023c F091 0000 lds r31,(_printf_P)+1 |
| 323 0240 0995 icall |
| 324 0242 80E1 ldi r24,lo8(16) |
| 325 0244 0E94 0000 call LIBFC_JetiBox_SetPos |
| 326 0248 2DB7 in r18,__SP_L__ |
| 327 024a 3EB7 in r19,__SP_H__ |
| 328 024c 245F subi r18,lo8(-(12)) |
| 329 024e 3F4F sbci r19,hi8(-(12)) |
| 330 0250 2DBF out __SP_L__,r18 |
| 331 0252 8091 0000 lds r24,Motor+63 |
| 332 0256 9927 clr r25 |
| 333 0258 87FD sbrc r24,7 |
| 334 025a 9095 com r25 |
| 335 025c 9F93 push r25 |
| 336 025e 8F93 push r24 |
| 337 0260 8091 0000 lds r24,Motor+55 |
| 338 0264 9927 clr r25 |
| 339 0266 87FD sbrc r24,7 |
| 340 0268 9095 com r25 |
| 341 026a 9F93 push r25 |
| 342 026c 8F93 push r24 |
| 343 026e 8091 0000 lds r24,Motor+47 |
| 344 0272 9927 clr r25 |
| 345 0274 87FD sbrc r24,7 |
| 346 0276 9095 com r25 |
| 347 0278 9F93 push r25 |
| 348 027a 8F93 push r24 |
| 349 027c 8091 0000 lds r24,Motor+39 |
| 350 0280 9927 clr r25 |
| 351 0282 87FD sbrc r24,7 |
| 352 0284 9095 com r25 |
| 353 0286 9F93 push r25 |
| 354 0288 8F93 push r24 |
| 355 028a 80E0 ldi r24,lo8(__c.11) |
| 356 028c 90E0 ldi r25,hi8(__c.11) |
| 357 028e 9F93 push r25 |
| 358 0290 8F93 push r24 |
| 359 0292 DF93 push r29 |
| 360 0294 CF93 push r28 |
| 361 0296 E091 0000 lds r30,_printf_P |
| 362 029a F091 0000 lds r31,(_printf_P)+1 |
| 363 029e 0995 icall |
| 364 02a0 8091 0000 lds r24,RequiredMotors |
| 365 02a4 2DB7 in r18,__SP_L__ |
| 366 02a6 3EB7 in r19,__SP_H__ |
| 367 02a8 245F subi r18,lo8(-(12)) |
| 368 02aa 3F4F sbci r19,hi8(-(12)) |
| 369 02ac 2DBF out __SP_L__,r18 |
| 370 02ae 8530 cpi r24,lo8(5) |
| 371 02b0 98F4 brsh .L7 |
| 372 02b2 80E1 ldi r24,lo8(16) |
| 373 02b4 0E94 0000 call LIBFC_JetiBox_SetPos |
| 374 02b8 80E0 ldi r24,lo8(__c.12) |
| 375 02ba 90E0 ldi r25,hi8(__c.12) |
| 376 02bc 9F93 push r25 |
| 377 02be 8F93 push r24 |
| 378 02c0 DF93 push r29 |
| 379 02c2 CF93 push r28 |
| 380 02c4 E091 0000 lds r30,_printf_P |
| 381 02c8 F091 0000 lds r31,(_printf_P)+1 |
| 382 02cc 0995 icall |
| 383 02ce 0F90 pop __tmp_reg__ |
| 384 02d0 0F90 pop __tmp_reg__ |
| 385 02d2 0F90 pop __tmp_reg__ |
| 386 02d4 0F90 pop __tmp_reg__ |
| 387 02d6 18C0 rjmp .L6 |
| 388 .L7: |
| 389 02d8 8730 cpi r24,lo8(7) |
| 390 02da B0F4 brsh .L6 |
| 391 02dc 88E1 ldi r24,lo8(24) |
| 392 02de 0E94 0000 call LIBFC_JetiBox_SetPos |
| 393 02e2 8FED ldi r24,lo8(223) |
| 394 02e4 90E0 ldi r25,hi8(223) |
| 395 02e6 9F93 push r25 |
| 396 02e8 8F93 push r24 |
| 397 02ea 80E0 ldi r24,lo8(__c.13) |
| 398 02ec 90E0 ldi r25,hi8(__c.13) |
| 399 02ee 9F93 push r25 |
| 400 02f0 8F93 push r24 |
| 401 02f2 DF93 push r29 |
| 402 02f4 CF93 push r28 |
| 403 02f6 E091 0000 lds r30,_printf_P |
| 404 02fa F091 0000 lds r31,(_printf_P)+1 |
| 405 02fe 0995 icall |
| 406 0300 8DB7 in r24,__SP_L__ |
| 407 0302 9EB7 in r25,__SP_H__ |
| 408 0304 0696 adiw r24,6 |
| 409 0306 8DBF out __SP_L__,r24 |
| 410 .L6: |
| 411 /* epilogue: frame size=0 */ |
| 412 0308 DF91 pop r29 |
| 413 030a CF91 pop r28 |
| 414 030c 0895 ret |
| 415 /* epilogue end (size=3) */ |
| 416 /* function Menu_Temperature size 148 (143) */ |
| 418 .section .progmem.data |
| 421 __c.8: |
| 422 008d 2532 692E .string "%2i.%1iV %3i.%1iA" |
| 422 2531 6956 |
| 422 2020 2533 |
| 422 692E 2531 |
| 422 6941 00 |
| 425 __c.9: |
| 426 00a0 2534 6957 .string "%4iW %6imAh" |
| 426 2025 3669 |
| 426 6D41 6800 |
| 427 .text |
| 428 .global Menu_Battery |
| 430 Menu_Battery: |
| 431 /* prologue: frame size=0 */ |
| 432 030e 0F93 push r16 |
| 433 0310 1F93 push r17 |
| 434 /* prologue end (size=2) */ |
| 435 0312 80E0 ldi r24,lo8(0) |
| 436 0314 0E94 0000 call LIBFC_JetiBox_SetPos |
| 437 0318 2AE0 ldi r18,lo8(10) |
| 438 031a 30E0 ldi r19,hi8(10) |
| 439 031c 8091 0000 lds r24,Capacity |
| 440 0320 9091 0000 lds r25,(Capacity)+1 |
| 441 0324 B901 movw r22,r18 |
| 442 0326 0E94 0000 call __udivmodhi4 |
| 443 032a 9F93 push r25 |
| 444 032c 8F93 push r24 |
| 445 032e 8091 0000 lds r24,Capacity |
| 446 0332 9091 0000 lds r25,(Capacity)+1 |
| 447 0336 B901 movw r22,r18 |
| 448 0338 0E94 0000 call __udivmodhi4 |
| 449 033c 7F93 push r23 |
| 450 033e 6F93 push r22 |
| 451 0340 8091 0000 lds r24,UBat |
| 452 0344 9091 0000 lds r25,(UBat)+1 |
| 453 0348 B901 movw r22,r18 |
| 454 034a 0E94 0000 call __divmodhi4 |
| 455 034e 9F93 push r25 |
| 456 0350 8F93 push r24 |
| 457 0352 8091 0000 lds r24,UBat |
| 458 0356 9091 0000 lds r25,(UBat)+1 |
| 459 035a B901 movw r22,r18 |
| 460 035c 0E94 0000 call __divmodhi4 |
| 461 0360 7F93 push r23 |
| 462 0362 6F93 push r22 |
| 463 0364 80E0 ldi r24,lo8(__c.8) |
| 464 0366 90E0 ldi r25,hi8(__c.8) |
| 465 0368 9F93 push r25 |
| 466 036a 8F93 push r24 |
| 467 036c 00E0 ldi r16,lo8(pm(LIBFC_JetiBox_Putchar)) |
| 468 036e 10E0 ldi r17,hi8(pm(LIBFC_JetiBox_Putchar)) |
| 469 0370 1F93 push r17 |
| 470 0372 0F93 push r16 |
| 471 0374 E091 0000 lds r30,_printf_P |
| 472 0378 F091 0000 lds r31,(_printf_P)+1 |
| 473 037c 0995 icall |
| 474 037e 80E1 ldi r24,lo8(16) |
| 475 0380 0E94 0000 call LIBFC_JetiBox_SetPos |
| 476 0384 8DB7 in r24,__SP_L__ |
| 477 0386 9EB7 in r25,__SP_H__ |
| 478 0388 0C96 adiw r24,12 |
| 479 038a 8DBF out __SP_L__,r24 |
| 480 038c 8091 0000 lds r24,Capacity+6 |
| 481 0390 9091 0000 lds r25,(Capacity+6)+1 |
| 482 0394 9F93 push r25 |
| 483 0396 8F93 push r24 |
| 484 0398 8091 0000 lds r24,Capacity+2 |
| 485 039c 9091 0000 lds r25,(Capacity+2)+1 |
| 486 03a0 9F93 push r25 |
| 487 03a2 8F93 push r24 |
| 488 03a4 80E0 ldi r24,lo8(__c.9) |
| 489 03a6 90E0 ldi r25,hi8(__c.9) |
| 490 03a8 9F93 push r25 |
| 491 03aa 8F93 push r24 |
| 492 03ac 1F93 push r17 |
| 493 03ae 0F93 push r16 |
| 494 03b0 E091 0000 lds r30,_printf_P |
| 495 03b4 F091 0000 lds r31,(_printf_P)+1 |
| 496 03b8 0995 icall |
| 497 03ba 8DB7 in r24,__SP_L__ |
| 498 03bc 9EB7 in r25,__SP_H__ |
| 499 03be 0896 adiw r24,8 |
| 500 03c0 8DBF out __SP_L__,r24 |
| 501 /* epilogue: frame size=0 */ |
| 502 03c2 1F91 pop r17 |
| 503 03c4 0F91 pop r16 |
| 504 03c6 0895 ret |
| 505 /* epilogue end (size=3) */ |
| 506 /* function Menu_Battery size 93 (88) */ |
| 508 .section .progmem.data |
| 511 __c.2: |
| 512 00ac 2532 756D .string "%2um/s Sat:%d " |
| 512 2F73 2053 |
| 512 6174 3A25 |
| 512 6420 00 |
| 515 __c.3: |
| 516 00bb 2020 3344 .string " 3D" |
| 516 00 |
| 519 __c.4: |
| 520 00c0 4E6F 4678 .string "NoFx" |
| 520 00 |
| 523 __c.5: |
| 524 00c5 4447 5053 .string "DGPS" |
| 524 00 |
| 527 __c.6: |
| 528 00ca 486F 6D65 .string "Home:%3dm %3d%c" |
| 528 3A25 3364 |
| 528 6D20 2533 |
| 528 6425 6300 |
| 531 __c.7: |
| 532 00da 4E6F 204E .string "No NaviCtrl!" |
| 532 6176 6943 |
| 532 7472 6C21 |
| 532 00 |
| 533 .text |
| 534 .global Menu_PosInfo |
| 536 Menu_PosInfo: |
| 537 /* prologue: frame size=0 */ |
| 538 03c8 0F93 push r16 |
| 539 03ca 1F93 push r17 |
| 540 03cc CF93 push r28 |
| 541 03ce DF93 push r29 |
| 542 /* prologue end (size=4) */ |
| 543 03d0 8091 0000 lds r24,NaviDataOkay |
| 544 03d4 C0E0 ldi r28,lo8(pm(LIBFC_JetiBox_Putchar)) |
| 545 03d6 D0E0 ldi r29,hi8(pm(LIBFC_JetiBox_Putchar)) |
| 546 03d8 8823 tst r24 |
| 547 03da 09F4 brne .+2 |
| 548 03dc 78C0 rjmp .L12 |
| 549 03de 80E0 ldi r24,lo8(0) |
| 550 03e0 0E94 0000 call LIBFC_JetiBox_SetPos |
| 551 03e4 8091 0000 lds r24,GPSInfo+1 |
| 552 03e8 9927 clr r25 |
| 553 03ea 9F93 push r25 |
| 554 03ec 8F93 push r24 |
| 555 03ee 8091 0000 lds r24,GPSInfo+3 |
| 556 03f2 9927 clr r25 |
| 557 03f4 9F93 push r25 |
| 558 03f6 8F93 push r24 |
| 559 03f8 80E0 ldi r24,lo8(__c.2) |
| 560 03fa 90E0 ldi r25,hi8(__c.2) |
| 561 03fc 9F93 push r25 |
| 562 03fe 8F93 push r24 |
| 563 0400 8E01 movw r16,r28 |
| 564 0402 DF93 push r29 |
| 565 0404 CF93 push r28 |
| 566 0406 E091 0000 lds r30,_printf_P |
| 567 040a F091 0000 lds r31,(_printf_P)+1 |
| 568 040e 0995 icall |
| 569 0410 8DB7 in r24,__SP_L__ |
| 570 0412 9EB7 in r25,__SP_H__ |
| 571 0414 0896 adiw r24,8 |
| 572 0416 8DBF out __SP_L__,r24 |
| 573 0418 8091 0000 lds r24,GPSInfo+2 |
| 574 041c 8330 cpi r24,lo8(3) |
| 575 041e 31F4 brne .L17 |
| 576 0420 8CE0 ldi r24,lo8(12) |
| 577 0422 0E94 0000 call LIBFC_JetiBox_SetPos |
| 578 0426 80E0 ldi r24,lo8(__c.3) |
| 579 0428 90E0 ldi r25,hi8(__c.3) |
| 580 042a 05C0 rjmp .L20 |
| 581 .L17: |
| 582 042c 8CE0 ldi r24,lo8(12) |
| 583 042e 0E94 0000 call LIBFC_JetiBox_SetPos |
| 584 0432 80E0 ldi r24,lo8(__c.4) |
| 585 0434 90E0 ldi r25,hi8(__c.4) |
| 586 .L20: |
| 587 0436 9F93 push r25 |
| 588 0438 8F93 push r24 |
| 589 043a DF93 push r29 |
| 590 043c CF93 push r28 |
| 591 043e E091 0000 lds r30,_printf_P |
| 592 0442 F091 0000 lds r31,(_printf_P)+1 |
| 593 0446 0995 icall |
| 594 0448 0F90 pop __tmp_reg__ |
| 595 044a 0F90 pop __tmp_reg__ |
| 596 044c 0F90 pop __tmp_reg__ |
| 597 044e 0F90 pop __tmp_reg__ |
| 598 0450 8091 0000 lds r24,GPSInfo |
| 599 0454 81FF sbrs r24,1 |
| 600 0456 12C0 rjmp .L18 |
| 601 0458 8CE0 ldi r24,lo8(12) |
| 602 045a 0E94 0000 call LIBFC_JetiBox_SetPos |
| 603 045e 80E0 ldi r24,lo8(__c.5) |
| 604 0460 90E0 ldi r25,hi8(__c.5) |
| 605 0462 9F93 push r25 |
| 606 0464 8F93 push r24 |
| 607 0466 1F93 push r17 |
| 608 0468 0F93 push r16 |
| 609 046a E091 0000 lds r30,_printf_P |
| 610 046e F091 0000 lds r31,(_printf_P)+1 |
| 611 0472 0995 icall |
| 612 0474 0F90 pop __tmp_reg__ |
| 613 0476 0F90 pop __tmp_reg__ |
| 614 0478 0F90 pop __tmp_reg__ |
| 615 047a 0F90 pop __tmp_reg__ |
| 616 .L18: |
| 617 047c 80E1 ldi r24,lo8(16) |
| 618 047e 0E94 0000 call LIBFC_JetiBox_SetPos |
| 619 0482 8FED ldi r24,lo8(223) |
| 620 0484 90E0 ldi r25,hi8(223) |
| 621 0486 9F93 push r25 |
| 622 0488 8F93 push r24 |
| 623 048a 8091 0000 lds r24,GPSInfo+6 |
| 624 048e 9091 0000 lds r25,(GPSInfo+6)+1 |
| 625 0492 9F93 push r25 |
| 626 0494 8F93 push r24 |
| 627 0496 8091 0000 lds r24,GPSInfo+4 |
| 628 049a 9091 0000 lds r25,(GPSInfo+4)+1 |
| 629 049e 6AE0 ldi r22,lo8(10) |
| 630 04a0 70E0 ldi r23,hi8(10) |
| 631 04a2 0E94 0000 call __udivmodhi4 |
| 632 04a6 7F93 push r23 |
| 633 04a8 6F93 push r22 |
| 634 04aa 80E0 ldi r24,lo8(__c.6) |
| 635 04ac 90E0 ldi r25,hi8(__c.6) |
| 636 04ae 9F93 push r25 |
| 637 04b0 8F93 push r24 |
| 638 04b2 80E0 ldi r24,lo8(pm(LIBFC_JetiBox_Putchar)) |
| 639 04b4 90E0 ldi r25,hi8(pm(LIBFC_JetiBox_Putchar)) |
| 640 04b6 9F93 push r25 |
| 641 04b8 8F93 push r24 |
| 642 04ba E091 0000 lds r30,_printf_P |
| 643 04be F091 0000 lds r31,(_printf_P)+1 |
| 644 04c2 0995 icall |
| 645 04c4 8DB7 in r24,__SP_L__ |
| 646 04c6 9EB7 in r25,__SP_H__ |
| 647 04c8 0A96 adiw r24,10 |
| 648 04ca 8DBF out __SP_L__,r24 |
| 649 04cc 12C0 rjmp .L11 |
| 650 .L12: |
| 651 04ce 82E0 ldi r24,lo8(2) |
| 652 04d0 0E94 0000 call LIBFC_JetiBox_SetPos |
| 653 04d4 80E0 ldi r24,lo8(__c.7) |
| 654 04d6 90E0 ldi r25,hi8(__c.7) |
| 655 04d8 9F93 push r25 |
| 656 04da 8F93 push r24 |
| 657 04dc DF93 push r29 |
| 658 04de CF93 push r28 |
| 659 04e0 E091 0000 lds r30,_printf_P |
| 660 04e4 F091 0000 lds r31,(_printf_P)+1 |
| 661 04e8 0995 icall |
| 662 04ea 0F90 pop __tmp_reg__ |
| 663 04ec 0F90 pop __tmp_reg__ |
| 664 04ee 0F90 pop __tmp_reg__ |
| 665 04f0 0F90 pop __tmp_reg__ |
| 666 .L11: |
| 667 /* epilogue: frame size=0 */ |
| 668 04f2 DF91 pop r29 |
| 669 04f4 CF91 pop r28 |
| 670 04f6 1F91 pop r17 |
| 671 04f8 0F91 pop r16 |
| 672 04fa 0895 ret |
| 673 /* epilogue end (size=5) */ |
| 674 /* function Menu_PosInfo size 154 (145) */ |
| 676 .lcomm item.0,1 |
| 677 .lcomm last_item.1,1 |
| 678 .global JetiBox_Update |
| 680 JetiBox_Update: |
| 681 /* prologue: frame size=0 */ |
| 682 04fc CF93 push r28 |
| 683 /* prologue end (size=1) */ |
| 684 04fe C82F mov r28,r24 |
| 685 0500 2091 0000 lds r18,item.0 |
| 686 0504 2093 0000 sts last_item.1,r18 |
| 687 0508 9927 clr r25 |
| 688 050a 8F32 cpi r24,47 |
| 689 050c 9105 cpc r25,__zero_reg__ |
| 690 050e 09F1 breq .L27 |
| 691 0510 8033 cpi r24,48 |
| 692 0512 9105 cpc r25,__zero_reg__ |
| 693 0514 1CF4 brge .L30 |
| 694 0516 4F97 sbiw r24,31 |
| 695 0518 A1F0 breq .L26 |
| 696 051a 2CC0 rjmp .L22 |
| 697 .L30: |
| 698 051c 8F34 cpi r24,79 |
| 699 051e 9105 cpc r25,__zero_reg__ |
| 700 0520 01F1 breq .L28 |
| 701 0522 8F38 cpi r24,143 |
| 702 0524 9105 cpc r25,__zero_reg__ |
| 703 0526 31F5 brne .L22 |
| 704 0528 2223 tst r18 |
| 705 052a 19F4 brne .L24 |
| 706 052c 81E0 ldi r24,lo8(1) |
| 707 052e 90E0 ldi r25,hi8(1) |
| 708 0530 38C0 rjmp .L21 |
| 709 .L24: |
| 710 0532 86E0 ldi r24,lo8(6) |
| 711 0534 289F mul r18,r24 |
| 712 0536 F001 movw r30,r0 |
| 713 0538 1124 clr r1 |
| 714 053a E050 subi r30,lo8(-(JetiBox_Menu)) |
| 715 053c F040 sbci r31,hi8(-(JetiBox_Menu)) |
| 716 /* #APP */ |
| 717 053e 8491 lpm r24, Z |
| 718 |
| 719 /* #NOAPP */ |
| 720 0540 17C0 rjmp .L32 |
| 721 .L26: |
| 722 0542 86E0 ldi r24,lo8(6) |
| 723 0544 289F mul r18,r24 |
| 724 0546 F001 movw r30,r0 |
| 725 0548 1124 clr r1 |
| 726 054a E050 subi r30,lo8(-(JetiBox_Menu+1)) |
| 727 054c F040 sbci r31,hi8(-(JetiBox_Menu+1)) |
| 728 /* #APP */ |
| 729 054e 8491 lpm r24, Z |
| 730 |
| 731 /* #NOAPP */ |
| 732 0550 0FC0 rjmp .L32 |
| 733 .L27: |
| 734 0552 86E0 ldi r24,lo8(6) |
| 735 0554 289F mul r18,r24 |
| 736 0556 F001 movw r30,r0 |
| 737 0558 1124 clr r1 |
| 738 055a E050 subi r30,lo8(-(JetiBox_Menu+2)) |
| 739 055c F040 sbci r31,hi8(-(JetiBox_Menu+2)) |
| 740 /* #APP */ |
| 741 055e 8491 lpm r24, Z |
| 742 |
| 743 /* #NOAPP */ |
| 744 0560 07C0 rjmp .L32 |
| 745 .L28: |
| 746 0562 86E0 ldi r24,lo8(6) |
| 747 0564 289F mul r18,r24 |
| 748 0566 F001 movw r30,r0 |
| 749 0568 1124 clr r1 |
| 750 056a E050 subi r30,lo8(-(JetiBox_Menu+3)) |
| 751 056c F040 sbci r31,hi8(-(JetiBox_Menu+3)) |
| 752 /* #APP */ |
| 753 056e 8491 lpm r24, Z |
| 754 |
| 755 /* #NOAPP */ |
| 756 .L32: |
| 757 0570 8093 0000 sts item.0,r24 |
| 758 .L22: |
| 759 0574 9091 0000 lds r25,item.0 |
| 760 0578 8091 0000 lds r24,last_item.1 |
| 761 057c 9813 cpse r25,r24 |
| 762 057e C0E0 ldi r28,lo8(0) |
| 763 .L31: |
| 764 0580 0E94 0000 call LIBFC_JetiBox_Clear |
| 765 0584 9091 0000 lds r25,item.0 |
| 766 0588 86E0 ldi r24,lo8(6) |
| 767 058a 989F mul r25,r24 |
| 768 058c F001 movw r30,r0 |
| 769 058e 1124 clr r1 |
| 770 0590 E050 subi r30,lo8(-(JetiBox_Menu+4)) |
| 771 0592 F040 sbci r31,hi8(-(JetiBox_Menu+4)) |
| 772 /* #APP */ |
| 773 0594 2591 lpm r18, Z+ |
| 774 0596 3491 lpm r19, Z |
| 775 |
| 776 /* #NOAPP */ |
| 777 0598 8C2F mov r24,r28 |
| 778 059a F901 movw r30,r18 |
| 779 059c 0995 icall |
| 780 059e 80E0 ldi r24,lo8(0) |
| 781 05a0 90E0 ldi r25,hi8(0) |
| 782 .L21: |
| 783 /* epilogue: frame size=0 */ |
| 784 05a2 CF91 pop r28 |
| 785 05a4 0895 ret |
| 786 /* epilogue end (size=2) */ |
| 787 /* function JetiBox_Update size 103 (100) */ |
| 789 /* File "jetimenu.c": code 741 = 0x02e5 ( 714), prologues 11, epilogues 16 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 jetimenu.c |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:14 .progmem.data:00000000 JetiBox_Menu |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:62 .text:00000000 Menu_Status |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:282 .text:000001e6 Menu_Temperature |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:430 .text:0000030e Menu_Battery |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:536 .text:000003c8 Menu_PosInfo |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:37 .progmem.data:00000018 __c.14 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:41 .progmem.data:00000021 __c.15 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:45 .progmem.data:0000002d __c.16 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:49 .progmem.data:00000034 __c.17 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:53 .progmem.data:0000003f __c.18 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:57 .progmem.data:0000004c __c.19 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:265 .progmem.data:00000053 __c.10 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:269 .progmem.data:00000063 __c.11 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:273 .progmem.data:00000073 __c.12 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:277 .progmem.data:00000084 __c.13 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:421 .progmem.data:0000008d __c.8 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:425 .progmem.data:000000a0 __c.9 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:511 .progmem.data:000000ac __c.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:515 .progmem.data:000000bb __c.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:519 .progmem.data:000000c0 __c.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:523 .progmem.data:000000c5 __c.5 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:527 .progmem.data:000000ca __c.6 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:531 .progmem.data:000000da __c.7 |
| .bss:00000000 item.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:676 .bss:00000001 last_item.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccENbaaa.s:680 .text:000004fc JetiBox_Update |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| LIBFC_JetiBox_SetPos |
| UBat |
| __divmodhi4 |
| LIBFC_JetiBox_Putchar |
| _printf_P |
| NaviDataOkay |
| GPSInfo |
| __udivmodhi4 |
| ErsatzKompass |
| GIER_GRAD_FAKTOR |
| __divmodsi4 |
| NC_ErrorCode |
| FlugSekunden |
| Capacity |
| EE_Parameter |
| VarioCharacter |
| HoehenWert |
| Motor |
| RequiredMotors |
| LIBFC_JetiBox_Clear |
| /branches/metro/v0.82a metro_Akku+/led.c |
|---|
| 0,0 → 1,98 |
| #include <inttypes.h> |
| #include "main.h" |
| uint16_t LED1_Timing = 0; |
| uint16_t LED2_Timing = 0; |
| unsigned char J16Blinkcount = 0, J16Mask = 1; |
| unsigned char J17Blinkcount = 0, J17Mask = 1; |
| // initializes the LED control outputs J16, J17 |
| void LED_Init(void) |
| { |
| // set PC2 & PC3 as output (control of J16 & J17) |
| DDRC |= (1<<DDC2)|(1<<DDC3); |
| J16_OFF; |
| J17_OFF; |
| J16Blinkcount = 0; J16Mask = 128; |
| J17Blinkcount = 0; J17Mask = 128; |
| } |
| // called in UpdateMotors() every 2ms |
| void LED_Update(void) |
| { |
| static char delay = 0; |
| static unsigned char J16Bitmask = 0; |
| static unsigned char J17Bitmask = 0; |
| static unsigned char J16Warn = 0, J17Warn = 0; |
| if(!delay--) // 10ms Intervall |
| { |
| delay = 4; |
| if(FC_StatusFlags & (FC_STATUS_LOWBAT | FC_STATUS_EMERGENCY_LANDING) || (VersionInfo.HardwareError[1] & FC_ERROR1_I2C)) |
| { |
| if(EE_Parameter.WARN_J16_Bitmask) |
| { |
| if(!J16Warn) J16Blinkcount = 4; |
| J16Warn = 1; |
| } |
| if(EE_Parameter.WARN_J17_Bitmask) |
| { |
| if(!J17Warn) J17Blinkcount = 4; |
| J17Warn = 1; |
| } |
| } |
| else |
| { |
| J16Warn = 0; |
| J17Warn = 0; |
| J16Bitmask = EE_Parameter.J16Bitmask; |
| J17Bitmask = EE_Parameter.J17Bitmask; |
| } |
| if(!J16Warn) |
| { |
| if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED1) J16_ON; else J16_OFF;} |
| else |
| if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing > 220)) {if(J16Bitmask & 128) J16_ON; else J16_OFF;} |
| else |
| if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing < 10)) {if(J16Bitmask & 128) J16_OFF; else J16_ON;} |
| else |
| if(!J16Blinkcount--) |
| { |
| J16Blinkcount = Parameter_J16Timing-1; |
| if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
| if(J16Mask & J16Bitmask) J16_ON; else J16_OFF; |
| } |
| } |
| else |
| if(!J16Blinkcount--) |
| { |
| J16Blinkcount = 10-1; |
| if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
| if(J16Mask & EE_Parameter.WARN_J16_Bitmask) J16_ON; else J16_OFF; |
| } |
| if(!J17Warn) |
| { |
| if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED2) J17_ON; else J17_OFF;} |
| else |
| if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing > 220)) {if(J17Bitmask & 128) J17_ON; else J17_OFF;} |
| else |
| if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing < 10)) {if(J17Bitmask & 128) J17_OFF; else J17_ON;} |
| else |
| if(!J17Blinkcount--) |
| { |
| J17Blinkcount = Parameter_J17Timing-1; |
| if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
| if(J17Mask & J17Bitmask) J17_ON; else J17_OFF; |
| } |
| } |
| else |
| if(!J17Blinkcount--) |
| { |
| J17Blinkcount = 10-1; |
| if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
| if(J17Mask & EE_Parameter.WARN_J17_Bitmask) J17_ON; else J17_OFF; |
| } |
| } |
| } |
| /branches/metro/v0.82a metro_Akku+/led.d |
|---|
| 0,0 → 1,3 |
| led.o led.d : led.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
| twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
| eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/led.h |
|---|
| 0,0 → 1,11 |
| #include <avr/io.h> |
| #define J16_ON PORTC |= (1<<PORTC2) |
| #define J16_OFF PORTC &= ~(1<<PORTC2) |
| #define J16_TOGGLE PORTC ^= (1<<PORTC2) |
| #define J17_ON PORTC |= (1<<PORTC3) |
| #define J17_OFF PORTC &= ~(1<<PORTC3) |
| #define J17_TOGGLE PORTC ^= (1<<PORTC3) |
| extern void LED_Init(void); |
| extern void LED_Update(void); |
| /branches/metro/v0.82a metro_Akku+/led.lst |
|---|
| 0,0 → 1,323 |
| 1 .file "led.c" |
| 2 .arch atmega644p |
| 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 .global J17Mask |
| 11 .data |
| 14 J17Mask: |
| 15 0000 01 .byte 1 |
| 16 .global J17Blinkcount |
| 17 .global J17Blinkcount |
| 18 .section .bss |
| 21 J17Blinkcount: |
| 22 0000 00 .skip 1,0 |
| 23 .global J16Mask |
| 24 .data |
| 27 J16Mask: |
| 28 0001 01 .byte 1 |
| 29 .global J16Blinkcount |
| 30 .global J16Blinkcount |
| 31 .section .bss |
| 34 J16Blinkcount: |
| 35 0001 00 .skip 1,0 |
| 36 .global LED2_Timing |
| 37 .global LED2_Timing |
| 40 LED2_Timing: |
| 41 0002 0000 .skip 2,0 |
| 42 .global LED1_Timing |
| 43 .global LED1_Timing |
| 46 LED1_Timing: |
| 47 0004 0000 .skip 2,0 |
| 48 .text |
| 49 .global LED_Init |
| 51 LED_Init: |
| 52 /* prologue: frame size=0 */ |
| 53 /* prologue end (size=0) */ |
| 54 0000 87B1 in r24,39-0x20 |
| 55 0002 8C60 ori r24,lo8(12) |
| 56 0004 87B9 out 39-0x20,r24 |
| 57 0006 4298 cbi 40-0x20,2 |
| 58 0008 4398 cbi 40-0x20,3 |
| 59 000a 1092 0000 sts J16Blinkcount,__zero_reg__ |
| 60 000e 80E8 ldi r24,lo8(-128) |
| 61 0010 8093 0000 sts J16Mask,r24 |
| 62 0014 1092 0000 sts J17Blinkcount,__zero_reg__ |
| 63 0018 8093 0000 sts J17Mask,r24 |
| 64 /* epilogue: frame size=0 */ |
| 65 001c 0895 ret |
| 66 /* epilogue end (size=1) */ |
| 67 /* function LED_Init size 15 (14) */ |
| 69 .lcomm delay.0,1 |
| 70 .lcomm J16Bitmask.1,1 |
| 71 .lcomm J17Bitmask.2,1 |
| 72 .lcomm J16Warn.3,1 |
| 73 .lcomm J17Warn.4,1 |
| 74 .global LED_Update |
| 76 LED_Update: |
| 77 /* prologue: frame size=0 */ |
| 78 /* prologue end (size=0) */ |
| 79 001e 8091 0000 lds r24,delay.0 |
| 80 0022 8150 subi r24,lo8(-(-1)) |
| 81 0024 8093 0000 sts delay.0,r24 |
| 82 0028 8F3F cpi r24,lo8(-1) |
| 83 002a 09F0 breq .+2 |
| 84 002c FBC0 rjmp .L2 |
| 85 002e 24E0 ldi r18,lo8(4) |
| 86 0030 2093 0000 sts delay.0,r18 |
| 87 0034 8091 0000 lds r24,FC_StatusFlags |
| 88 0038 9927 clr r25 |
| 89 003a 8073 andi r24,lo8(48) |
| 90 003c 9070 andi r25,hi8(48) |
| 91 003e 892B or r24,r25 |
| 92 0040 21F4 brne .L5 |
| 93 0042 8091 0000 lds r24,VersionInfo+6 |
| 94 0046 80FF sbrs r24,0 |
| 95 0048 1CC0 rjmp .L4 |
| 96 .L5: |
| 97 004a 8091 0000 lds r24,EE_Parameter+78 |
| 98 004e 8823 tst r24 |
| 99 0050 49F0 breq .L6 |
| 100 0052 8091 0000 lds r24,J16Warn.3 |
| 101 0056 8823 tst r24 |
| 102 0058 11F4 brne .L7 |
| 103 005a 2093 0000 sts J16Blinkcount,r18 |
| 104 .L7: |
| 105 005e 81E0 ldi r24,lo8(1) |
| 106 0060 8093 0000 sts J16Warn.3,r24 |
| 107 .L6: |
| 108 0064 8091 0000 lds r24,EE_Parameter+79 |
| 109 0068 8823 tst r24 |
| 110 006a B9F0 breq .L10 |
| 111 006c 8091 0000 lds r24,J17Warn.4 |
| 112 0070 8823 tst r24 |
| 113 0072 19F4 brne .L9 |
| 114 0074 84E0 ldi r24,lo8(4) |
| 115 0076 8093 0000 sts J17Blinkcount,r24 |
| 116 .L9: |
| 117 007a 81E0 ldi r24,lo8(1) |
| 118 007c 8093 0000 sts J17Warn.4,r24 |
| 119 0080 0CC0 rjmp .L10 |
| 120 .L4: |
| 121 0082 1092 0000 sts J16Warn.3,__zero_reg__ |
| 122 0086 1092 0000 sts J17Warn.4,__zero_reg__ |
| 123 008a 8091 0000 lds r24,EE_Parameter+74 |
| 124 008e 8093 0000 sts J16Bitmask.1,r24 |
| 125 0092 8091 0000 lds r24,EE_Parameter+76 |
| 126 0096 8093 0000 sts J17Bitmask.2,r24 |
| 127 .L10: |
| 128 009a 8091 0000 lds r24,J16Warn.3 |
| 129 009e 8823 tst r24 |
| 130 00a0 09F0 breq .+2 |
| 131 00a2 40C0 rjmp .L11 |
| 132 00a4 8091 0000 lds r24,EE_Parameter+100 |
| 133 00a8 282F mov r18,r24 |
| 134 00aa 3327 clr r19 |
| 135 00ac 24FF sbrs r18,4 |
| 136 00ae 07C0 rjmp .L12 |
| 137 00b0 8091 0000 lds r24,MotorenEin |
| 138 00b4 8823 tst r24 |
| 139 00b6 19F4 brne .L12 |
| 140 00b8 25FD sbrc r18,5 |
| 141 00ba 4DC0 rjmp .L61 |
| 142 00bc 4EC0 rjmp .L33 |
| 143 .L12: |
| 144 00be 9091 0000 lds r25,EE_Parameter+75 |
| 145 00c2 983F cpi r25,lo8(-8) |
| 146 00c4 50F0 brlo .L16 |
| 147 00c6 8091 0000 lds r24,Parameter_J16Timing |
| 148 00ca 8D3D cpi r24,lo8(-35) |
| 149 00cc 30F0 brlo .L16 |
| 150 00ce 8091 0000 lds r24,J16Bitmask.1 |
| 151 00d2 8823 tst r24 |
| 152 00d4 0CF4 brge .+2 |
| 153 00d6 3FC0 rjmp .L61 |
| 154 00d8 40C0 rjmp .L33 |
| 155 .L16: |
| 156 00da 983F cpi r25,lo8(-8) |
| 157 00dc 48F0 brlo .L20 |
| 158 00de 8091 0000 lds r24,Parameter_J16Timing |
| 159 00e2 8A30 cpi r24,lo8(10) |
| 160 00e4 28F4 brsh .L20 |
| 161 00e6 8091 0000 lds r24,J16Bitmask.1 |
| 162 00ea 8823 tst r24 |
| 163 00ec B4F1 brlt .L33 |
| 164 00ee 33C0 rjmp .L61 |
| 165 .L20: |
| 166 00f0 8091 0000 lds r24,J16Blinkcount |
| 167 00f4 8150 subi r24,lo8(-(-1)) |
| 168 00f6 8093 0000 sts J16Blinkcount,r24 |
| 169 00fa 8F3F cpi r24,lo8(-1) |
| 170 00fc 79F5 brne .L29 |
| 171 00fe 8091 0000 lds r24,Parameter_J16Timing |
| 172 0102 8150 subi r24,lo8(-(-1)) |
| 173 0104 8093 0000 sts J16Blinkcount,r24 |
| 174 0108 8091 0000 lds r24,J16Mask |
| 175 010c 8130 cpi r24,lo8(1) |
| 176 010e 11F4 brne .L25 |
| 177 0110 80E8 ldi r24,lo8(-128) |
| 178 0112 01C0 rjmp .L59 |
| 179 .L25: |
| 180 0114 8695 lsr r24 |
| 181 .L59: |
| 182 0116 8093 0000 sts J16Mask,r24 |
| 183 011a 8091 0000 lds r24,J16Mask |
| 184 011e 9091 0000 lds r25,J16Bitmask.1 |
| 185 0122 17C0 rjmp .L68 |
| 186 .L11: |
| 187 0124 8091 0000 lds r24,J16Blinkcount |
| 188 0128 8150 subi r24,lo8(-(-1)) |
| 189 012a 8093 0000 sts J16Blinkcount,r24 |
| 190 012e 8F3F cpi r24,lo8(-1) |
| 191 0130 A9F4 brne .L29 |
| 192 0132 89E0 ldi r24,lo8(9) |
| 193 0134 8093 0000 sts J16Blinkcount,r24 |
| 194 0138 8091 0000 lds r24,J16Mask |
| 195 013c 8130 cpi r24,lo8(1) |
| 196 013e 11F4 brne .L31 |
| 197 0140 80E8 ldi r24,lo8(-128) |
| 198 0142 01C0 rjmp .L60 |
| 199 .L31: |
| 200 0144 8695 lsr r24 |
| 201 .L60: |
| 202 0146 8093 0000 sts J16Mask,r24 |
| 203 014a 8091 0000 lds r24,J16Mask |
| 204 014e 9091 0000 lds r25,EE_Parameter+78 |
| 205 .L68: |
| 206 0152 8923 and r24,r25 |
| 207 0154 11F0 breq .L33 |
| 208 .L61: |
| 209 0156 429A sbi 40-0x20,2 |
| 210 0158 01C0 rjmp .L29 |
| 211 .L33: |
| 212 015a 4298 cbi 40-0x20,2 |
| 213 .L29: |
| 214 015c 8091 0000 lds r24,J17Warn.4 |
| 215 0160 8823 tst r24 |
| 216 0162 09F0 breq .+2 |
| 217 0164 43C0 rjmp .L35 |
| 218 0166 8091 0000 lds r24,EE_Parameter+100 |
| 219 016a 282F mov r18,r24 |
| 220 016c 3327 clr r19 |
| 221 016e 24FF sbrs r18,4 |
| 222 0170 07C0 rjmp .L36 |
| 223 0172 8091 0000 lds r24,MotorenEin |
| 224 0176 8823 tst r24 |
| 225 0178 19F4 brne .L36 |
| 226 017a 26FD sbrc r18,6 |
| 227 017c 50C0 rjmp .L67 |
| 228 017e 34C0 rjmp .L51 |
| 229 .L36: |
| 230 0180 9091 0000 lds r25,EE_Parameter+77 |
| 231 0184 983F cpi r25,lo8(-8) |
| 232 0186 50F0 brlo .L40 |
| 233 0188 8091 0000 lds r24,Parameter_J17Timing |
| 234 018c 8D3D cpi r24,lo8(-35) |
| 235 018e 30F0 brlo .L40 |
| 236 0190 8091 0000 lds r24,J17Bitmask.2 |
| 237 0194 8823 tst r24 |
| 238 0196 0CF4 brge .+2 |
| 239 0198 42C0 rjmp .L67 |
| 240 019a 26C0 rjmp .L51 |
| 241 .L40: |
| 242 019c 983F cpi r25,lo8(-8) |
| 243 019e 48F0 brlo .L44 |
| 244 01a0 8091 0000 lds r24,Parameter_J17Timing |
| 245 01a4 8A30 cpi r24,lo8(10) |
| 246 01a6 28F4 brsh .L44 |
| 247 01a8 8091 0000 lds r24,J17Bitmask.2 |
| 248 01ac 8823 tst r24 |
| 249 01ae E4F0 brlt .L51 |
| 250 01b0 36C0 rjmp .L67 |
| 251 .L44: |
| 252 01b2 8091 0000 lds r24,J17Blinkcount |
| 253 01b6 8150 subi r24,lo8(-(-1)) |
| 254 01b8 8093 0000 sts J17Blinkcount,r24 |
| 255 01bc 8F3F cpi r24,lo8(-1) |
| 256 01be 91F5 brne .L2 |
| 257 01c0 8091 0000 lds r24,Parameter_J17Timing |
| 258 01c4 8150 subi r24,lo8(-(-1)) |
| 259 01c6 8093 0000 sts J17Blinkcount,r24 |
| 260 01ca 8091 0000 lds r24,J17Mask |
| 261 01ce 8130 cpi r24,lo8(1) |
| 262 01d0 11F4 brne .L49 |
| 263 01d2 80E8 ldi r24,lo8(-128) |
| 264 01d4 01C0 rjmp .L62 |
| 265 .L49: |
| 266 01d6 8695 lsr r24 |
| 267 .L62: |
| 268 01d8 8093 0000 sts J17Mask,r24 |
| 269 01dc 8091 0000 lds r24,J17Mask |
| 270 01e0 9091 0000 lds r25,J17Bitmask.2 |
| 271 01e4 8923 and r24,r25 |
| 272 01e6 D9F4 brne .L67 |
| 273 .L51: |
| 274 01e8 4398 cbi 40-0x20,3 |
| 275 01ea 0895 ret |
| 276 .L35: |
| 277 01ec 8091 0000 lds r24,J17Blinkcount |
| 278 01f0 8150 subi r24,lo8(-(-1)) |
| 279 01f2 8093 0000 sts J17Blinkcount,r24 |
| 280 01f6 8F3F cpi r24,lo8(-1) |
| 281 01f8 A9F4 brne .L2 |
| 282 01fa 89E0 ldi r24,lo8(9) |
| 283 01fc 8093 0000 sts J17Blinkcount,r24 |
| 284 0200 8091 0000 lds r24,J17Mask |
| 285 0204 8130 cpi r24,lo8(1) |
| 286 0206 11F4 brne .L55 |
| 287 0208 80E8 ldi r24,lo8(-128) |
| 288 020a 01C0 rjmp .L63 |
| 289 .L55: |
| 290 020c 8695 lsr r24 |
| 291 .L63: |
| 292 020e 8093 0000 sts J17Mask,r24 |
| 293 0212 8091 0000 lds r24,J17Mask |
| 294 0216 9091 0000 lds r25,EE_Parameter+79 |
| 295 021a 8923 and r24,r25 |
| 296 021c 11F0 breq .L57 |
| 297 .L67: |
| 298 021e 439A sbi 40-0x20,3 |
| 299 0220 0895 ret |
| 300 .L57: |
| 301 0222 4398 cbi 40-0x20,3 |
| 302 .L2: |
| 303 0224 0895 ret |
| 304 /* epilogue: frame size=0 */ |
| 305 /* epilogue: noreturn */ |
| 306 /* epilogue end (size=0) */ |
| 307 /* function LED_Update size 267 (267) */ |
| 309 /* File "led.c": code 282 = 0x011a ( 281), prologues 0, epilogues 1 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 led.c |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:14 .data:00000000 J17Mask |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:21 .bss:00000000 J17Blinkcount |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:27 .data:00000001 J16Mask |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:34 .bss:00000001 J16Blinkcount |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:40 .bss:00000002 LED2_Timing |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:46 .bss:00000004 LED1_Timing |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:51 .text:00000000 LED_Init |
| .bss:00000006 delay.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:69 .bss:00000007 J16Bitmask.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:70 .bss:00000008 J17Bitmask.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:71 .bss:00000009 J16Warn.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:72 .bss:0000000a J17Warn.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccCQbaaa.s:76 .text:0000001e LED_Update |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| FC_StatusFlags |
| VersionInfo |
| EE_Parameter |
| MotorenEin |
| Parameter_J16Timing |
| Parameter_J17Timing |
| /branches/metro/v0.82a metro_Akku+/libfc.h |
|---|
| 0,0 → 1,20 |
| #ifndef _LIBFC_H |
| #define _LIBFC_H |
| #define CPU_UNKNOWN 0 |
| #define CPU_ATMEGA644 1 |
| #define CPU_ATMEGA644P 2 |
| #define CPU_ATMEGA1284 3 |
| #define CPU_ATMEGA1284P 4 |
| extern void LIBFC_Init(void); |
| extern void LIBFC_Polling(void); |
| extern void LIBFC_ReceiverInit(unsigned char rtype); |
| extern void LIBFC_JetiBox_Putchar(char c); |
| extern void LIBFC_JetiBox_SetPos(unsigned char index); |
| extern void LIBFC_JetiBox_Clear(void); |
| extern unsigned char LIBFC_GetCPUType(void); |
| #endif //_LIBFC_H |
| /branches/metro/v0.82a metro_Akku+/main.c |
|---|
| 0,0 → 1,403 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + 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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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" |
| //MartinW MaxSize is 63488 bytes |
| unsigned char PlatinenVersion = 10; |
| unsigned char SendVersionToNavi = 1; |
| unsigned char BattLowVoltageWarning = 94; |
| unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| unsigned int FlugSekunden = 0; |
| pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| unsigned char FoundMotors = 0; |
| void CalMk3Mag(void) |
| { |
| static unsigned char stick = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
| { |
| stick = 1; |
| WinkelOut.CalcState++; |
| if(WinkelOut.CalcState > 4) |
| { |
| // WinkelOut.CalcState = 0; // in Uart.c |
| beeptime = 1000; |
| } |
| else Piep(WinkelOut.CalcState,150); |
| } |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| } |
| void LipoDetection(unsigned char print) |
| { |
| #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
| unsigned int timer, cells; |
| if(print) printf("\n\rBatt:"); |
| if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
| { |
| timer = SetDelay(500); |
| if(print) while (!CheckDelay(timer)); |
| // up to 6s LiPo, less than 2s is technical impossible |
| for(cells = 2; cells < 7; cells++) |
| { |
| if(UBat < cells * MAX_CELL_VOLTAGE) break; |
| } |
| BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(cells, 200); |
| printf(" %d Cells ", cells); |
| } |
| } |
| else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
| if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer,i,timer2 = 0, timerPolling; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| PlatinenVersion = 21; |
| #else |
| if(PINB & 0x01) |
| { |
| if(PINB & 0x02) PlatinenVersion = 13; |
| else PlatinenVersion = 11; |
| } |
| else |
| { |
| if(PINB & 0x02) PlatinenVersion = 20; |
| else PlatinenVersion = 10; |
| } |
| #endif |
| DDRC = 0x81; // SCL |
| DDRC |=0x40; // HEF4017 Reset |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| PORTD = 0x47; // LED |
| HEF4017R_ON; |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2500; |
| StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
| if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| ROT_OFF; |
| Timer_Init(); |
| TIMER2_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| I2C_Init(1); |
| SPI_MasterInit(); |
| LIBFC_Init(); |
| GRN_ON; |
| sei(); |
| ParamSet_Init(); |
| Capacity_Init(); //Moved by metro |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Check connected BL-Ctrls |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Check connected BL-Ctrls |
| BLFlags |= BLFLAG_READ_VERSION; |
| motor_read = 0; // read the first I2C-Data |
| SendMotorData(); |
| timer = SetDelay(500); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| printf("\n\rFound BL-Ctrl: "); |
| timer = SetDelay(4000); |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| SendMotorData(); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| { |
| while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| { |
| SendMotorData(); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } |
| } |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| printf("%d",i+1); |
| FoundMotors++; |
| // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
| } |
| } |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| { |
| printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
| ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| } |
| Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| } |
| printf("\n\r==================================="); |
| if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
| //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rCalibrating pressure sensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(0); |
| ROT_OFF; |
| beeptime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
| FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
| if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
| { |
| FlugMinuten = 0; |
| FlugMinutenGesamt = 0; |
| } |
| printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| printf("\n\rControl: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Normal (ACC-Mode)"); |
| LcdClear(); |
| I2CTimeout = 5000; |
| WinkelOut.Orientation = 1; |
| LipoDetection(1); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| printf("\n\r===================================\n\r"); |
| //SpektrumBinding(); |
| timer = SetDelay(2000); |
| timerPolling = SetDelay(250); |
| Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| DebugOut.Status[0] = 0x01 | 0x02; |
| while (1) |
| { |
| if (JetiUpdateModeActive) while (1); |
| if(CheckDelay(timerPolling)) |
| { |
| timerPolling = SetDelay(100); |
| LIBFC_Polling(); |
| } |
| if(UpdateMotor && AdReady) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| if(WinkelOut.CalcState) CalMk3Mag(); |
| else MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM; } |
| else |
| { |
| TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| PPM_in[0] = 0; // set RSSI to zero on data timeout |
| VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!--I2CTimeout || MissingMotor) |
| { |
| if(!I2CTimeout) |
| { |
| I2C_Reset(); |
| I2CTimeout = 5; |
| DebugOut.Analog[28]++; // I2C-Error |
| VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| ROT_OFF; |
| if(!beeptime) |
| { |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
| } |
| } |
| if(!UpdateMotor) |
| { |
| if(CalculateServoSignals) CalculateServo(); |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| static unsigned char second; |
| timer += 20; // 20 ms interval |
| if(MissingMotor) |
| { |
| VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| else |
| { |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_BL_MISSING; |
| if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
| } |
| if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~FC_ERROR1_I2C; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| if(BeepMuster == 0xffff && SenderOkay == 0) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| } |
| } |
| if(NaviDataOkay > 200) |
| { |
| NaviDataOkay--; |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
| } |
| else |
| { |
| if(NC_Version.Compatible) |
| { |
| VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
| if(BeepMuster == 0xffff && MotorenEin) |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA800; |
| } |
| } |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| //if(!beeptime) |
| FromNaviCtrl.CompassValue = -1; |
| NaviDataOkay = 0; |
| } |
| if((UBat < BattLowVoltageWarning)||((Capacity.RemainCapacity<=0)&&(EE_Parameter.UserParam1!=0))) //Modified by metro |
| { |
| FC_StatusFlags |= FC_STATUS_LOWBAT; |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
| else |
| if(++second == 49) |
| { |
| second = 0; |
| FlugSekunden++; |
| } |
| if(++timer2 == 2930) // eine Minute |
| { |
| timer2 = 0; |
| FlugMinuten++; |
| FlugMinutenGesamt++; |
| SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
| SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
| timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| } |
| } |
| LED_Update(); |
| Capacity_Update(); |
| } |
| } |
| if(!SendSPI) { SPI_TransmitByte(); } |
| } |
| return (1); |
| } |
| /branches/metro/v0.82a metro_Akku+/main.d |
|---|
| 0,0 → 1,3 |
| main.o main.d : main.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
| twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
| eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/main.h |
|---|
| 0,0 → 1,75 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //#define DEBUG // use to activate debug output to MK-Tool: use Debug(text); |
| //#define ACT_S3D_SUMMENSIGNAL |
| //#define SWITCH_LEARNS_CAREFREE |
| //#define RECEIVER_SPEKTRUM_EXP |
| // neue Hardware |
| #define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB |= 0x01; else PORTB &=~0x01;} |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF {if((PlatinenVersion < 12)) PORTB &=~0x02; else PORTB |= 0x02;} |
| #define GRN_ON {if((PlatinenVersion < 12)) PORTB |= 0x02; else PORTB &=~0x02;} |
| #define GRN_FLASH PORTB ^= 0x02 |
| #define SYSCLK F_CPU |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define J3High PORTD |= 0x20 |
| #define J3Low PORTD &= ~0x20 |
| #define J4High PORTD |= 0x10 |
| #define J4Low PORTD &= ~0x10 |
| #define J5High PORTD |= 0x08 |
| #define J5Low PORTD &= ~0x08 |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char BattLowVoltageWarning; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| extern unsigned char SendVersionToNavi; |
| extern unsigned char FoundMotors; |
| void LipoDetection(unsigned char print); |
| extern unsigned int FlugMinuten,FlugMinutenGesamt,FlugSekunden; |
| #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 "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 "spi.h" |
| #include "led.h" |
| #include "spektrum.h" |
| #include "capacity.h" |
| #include "eeprom.h" |
| #include "libfc.h" |
| #include "debug.h" |
| #endif //_MAIN_H |
| /branches/metro/v0.82a metro_Akku+/main.lst |
|---|
| 0,0 → 1,1306 |
| 1 .file "main.c" |
| 2 .arch atmega644p |
| 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 .global FoundMotors |
| 11 .global FoundMotors |
| 12 .section .bss |
| 15 FoundMotors: |
| 16 0000 00 .skip 1,0 |
| 17 .global FlugSekunden |
| 18 .global FlugSekunden |
| 21 FlugSekunden: |
| 22 0001 0000 .skip 2,0 |
| 23 .global FlugMinutenGesamt |
| 24 .global FlugMinutenGesamt |
| 27 FlugMinutenGesamt: |
| 28 0003 0000 .skip 2,0 |
| 29 .global FlugMinuten |
| 30 .global FlugMinuten |
| 33 FlugMinuten: |
| 34 0005 0000 .skip 2,0 |
| 35 .global BattLowVoltageWarning |
| 36 .data |
| 39 BattLowVoltageWarning: |
| 40 0000 5E .byte 94 |
| 41 .global SendVersionToNavi |
| 44 SendVersionToNavi: |
| 45 0001 01 .byte 1 |
| 46 .global PlatinenVersion |
| 49 PlatinenVersion: |
| 50 0002 0A .byte 10 |
| 53 stick.15: |
| 54 0003 01 .byte 1 |
| 55 .text |
| 56 .global CalMk3Mag |
| 58 CalMk3Mag: |
| 59 /* prologue: frame size=0 */ |
| 60 /* prologue end (size=0) */ |
| 61 0000 8091 0000 lds r24,EE_Parameter+1 |
| 62 0004 E82F mov r30,r24 |
| 63 0006 FF27 clr r31 |
| 64 0008 EE0F add r30,r30 |
| 65 000a FF1F adc r31,r31 |
| 66 000c E050 subi r30,lo8(-(PPM_in)) |
| 67 000e F040 sbci r31,hi8(-(PPM_in)) |
| 68 0010 8081 ld r24,Z |
| 69 0012 9181 ldd r25,Z+1 |
| 70 0014 8D5E subi r24,lo8(-19) |
| 71 0016 9F4F sbci r25,hi8(-19) |
| 72 0018 14F0 brlt .L2 |
| 73 001a 1092 0000 sts stick.15,__zero_reg__ |
| 74 .L2: |
| 75 001e 8081 ld r24,Z |
| 76 0020 9181 ldd r25,Z+1 |
| 77 0022 8A5B subi r24,lo8(-70) |
| 78 0024 9F4F sbci r25,hi8(-70) |
| 79 0026 CCF4 brge .L3 |
| 80 0028 8091 0000 lds r24,stick.15 |
| 81 002c 8823 tst r24 |
| 82 002e A9F4 brne .L3 |
| 83 0030 81E0 ldi r24,lo8(1) |
| 84 0032 8093 0000 sts stick.15,r24 |
| 85 0036 8091 0000 lds r24,WinkelOut+6 |
| 86 003a 8F5F subi r24,lo8(-(1)) |
| 87 003c 8093 0000 sts WinkelOut+6,r24 |
| 88 0040 8530 cpi r24,lo8(5) |
| 89 0042 38F0 brlo .L4 |
| 90 0044 88EE ldi r24,lo8(1000) |
| 91 0046 93E0 ldi r25,hi8(1000) |
| 92 0048 9093 0000 sts (beeptime)+1,r25 |
| 93 004c 8093 0000 sts beeptime,r24 |
| 94 0050 04C0 rjmp .L3 |
| 95 .L4: |
| 96 0052 66E9 ldi r22,lo8(150) |
| 97 0054 70E0 ldi r23,hi8(150) |
| 98 0056 0E94 0000 call Piep |
| 99 .L3: |
| 100 005a 8091 0000 lds r24,WinkelOut+6 |
| 101 005e 9927 clr r25 |
| 102 0060 9093 0000 sts (DebugOut+40)+1,r25 |
| 103 0064 8093 0000 sts DebugOut+40,r24 |
| 104 /* epilogue: frame size=0 */ |
| 105 0068 0895 ret |
| 106 /* epilogue end (size=1) */ |
| 107 /* function CalMk3Mag size 55 (54) */ |
| 109 .section .progmem.data,"a",@progbits |
| 112 __c.12: |
| 113 0000 0A0D 4261 .string "\n\rBatt:" |
| 113 7474 3A00 |
| 116 __c.13: |
| 117 0008 2025 6420 .string " %d Cells " |
| 117 4365 6C6C |
| 117 7320 00 |
| 120 __c.14: |
| 121 0013 204C 6F77 .string " Low warning level: %d.%d" |
| 121 2077 6172 |
| 121 6E69 6E67 |
| 121 206C 6576 |
| 121 656C 3A20 |
| 122 .text |
| 123 .global LipoDetection |
| 125 LipoDetection: |
| 126 /* prologue: frame size=0 */ |
| 127 006a 1F93 push r17 |
| 128 006c CF93 push r28 |
| 129 006e DF93 push r29 |
| 130 /* prologue end (size=3) */ |
| 131 0070 182F mov r17,r24 |
| 132 0072 8823 tst r24 |
| 133 0074 89F0 breq .L7 |
| 134 0076 80E0 ldi r24,lo8(__c.12) |
| 135 0078 90E0 ldi r25,hi8(__c.12) |
| 136 007a 9F93 push r25 |
| 137 007c 8F93 push r24 |
| 138 007e 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 139 0080 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 140 0082 9F93 push r25 |
| 141 0084 8F93 push r24 |
| 142 0086 E091 0000 lds r30,_printf_P |
| 143 008a F091 0000 lds r31,(_printf_P)+1 |
| 144 008e 0995 icall |
| 145 0090 0F90 pop __tmp_reg__ |
| 146 0092 0F90 pop __tmp_reg__ |
| 147 0094 0F90 pop __tmp_reg__ |
| 148 0096 0F90 pop __tmp_reg__ |
| 149 .L7: |
| 150 0098 8091 0000 lds r24,EE_Parameter+36 |
| 151 009c 8233 cpi r24,lo8(50) |
| 152 009e 08F0 brlo .+2 |
| 153 00a0 44C0 rjmp .L8 |
| 154 00a2 84EF ldi r24,lo8(500) |
| 155 00a4 91E0 ldi r25,hi8(500) |
| 156 00a6 0E94 0000 call SetDelay |
| 157 00aa EC01 movw r28,r24 |
| 158 00ac 1123 tst r17 |
| 159 00ae 29F0 breq .L9 |
| 160 .L10: |
| 161 00b0 CE01 movw r24,r28 |
| 162 00b2 0E94 0000 call CheckDelay |
| 163 00b6 8823 tst r24 |
| 164 00b8 D9F3 breq .L10 |
| 165 .L9: |
| 166 00ba C2E0 ldi r28,lo8(2) |
| 167 00bc D0E0 ldi r29,hi8(2) |
| 168 00be 26E5 ldi r18,lo8(86) |
| 169 00c0 30E0 ldi r19,hi8(86) |
| 170 .L17: |
| 171 00c2 8091 0000 lds r24,UBat |
| 172 00c6 9091 0000 lds r25,(UBat)+1 |
| 173 00ca 8217 cp r24,r18 |
| 174 00cc 9307 cpc r25,r19 |
| 175 00ce 30F0 brlo .L14 |
| 176 00d0 2196 adiw r28,1 |
| 177 00d2 255D subi r18,lo8(-(43)) |
| 178 00d4 3F4F sbci r19,hi8(-(43)) |
| 179 00d6 C730 cpi r28,7 |
| 180 00d8 D105 cpc r29,__zero_reg__ |
| 181 00da 98F3 brlo .L17 |
| 182 .L14: |
| 183 00dc 8091 0000 lds r24,EE_Parameter+36 |
| 184 00e0 9927 clr r25 |
| 185 00e2 C89F mul r28,r24 |
| 186 00e4 9001 movw r18,r0 |
| 187 00e6 C99F mul r28,r25 |
| 188 00e8 300D add r19,r0 |
| 189 00ea D89F mul r29,r24 |
| 190 00ec 300D add r19,r0 |
| 191 00ee 1124 clr r1 |
| 192 00f0 2093 0000 sts BattLowVoltageWarning,r18 |
| 193 00f4 1123 tst r17 |
| 194 00f6 D9F0 breq .L19 |
| 195 00f8 68EC ldi r22,lo8(200) |
| 196 00fa 70E0 ldi r23,hi8(200) |
| 197 00fc 8C2F mov r24,r28 |
| 198 00fe 0E94 0000 call Piep |
| 199 0102 DF93 push r29 |
| 200 0104 CF93 push r28 |
| 201 0106 80E0 ldi r24,lo8(__c.13) |
| 202 0108 90E0 ldi r25,hi8(__c.13) |
| 203 010a 9F93 push r25 |
| 204 010c 8F93 push r24 |
| 205 010e 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 206 0110 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 207 0112 9F93 push r25 |
| 208 0114 8F93 push r24 |
| 209 0116 E091 0000 lds r30,_printf_P |
| 210 011a F091 0000 lds r31,(_printf_P)+1 |
| 211 011e 0995 icall |
| 212 0120 8DB7 in r24,__SP_L__ |
| 213 0122 9EB7 in r25,__SP_H__ |
| 214 0124 0696 adiw r24,6 |
| 215 0126 8DBF out __SP_L__,r24 |
| 216 0128 02C0 rjmp .L19 |
| 217 .L8: |
| 218 012a 8093 0000 sts BattLowVoltageWarning,r24 |
| 219 .L19: |
| 220 012e 1123 tst r17 |
| 221 0130 11F1 breq .L6 |
| 222 0132 8091 0000 lds r24,BattLowVoltageWarning |
| 223 0136 6AE0 ldi r22,lo8(10) |
| 224 0138 0E94 0000 call __udivmodqi4 |
| 225 013c 892F mov r24,r25 |
| 226 013e 9927 clr r25 |
| 227 0140 9F93 push r25 |
| 228 0142 8F93 push r24 |
| 229 0144 8091 0000 lds r24,BattLowVoltageWarning |
| 230 0148 0E94 0000 call __udivmodqi4 |
| 231 014c 9927 clr r25 |
| 232 014e 9F93 push r25 |
| 233 0150 8F93 push r24 |
| 234 0152 80E0 ldi r24,lo8(__c.14) |
| 235 0154 90E0 ldi r25,hi8(__c.14) |
| 236 0156 9F93 push r25 |
| 237 0158 8F93 push r24 |
| 238 015a 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 239 015c 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 240 015e 9F93 push r25 |
| 241 0160 8F93 push r24 |
| 242 0162 E091 0000 lds r30,_printf_P |
| 243 0166 F091 0000 lds r31,(_printf_P)+1 |
| 244 016a 0995 icall |
| 245 016c 2DB7 in r18,__SP_L__ |
| 246 016e 3EB7 in r19,__SP_H__ |
| 247 0170 285F subi r18,lo8(-(8)) |
| 248 0172 3F4F sbci r19,hi8(-(8)) |
| 249 0174 2DBF out __SP_L__,r18 |
| 250 .L6: |
| 251 /* epilogue: frame size=0 */ |
| 252 0176 DF91 pop r29 |
| 253 0178 CF91 pop r28 |
| 254 017a 1F91 pop r17 |
| 255 017c 0895 ret |
| 256 /* epilogue end (size=4) */ |
| 257 /* function LipoDetection size 138 (131) */ |
| 259 .section .progmem.data |
| 262 __c.0: |
| 263 002d 0A0D 466F .string "\n\rFound BL-Ctrl: " |
| 263 756E 6420 |
| 263 424C 2D43 |
| 263 7472 6C3A |
| 263 2000 |
| 266 __c.1: |
| 267 003f 2564 00 .string "%d" |
| 270 __c.2: |
| 271 0042 0A0D 0A0D .string "\n\r\n\r!! MISSING BL-CTRL: %d !!" |
| 271 2121 204D |
| 271 4953 5349 |
| 271 4E47 2042 |
| 271 4C2D 4354 |
| 274 __c.3: |
| 275 0060 0A0D 3D3D .string "\n\r===================================" |
| 275 3D3D 3D3D |
| 275 3D3D 3D3D |
| 275 3D3D 3D3D |
| 275 3D3D 3D3D |
| 278 __c.4: |
| 279 0086 0A0D 4361 .string "\n\rCalibrating pressure sensor.." |
| 279 6C69 6272 |
| 279 6174 696E |
| 279 6720 7072 |
| 279 6573 7375 |
| 282 __c.5: |
| 283 00a6 4F4B 0A0D .string "OK\n\r" |
| 283 00 |
| 286 __c.6: |
| 287 00ab 0A0D 466C .string "\n\rFlight-time %u min Total:%u min" |
| 287 6967 6874 |
| 287 2D74 696D |
| 287 6520 2575 |
| 287 206D 696E |
| 290 __c.7: |
| 291 00ce 0A0D 436F .string "\n\rControl: " |
| 291 6E74 726F |
| 291 6C3A 2000 |
| 294 __c.8: |
| 295 00da 4865 6164 .string "HeadingHold" |
| 295 696E 6748 |
| 295 6F6C 6400 |
| 298 __c.9: |
| 299 00e6 4E6F 726D .string "Normal (ACC-Mode)" |
| 299 616C 2028 |
| 299 4143 432D |
| 299 4D6F 6465 |
| 299 2900 |
| 302 __c.10: |
| 303 00f8 0A0D 3D3D .string "\n\r===================================\n\r" |
| 303 3D3D 3D3D |
| 303 3D3D 3D3D |
| 303 3D3D 3D3D |
| 303 3D3D 3D3D |
| 304 .lcomm second.11,1 |
| 305 .text |
| 306 .global main |
| 308 main: |
| 309 /* prologue: frame size=0 */ |
| 310 017e C0E0 ldi r28,lo8(__stack - 0) |
| 311 0180 D0E0 ldi r29,hi8(__stack - 0) |
| 312 0182 DEBF out __SP_H__,r29 |
| 313 0184 CDBF out __SP_L__,r28 |
| 314 /* prologue end (size=4) */ |
| 315 0186 8824 clr r8 |
| 316 0188 9924 clr r9 |
| 317 018a 14B8 out 36-0x20,__zero_reg__ |
| 318 018c 15B8 out 37-0x20,__zero_reg__ |
| 319 018e 07EE ldi r16,lo8(999) |
| 320 0190 13E0 ldi r17,hi8(999) |
| 321 .L26: |
| 322 0192 0253 subi r16,lo8(-(-50)) |
| 323 0194 1040 sbci r17,hi8(-(-50)) |
| 324 0196 17FF sbrs r17,7 |
| 325 0198 FCCF rjmp .L26 |
| 326 019a 189B sbis 35-0x20,0 |
| 327 019c 06C0 rjmp .L27 |
| 328 019e 199B sbis 35-0x20,1 |
| 329 01a0 02C0 rjmp .L28 |
| 330 01a2 8DE0 ldi r24,lo8(13) |
| 331 01a4 07C0 rjmp .L233 |
| 332 .L28: |
| 333 01a6 8BE0 ldi r24,lo8(11) |
| 334 01a8 05C0 rjmp .L233 |
| 335 .L27: |
| 336 01aa 199B sbis 35-0x20,1 |
| 337 01ac 02C0 rjmp .L31 |
| 338 01ae 84E1 ldi r24,lo8(20) |
| 339 01b0 01C0 rjmp .L233 |
| 340 .L31: |
| 341 01b2 8AE0 ldi r24,lo8(10) |
| 342 .L233: |
| 343 01b4 8093 0000 sts PlatinenVersion,r24 |
| 344 01b8 81E8 ldi r24,lo8(-127) |
| 345 01ba 87B9 out 39-0x20,r24 |
| 346 01bc 3E9A sbi 39-0x20,6 |
| 347 01be 8FEF ldi r24,lo8(-1) |
| 348 01c0 88B9 out 40-0x20,r24 |
| 349 01c2 8BE1 ldi r24,lo8(27) |
| 350 01c4 84B9 out 36-0x20,r24 |
| 351 01c6 81E0 ldi r24,lo8(1) |
| 352 01c8 85B9 out 37-0x20,r24 |
| 353 01ca 8EE3 ldi r24,lo8(62) |
| 354 01cc 8AB9 out 42-0x20,r24 |
| 355 01ce 87E4 ldi r24,lo8(71) |
| 356 01d0 8BB9 out 43-0x20,r24 |
| 357 01d2 469A sbi 40-0x20,6 |
| 358 01d4 84B7 in r24,84-0x20 |
| 359 01d6 877F andi r24,lo8(-9) |
| 360 01d8 84BF out 84-0x20,r24 |
| 361 01da 8091 6000 lds r24,96 |
| 362 01de 8861 ori r24,lo8(24) |
| 363 01e0 8093 6000 sts 96,r24 |
| 364 01e4 1092 6000 sts 96,__zero_reg__ |
| 365 01e8 84EC ldi r24,lo8(2500) |
| 366 01ea 99E0 ldi r25,hi8(2500) |
| 367 01ec 9093 0000 sts (beeptime)+1,r25 |
| 368 01f0 8093 0000 sts beeptime,r24 |
| 369 01f4 1092 0000 sts (StickGier)+1,__zero_reg__ |
| 370 01f8 1092 0000 sts StickGier,__zero_reg__ |
| 371 01fc 1092 0000 sts (PPM_in+4)+1,__zero_reg__ |
| 372 0200 1092 0000 sts PPM_in+4,__zero_reg__ |
| 373 0204 1092 0000 sts (StickRoll)+1,__zero_reg__ |
| 374 0208 1092 0000 sts StickRoll,__zero_reg__ |
| 375 020c 1092 0000 sts (StickNick)+1,__zero_reg__ |
| 376 0210 1092 0000 sts StickNick,__zero_reg__ |
| 377 0214 2091 0000 lds r18,PlatinenVersion |
| 378 0218 2431 cpi r18,lo8(20) |
| 379 021a 28F0 brlo .L33 |
| 380 021c 84EC ldi r24,lo8(1220) |
| 381 021e 94E0 ldi r25,hi8(1220) |
| 382 0220 A0E0 ldi r26,hlo8(1220) |
| 383 0222 B0E0 ldi r27,hhi8(1220) |
| 384 0224 04C0 rjmp .L234 |
| 385 .L33: |
| 386 0226 8BE0 ldi r24,lo8(1291) |
| 387 0228 95E0 ldi r25,hi8(1291) |
| 388 022a A0E0 ldi r26,hlo8(1291) |
| 389 022c B0E0 ldi r27,hhi8(1291) |
| 390 .L234: |
| 391 022e 8093 0000 sts GIER_GRAD_FAKTOR,r24 |
| 392 0232 9093 0000 sts (GIER_GRAD_FAKTOR)+1,r25 |
| 393 0236 A093 0000 sts (GIER_GRAD_FAKTOR)+2,r26 |
| 394 023a B093 0000 sts (GIER_GRAD_FAKTOR)+3,r27 |
| 395 023e 2A30 cpi r18,lo8(10) |
| 396 0240 11F0 breq .L36 |
| 397 0242 2431 cpi r18,lo8(20) |
| 398 0244 10F0 brlo .L35 |
| 399 .L36: |
| 400 0246 2898 cbi 37-0x20,0 |
| 401 0248 01C0 rjmp .L37 |
| 402 .L35: |
| 403 024a 289A sbi 37-0x20,0 |
| 404 .L37: |
| 405 024c 0E94 0000 call Timer_Init |
| 406 0250 0E94 0000 call TIMER2_Init |
| 407 0254 0E94 0000 call UART_Init |
| 408 0258 0E94 0000 call rc_sum_init |
| 409 025c 0E94 0000 call ADC_Init |
| 410 0260 81E0 ldi r24,lo8(1) |
| 411 0262 0E94 0000 call I2C_Init |
| 412 0266 0E94 0000 call SPI_MasterInit |
| 413 026a 0E94 0000 call LIBFC_Init |
| 414 026e 8091 0000 lds r24,PlatinenVersion |
| 415 0272 8C30 cpi r24,lo8(12) |
| 416 0274 10F4 brsh .L38 |
| 417 0276 299A sbi 37-0x20,1 |
| 418 0278 01C0 rjmp .L39 |
| 419 .L38: |
| 420 027a 2998 cbi 37-0x20,1 |
| 421 .L39: |
| 422 /* #APP */ |
| 423 027c 7894 sei |
| 424 /* #NOAPP */ |
| 425 027e 0E94 0000 call ParamSet_Init |
| 426 0282 0E94 0000 call Capacity_Init |
| 427 0286 8091 0000 lds r24,BLFlags |
| 428 028a 8260 ori r24,lo8(2) |
| 429 028c 8093 0000 sts BLFlags,r24 |
| 430 0290 1092 0000 sts motor_read,__zero_reg__ |
| 431 0294 0E94 0000 call SendMotorData |
| 432 0298 84EF ldi r24,lo8(500) |
| 433 029a 91E0 ldi r25,hi8(500) |
| 434 029c 0E94 0000 call SetDelay |
| 435 02a0 8C01 movw r16,r24 |
| 436 .L40: |
| 437 02a2 8091 0000 lds r24,BLFlags |
| 438 02a6 80FD sbrc r24,0 |
| 439 02a8 05C0 rjmp .L41 |
| 440 02aa C801 movw r24,r16 |
| 441 02ac 0E94 0000 call CheckDelay |
| 442 02b0 8823 tst r24 |
| 443 02b2 B9F3 breq .L40 |
| 444 .L41: |
| 445 02b4 80E0 ldi r24,lo8(__c.0) |
| 446 02b6 90E0 ldi r25,hi8(__c.0) |
| 447 02b8 9F93 push r25 |
| 448 02ba 8F93 push r24 |
| 449 02bc B0E0 ldi r27,lo8(pm(uart_putchar)) |
| 450 02be AB2E mov r10,r27 |
| 451 02c0 B0E0 ldi r27,hi8(pm(uart_putchar)) |
| 452 02c2 BB2E mov r11,r27 |
| 453 02c4 BF92 push r11 |
| 454 02c6 AF92 push r10 |
| 455 02c8 E091 0000 lds r30,_printf_P |
| 456 02cc F091 0000 lds r31,(_printf_P)+1 |
| 457 02d0 0995 icall |
| 458 02d2 80EA ldi r24,lo8(4000) |
| 459 02d4 9FE0 ldi r25,hi8(4000) |
| 460 02d6 0E94 0000 call SetDelay |
| 461 02da 8C01 movw r16,r24 |
| 462 02dc C0E0 ldi r28,lo8(0) |
| 463 02de D0E0 ldi r29,hi8(0) |
| 464 02e0 0F90 pop __tmp_reg__ |
| 465 02e2 0F90 pop __tmp_reg__ |
| 466 02e4 0F90 pop __tmp_reg__ |
| 467 02e6 0F90 pop __tmp_reg__ |
| 468 02e8 A0E0 ldi r26,lo8(Motor+3) |
| 469 02ea EA2E mov r14,r26 |
| 470 02ec A0E0 ldi r26,hi8(Motor+3) |
| 471 02ee FA2E mov r15,r26 |
| 472 02f0 F0E0 ldi r31,lo8(Mixer+13) |
| 473 02f2 CF2E mov r12,r31 |
| 474 02f4 F0E0 ldi r31,hi8(Mixer+13) |
| 475 02f6 DF2E mov r13,r31 |
| 476 .L57: |
| 477 02f8 0E94 0000 call SendMotorData |
| 478 .L46: |
| 479 02fc 8091 0000 lds r24,BLFlags |
| 480 0300 80FD sbrc r24,0 |
| 481 0302 05C0 rjmp .L47 |
| 482 0304 C801 movw r24,r16 |
| 483 0306 0E94 0000 call CheckDelay |
| 484 030a 8823 tst r24 |
| 485 030c B9F3 breq .L46 |
| 486 .L47: |
| 487 030e F601 movw r30,r12 |
| 488 0310 8081 ld r24,Z |
| 489 0312 1816 cp __zero_reg__,r24 |
| 490 0314 ACF4 brge .L49 |
| 491 0316 0BC0 rjmp .L238 |
| 492 .L55: |
| 493 0318 0E94 0000 call SendMotorData |
| 494 .L52: |
| 495 031c 8091 0000 lds r24,BLFlags |
| 496 0320 80FD sbrc r24,0 |
| 497 0322 05C0 rjmp .L238 |
| 498 0324 C801 movw r24,r16 |
| 499 0326 0E94 0000 call CheckDelay |
| 500 032a 8823 tst r24 |
| 501 032c B9F3 breq .L52 |
| 502 .L238: |
| 503 032e C801 movw r24,r16 |
| 504 0330 0E94 0000 call CheckDelay |
| 505 0334 8823 tst r24 |
| 506 0336 21F4 brne .L49 |
| 507 0338 F701 movw r30,r14 |
| 508 033a 8081 ld r24,Z |
| 509 033c 8823 tst r24 |
| 510 033e 64F7 brge .L55 |
| 511 .L49: |
| 512 0340 F701 movw r30,r14 |
| 513 0342 8081 ld r24,Z |
| 514 0344 87FF sbrs r24,7 |
| 515 0346 18C0 rjmp .L45 |
| 516 0348 2196 adiw r28,1 |
| 517 034a DF93 push r29 |
| 518 034c CF93 push r28 |
| 519 034e 2197 sbiw r28,1 |
| 520 0350 80E0 ldi r24,lo8(__c.1) |
| 521 0352 90E0 ldi r25,hi8(__c.1) |
| 522 0354 9F93 push r25 |
| 523 0356 8F93 push r24 |
| 524 0358 BF92 push r11 |
| 525 035a AF92 push r10 |
| 526 035c E091 0000 lds r30,_printf_P |
| 527 0360 F091 0000 lds r31,(_printf_P)+1 |
| 528 0364 0995 icall |
| 529 0366 8091 0000 lds r24,FoundMotors |
| 530 036a 8F5F subi r24,lo8(-(1)) |
| 531 036c 8093 0000 sts FoundMotors,r24 |
| 532 0370 8DB7 in r24,__SP_L__ |
| 533 0372 9EB7 in r25,__SP_H__ |
| 534 0374 0696 adiw r24,6 |
| 535 0376 8DBF out __SP_L__,r24 |
| 536 .L45: |
| 537 0378 2196 adiw r28,1 |
| 538 037a E4E0 ldi r30,lo8(4) |
| 539 037c F0E0 ldi r31,hi8(4) |
| 540 037e CE0E add r12,r30 |
| 541 0380 DF1E adc r13,r31 |
| 542 0382 88E0 ldi r24,lo8(8) |
| 543 0384 90E0 ldi r25,hi8(8) |
| 544 0386 E80E add r14,r24 |
| 545 0388 F91E adc r15,r25 |
| 546 038a CC30 cpi r28,12 |
| 547 038c D105 cpc r29,__zero_reg__ |
| 548 038e 08F4 brsh .+2 |
| 549 0390 B3CF rjmp .L57 |
| 550 0392 C0E0 ldi r28,lo8(0) |
| 551 0394 D0E0 ldi r29,hi8(0) |
| 552 0396 00E0 ldi r16,lo8(Motor) |
| 553 0398 10E0 ldi r17,hi8(Motor) |
| 554 039a E0E0 ldi r30,lo8(Mixer+13) |
| 555 039c EE2E mov r14,r30 |
| 556 039e E0E0 ldi r30,hi8(Mixer+13) |
| 557 03a0 FE2E mov r15,r30 |
| 558 .L62: |
| 559 03a2 F801 movw r30,r16 |
| 560 03a4 8381 ldd r24,Z+3 |
| 561 03a6 87FD sbrc r24,7 |
| 562 03a8 1CC0 rjmp .L61 |
| 563 03aa F701 movw r30,r14 |
| 564 03ac 8081 ld r24,Z |
| 565 03ae 1816 cp __zero_reg__,r24 |
| 566 03b0 C4F4 brge .L61 |
| 567 03b2 2196 adiw r28,1 |
| 568 03b4 DF93 push r29 |
| 569 03b6 CF93 push r28 |
| 570 03b8 2197 sbiw r28,1 |
| 571 03ba 80E0 ldi r24,lo8(__c.2) |
| 572 03bc 90E0 ldi r25,hi8(__c.2) |
| 573 03be 9F93 push r25 |
| 574 03c0 8F93 push r24 |
| 575 03c2 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 576 03c4 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 577 03c6 9F93 push r25 |
| 578 03c8 8F93 push r24 |
| 579 03ca E091 0000 lds r30,_printf_P |
| 580 03ce F091 0000 lds r31,(_printf_P)+1 |
| 581 03d2 0995 icall |
| 582 03d4 82E0 ldi r24,lo8(2) |
| 583 03d6 8093 0000 sts ServoActive,r24 |
| 584 03da 8DB7 in r24,__SP_L__ |
| 585 03dc 9EB7 in r25,__SP_H__ |
| 586 03de 0696 adiw r24,6 |
| 587 03e0 8DBF out __SP_L__,r24 |
| 588 .L61: |
| 589 03e2 F801 movw r30,r16 |
| 590 03e4 8381 ldd r24,Z+3 |
| 591 03e6 8078 andi r24,lo8(-128) |
| 592 03e8 8383 std Z+3,r24 |
| 593 03ea 2196 adiw r28,1 |
| 594 03ec 84E0 ldi r24,lo8(4) |
| 595 03ee 90E0 ldi r25,hi8(4) |
| 596 03f0 E80E add r14,r24 |
| 597 03f2 F91E adc r15,r25 |
| 598 03f4 085F subi r16,lo8(-(8)) |
| 599 03f6 1F4F sbci r17,hi8(-(8)) |
| 600 03f8 CC30 cpi r28,12 |
| 601 03fa D105 cpc r29,__zero_reg__ |
| 602 03fc 90F2 brlo .L62 |
| 603 03fe 80E0 ldi r24,lo8(__c.3) |
| 604 0400 90E0 ldi r25,hi8(__c.3) |
| 605 0402 9F93 push r25 |
| 606 0404 8F93 push r24 |
| 607 0406 C0E0 ldi r28,lo8(pm(uart_putchar)) |
| 608 0408 D0E0 ldi r29,hi8(pm(uart_putchar)) |
| 609 040a DF93 push r29 |
| 610 040c CF93 push r28 |
| 611 040e E091 0000 lds r30,_printf_P |
| 612 0412 F091 0000 lds r31,(_printf_P)+1 |
| 613 0416 0995 icall |
| 614 0418 9091 0000 lds r25,RequiredMotors |
| 615 041c 8091 0000 lds r24,FoundMotors |
| 616 0420 0F90 pop __tmp_reg__ |
| 617 0422 0F90 pop __tmp_reg__ |
| 618 0424 0F90 pop __tmp_reg__ |
| 619 0426 0F90 pop __tmp_reg__ |
| 620 0428 9817 cp r25,r24 |
| 621 042a 28F4 brsh .L63 |
| 622 042c 8091 0000 lds r24,VersionInfo+6 |
| 623 0430 8061 ori r24,lo8(16) |
| 624 0432 8093 0000 sts VersionInfo+6,r24 |
| 625 .L63: |
| 626 0436 80E0 ldi r24,lo8(__c.4) |
| 627 0438 90E0 ldi r25,hi8(__c.4) |
| 628 043a 9F93 push r25 |
| 629 043c 8F93 push r24 |
| 630 043e DF93 push r29 |
| 631 0440 CF93 push r28 |
| 632 0442 E091 0000 lds r30,_printf_P |
| 633 0446 F091 0000 lds r31,(_printf_P)+1 |
| 634 044a 0995 icall |
| 635 044c 88EE ldi r24,lo8(1000) |
| 636 044e 93E0 ldi r25,hi8(1000) |
| 637 0450 0E94 0000 call SetDelay |
| 638 0454 8C01 movw r16,r24 |
| 639 0456 0E94 0000 call SucheLuftruckOffset |
| 640 045a 0F90 pop __tmp_reg__ |
| 641 045c 0F90 pop __tmp_reg__ |
| 642 045e 0F90 pop __tmp_reg__ |
| 643 0460 0F90 pop __tmp_reg__ |
| 644 .L64: |
| 645 0462 C801 movw r24,r16 |
| 646 0464 0E94 0000 call CheckDelay |
| 647 0468 8823 tst r24 |
| 648 046a D9F3 breq .L64 |
| 649 046c 80E0 ldi r24,lo8(__c.5) |
| 650 046e 90E0 ldi r25,hi8(__c.5) |
| 651 0470 9F93 push r25 |
| 652 0472 8F93 push r24 |
| 653 0474 DF93 push r29 |
| 654 0476 CF93 push r28 |
| 655 0478 E091 0000 lds r30,_printf_P |
| 656 047c F091 0000 lds r31,(_printf_P)+1 |
| 657 0480 0995 icall |
| 658 0482 80E0 ldi r24,lo8(0) |
| 659 0484 0E94 0000 call SetNeutral |
| 660 0488 8091 0000 lds r24,PlatinenVersion |
| 661 048c 0F90 pop __tmp_reg__ |
| 662 048e 0F90 pop __tmp_reg__ |
| 663 0490 0F90 pop __tmp_reg__ |
| 664 0492 0F90 pop __tmp_reg__ |
| 665 0494 8A30 cpi r24,lo8(10) |
| 666 0496 11F0 breq .L68 |
| 667 0498 8431 cpi r24,lo8(20) |
| 668 049a 10F0 brlo .L67 |
| 669 .L68: |
| 670 049c 2898 cbi 37-0x20,0 |
| 671 049e 01C0 rjmp .L69 |
| 672 .L67: |
| 673 04a0 289A sbi 37-0x20,0 |
| 674 .L69: |
| 675 04a2 80ED ldi r24,lo8(2000) |
| 676 04a4 97E0 ldi r25,hi8(2000) |
| 677 04a6 9093 0000 sts (beeptime)+1,r25 |
| 678 04aa 8093 0000 sts beeptime,r24 |
| 679 04ae 85E5 ldi r24,lo8(85) |
| 680 04b0 8093 0000 sts ExternControl,r24 |
| 681 04b4 8EE0 ldi r24,lo8(14) |
| 682 04b6 90E0 ldi r25,hi8(14) |
| 683 04b8 0E94 0000 call GetParamByte |
| 684 04bc 9927 clr r25 |
| 685 04be 182F mov r17,r24 |
| 686 04c0 0027 clr r16 |
| 687 04c2 8FE0 ldi r24,lo8(15) |
| 688 04c4 90E0 ldi r25,hi8(15) |
| 689 04c6 0E94 0000 call GetParamByte |
| 690 04ca 080F add r16,r24 |
| 691 04cc 111D adc r17,__zero_reg__ |
| 692 04ce 1093 0000 sts (FlugMinuten)+1,r17 |
| 693 04d2 0093 0000 sts FlugMinuten,r16 |
| 694 04d6 8AE0 ldi r24,lo8(10) |
| 695 04d8 90E0 ldi r25,hi8(10) |
| 696 04da 0E94 0000 call GetParamByte |
| 697 04de 9927 clr r25 |
| 698 04e0 182F mov r17,r24 |
| 699 04e2 0027 clr r16 |
| 700 04e4 8BE0 ldi r24,lo8(11) |
| 701 04e6 90E0 ldi r25,hi8(11) |
| 702 04e8 0E94 0000 call GetParamByte |
| 703 04ec 080F add r16,r24 |
| 704 04ee 111D adc r17,__zero_reg__ |
| 705 04f0 1093 0000 sts (FlugMinutenGesamt)+1,r17 |
| 706 04f4 0093 0000 sts FlugMinutenGesamt,r16 |
| 707 04f8 0F5F subi r16,lo8(-1) |
| 708 04fa 1F4F sbci r17,hi8(-1) |
| 709 04fc 39F0 breq .L71 |
| 710 04fe 8091 0000 lds r24,FlugMinuten |
| 711 0502 9091 0000 lds r25,(FlugMinuten)+1 |
| 712 0506 8F5F subi r24,lo8(-1) |
| 713 0508 9F4F sbci r25,hi8(-1) |
| 714 050a 41F4 brne .L70 |
| 715 .L71: |
| 716 050c 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
| 717 0510 1092 0000 sts FlugMinuten,__zero_reg__ |
| 718 0514 1092 0000 sts (FlugMinutenGesamt)+1,__zero_reg__ |
| 719 0518 1092 0000 sts FlugMinutenGesamt,__zero_reg__ |
| 720 .L70: |
| 721 051c 8091 0000 lds r24,FlugMinutenGesamt |
| 722 0520 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 723 0524 9F93 push r25 |
| 724 0526 8F93 push r24 |
| 725 0528 8091 0000 lds r24,FlugMinuten |
| 726 052c 9091 0000 lds r25,(FlugMinuten)+1 |
| 727 0530 9F93 push r25 |
| 728 0532 8F93 push r24 |
| 729 0534 80E0 ldi r24,lo8(__c.6) |
| 730 0536 90E0 ldi r25,hi8(__c.6) |
| 731 0538 9F93 push r25 |
| 732 053a 8F93 push r24 |
| 733 053c DF93 push r29 |
| 734 053e CF93 push r28 |
| 735 0540 E091 0000 lds r30,_printf_P |
| 736 0544 F091 0000 lds r31,(_printf_P)+1 |
| 737 0548 0995 icall |
| 738 054a 8DB7 in r24,__SP_L__ |
| 739 054c 9EB7 in r25,__SP_H__ |
| 740 054e 0896 adiw r24,8 |
| 741 0550 8DBF out __SP_L__,r24 |
| 742 0552 80E0 ldi r24,lo8(__c.7) |
| 743 0554 90E0 ldi r25,hi8(__c.7) |
| 744 0556 9F93 push r25 |
| 745 0558 8F93 push r24 |
| 746 055a DF93 push r29 |
| 747 055c CF93 push r28 |
| 748 055e E091 0000 lds r30,_printf_P |
| 749 0562 F091 0000 lds r31,(_printf_P)+1 |
| 750 0566 0995 icall |
| 751 0568 8091 0000 lds r24,EE_Parameter+13 |
| 752 056c 0F90 pop __tmp_reg__ |
| 753 056e 0F90 pop __tmp_reg__ |
| 754 0570 0F90 pop __tmp_reg__ |
| 755 0572 0F90 pop __tmp_reg__ |
| 756 0574 E091 0000 lds r30,_printf_P |
| 757 0578 F091 0000 lds r31,(_printf_P)+1 |
| 758 057c 82FF sbrs r24,2 |
| 759 057e 07C0 rjmp .L72 |
| 760 0580 80E0 ldi r24,lo8(__c.8) |
| 761 0582 90E0 ldi r25,hi8(__c.8) |
| 762 0584 9F93 push r25 |
| 763 0586 8F93 push r24 |
| 764 0588 DF93 push r29 |
| 765 058a CF93 push r28 |
| 766 058c 08C0 rjmp .L235 |
| 767 .L72: |
| 768 058e 80E0 ldi r24,lo8(__c.9) |
| 769 0590 90E0 ldi r25,hi8(__c.9) |
| 770 0592 9F93 push r25 |
| 771 0594 8F93 push r24 |
| 772 0596 80E0 ldi r24,lo8(pm(uart_putchar)) |
| 773 0598 90E0 ldi r25,hi8(pm(uart_putchar)) |
| 774 059a 9F93 push r25 |
| 775 059c 8F93 push r24 |
| 776 .L235: |
| 777 059e 0995 icall |
| 778 05a0 0F90 pop __tmp_reg__ |
| 779 05a2 0F90 pop __tmp_reg__ |
| 780 05a4 0F90 pop __tmp_reg__ |
| 781 05a6 0F90 pop __tmp_reg__ |
| 782 05a8 0E94 0000 call LcdClear |
| 783 05ac 88E8 ldi r24,lo8(5000) |
| 784 05ae 93E1 ldi r25,hi8(5000) |
| 785 05b0 9093 0000 sts (I2CTimeout)+1,r25 |
| 786 05b4 8093 0000 sts I2CTimeout,r24 |
| 787 05b8 81E0 ldi r24,lo8(1) |
| 788 05ba 8093 0000 sts WinkelOut+7,r24 |
| 789 05be 0E94 0000 call LipoDetection |
| 790 05c2 8091 0000 lds r24,EE_Parameter+39 |
| 791 05c6 0E94 0000 call LIBFC_ReceiverInit |
| 792 05ca 80E0 ldi r24,lo8(__c.10) |
| 793 05cc 90E0 ldi r25,hi8(__c.10) |
| 794 05ce 9F93 push r25 |
| 795 05d0 8F93 push r24 |
| 796 05d2 DF93 push r29 |
| 797 05d4 CF93 push r28 |
| 798 05d6 E091 0000 lds r30,_printf_P |
| 799 05da F091 0000 lds r31,(_printf_P)+1 |
| 800 05de 0995 icall |
| 801 05e0 80ED ldi r24,lo8(2000) |
| 802 05e2 97E0 ldi r25,hi8(2000) |
| 803 05e4 0E94 0000 call SetDelay |
| 804 05e8 8C01 movw r16,r24 |
| 805 05ea 8AEF ldi r24,lo8(250) |
| 806 05ec 90E0 ldi r25,hi8(250) |
| 807 05ee 0E94 0000 call SetDelay |
| 808 05f2 EC01 movw r28,r24 |
| 809 05f4 83E0 ldi r24,lo8(3) |
| 810 05f6 8093 0000 sts DebugOut,r24 |
| 811 05fa 0F90 pop __tmp_reg__ |
| 812 05fc 0F90 pop __tmp_reg__ |
| 813 05fe 0F90 pop __tmp_reg__ |
| 814 0600 0F90 pop __tmp_reg__ |
| 815 .L239: |
| 816 0602 8091 0000 lds r24,JetiUpdateModeActive |
| 817 0606 8111 cpse r24,__zero_reg__ |
| 818 .L77: |
| 819 0608 FFCF rjmp .L77 |
| 820 .L76: |
| 821 060a CE01 movw r24,r28 |
| 822 060c 0E94 0000 call CheckDelay |
| 823 0610 8823 tst r24 |
| 824 0612 39F0 breq .L79 |
| 825 0614 84E6 ldi r24,lo8(100) |
| 826 0616 90E0 ldi r25,hi8(100) |
| 827 0618 0E94 0000 call SetDelay |
| 828 061c EC01 movw r28,r24 |
| 829 061e 0E94 0000 call LIBFC_Polling |
| 830 .L79: |
| 831 0622 8091 0000 lds r24,UpdateMotor |
| 832 0626 8823 tst r24 |
| 833 0628 09F4 brne .+2 |
| 834 062a E0C1 rjmp .L80 |
| 835 062c 8091 0000 lds r24,AdReady |
| 836 0630 8823 tst r24 |
| 837 0632 09F4 brne .+2 |
| 838 0634 DBC1 rjmp .L80 |
| 839 0636 1092 0000 sts UpdateMotor,__zero_reg__ |
| 840 063a 8091 0000 lds r24,WinkelOut+6 |
| 841 063e 8823 tst r24 |
| 842 0640 19F0 breq .L81 |
| 843 0642 0E94 0000 call CalMk3Mag |
| 844 0646 02C0 rjmp .L82 |
| 845 .L81: |
| 846 0648 0E94 0000 call MotorRegler |
| 847 .L82: |
| 848 064c 0E94 0000 call SendMotorData |
| 849 0650 2091 0000 lds r18,PlatinenVersion |
| 850 0654 2A30 cpi r18,lo8(10) |
| 851 0656 11F0 breq .L84 |
| 852 0658 2431 cpi r18,lo8(20) |
| 853 065a 10F0 brlo .L83 |
| 854 .L84: |
| 855 065c 2898 cbi 37-0x20,0 |
| 856 065e 01C0 rjmp .L85 |
| 857 .L83: |
| 858 0660 289A sbi 37-0x20,0 |
| 859 .L85: |
| 860 0662 8091 0000 lds r24,SenderOkay |
| 861 0666 9091 0000 lds r25,VersionInfo+6 |
| 862 066a 8823 tst r24 |
| 863 066c 39F0 breq .L86 |
| 864 066e 8091 0000 lds r24,SenderOkay |
| 865 0672 8150 subi r24,lo8(-(-1)) |
| 866 0674 8093 0000 sts SenderOkay,r24 |
| 867 0678 977F andi r25,lo8(-9) |
| 868 067a 0AC0 rjmp .L236 |
| 869 .L86: |
| 870 067c 8091 6F00 lds r24,111 |
| 871 0680 8062 ori r24,lo8(32) |
| 872 0682 8093 6F00 sts 111,r24 |
| 873 0686 1092 0000 sts (PPM_in)+1,__zero_reg__ |
| 874 068a 1092 0000 sts PPM_in,__zero_reg__ |
| 875 068e 9860 ori r25,lo8(8) |
| 876 .L236: |
| 877 0690 9093 0000 sts VersionInfo+6,r25 |
| 878 0694 8091 0000 lds r24,I2CTimeout |
| 879 0698 9091 0000 lds r25,(I2CTimeout)+1 |
| 880 069c 0197 sbiw r24,1 |
| 881 069e 9093 0000 sts (I2CTimeout)+1,r25 |
| 882 06a2 8093 0000 sts I2CTimeout,r24 |
| 883 06a6 8091 0000 lds r24,I2CTimeout |
| 884 06aa 9091 0000 lds r25,(I2CTimeout)+1 |
| 885 06ae 892B or r24,r25 |
| 886 06b0 21F0 breq .L89 |
| 887 06b2 8091 0000 lds r24,MissingMotor |
| 888 06b6 8823 tst r24 |
| 889 06b8 C9F1 breq .L88 |
| 890 .L89: |
| 891 06ba 8091 0000 lds r24,I2CTimeout |
| 892 06be 9091 0000 lds r25,(I2CTimeout)+1 |
| 893 06c2 892B or r24,r25 |
| 894 06c4 D9F4 brne .L90 |
| 895 06c6 0E94 0000 call I2C_Reset |
| 896 06ca 85E0 ldi r24,lo8(5) |
| 897 06cc 90E0 ldi r25,hi8(5) |
| 898 06ce 9093 0000 sts (I2CTimeout)+1,r25 |
| 899 06d2 8093 0000 sts I2CTimeout,r24 |
| 900 06d6 8091 0000 lds r24,DebugOut+58 |
| 901 06da 9091 0000 lds r25,(DebugOut+58)+1 |
| 902 06de 0196 adiw r24,1 |
| 903 06e0 9093 0000 sts (DebugOut+58)+1,r25 |
| 904 06e4 8093 0000 sts DebugOut+58,r24 |
| 905 06e8 8091 0000 lds r24,VersionInfo+6 |
| 906 06ec 8160 ori r24,lo8(1) |
| 907 06ee 8093 0000 sts VersionInfo+6,r24 |
| 908 06f2 8091 0000 lds r24,DebugOut+1 |
| 909 06f6 8260 ori r24,lo8(2) |
| 910 06f8 8093 0000 sts DebugOut+1,r24 |
| 911 .L90: |
| 912 06fc 8091 0000 lds r24,BeepMuster |
| 913 0700 9091 0000 lds r25,(BeepMuster)+1 |
| 914 0704 8F5F subi r24,lo8(-1) |
| 915 0706 9F4F sbci r25,hi8(-1) |
| 916 0708 19F5 brne .L92 |
| 917 070a 8091 0000 lds r24,MotorenEin |
| 918 070e 8823 tst r24 |
| 919 0710 F9F0 breq .L92 |
| 920 0712 80E1 ldi r24,lo8(10000) |
| 921 0714 97E2 ldi r25,hi8(10000) |
| 922 0716 9093 0000 sts (beeptime)+1,r25 |
| 923 071a 8093 0000 sts beeptime,r24 |
| 924 071e 80E8 ldi r24,lo8(128) |
| 925 0720 90E0 ldi r25,hi8(128) |
| 926 0722 9093 0000 sts (BeepMuster)+1,r25 |
| 927 0726 8093 0000 sts BeepMuster,r24 |
| 928 072a 12C0 rjmp .L92 |
| 929 .L88: |
| 930 072c 2A30 cpi r18,lo8(10) |
| 931 072e 11F0 breq .L94 |
| 932 0730 2431 cpi r18,lo8(20) |
| 933 0732 10F0 brlo .L93 |
| 934 .L94: |
| 935 0734 2898 cbi 37-0x20,0 |
| 936 0736 01C0 rjmp .L95 |
| 937 .L93: |
| 938 0738 289A sbi 37-0x20,0 |
| 939 .L95: |
| 940 073a 8091 0000 lds r24,beeptime |
| 941 073e 9091 0000 lds r25,(beeptime)+1 |
| 942 0742 892B or r24,r25 |
| 943 0744 29F4 brne .L92 |
| 944 0746 8091 0000 lds r24,VersionInfo+6 |
| 945 074a 8E7F andi r24,lo8(-2) |
| 946 074c 8093 0000 sts VersionInfo+6,r24 |
| 947 .L92: |
| 948 0750 8091 0000 lds r24,UpdateMotor |
| 949 0754 8823 tst r24 |
| 950 0756 09F0 breq .+2 |
| 951 0758 49C1 rjmp .L80 |
| 952 075a 8091 0000 lds r24,CalculateServoSignals |
| 953 075e 8823 tst r24 |
| 954 0760 11F0 breq .L98 |
| 955 0762 0E94 0000 call CalculateServo |
| 956 .L98: |
| 957 0766 0E94 0000 call DatenUebertragung |
| 958 076a 0E94 0000 call BearbeiteRxDaten |
| 959 076e C801 movw r24,r16 |
| 960 0770 0E94 0000 call CheckDelay |
| 961 0774 8823 tst r24 |
| 962 0776 09F4 brne .+2 |
| 963 0778 35C1 rjmp .L99 |
| 964 077a 0C5E subi r16,lo8(-(20)) |
| 965 077c 1F4F sbci r17,hi8(-(20)) |
| 966 077e 8091 0000 lds r24,MissingMotor |
| 967 0782 9091 0000 lds r25,VersionInfo+6 |
| 968 0786 8823 tst r24 |
| 969 0788 39F0 breq .L100 |
| 970 078a 9260 ori r25,lo8(2) |
| 971 078c 9093 0000 sts VersionInfo+6,r25 |
| 972 0790 8091 0000 lds r24,DebugOut+1 |
| 973 0794 8260 ori r24,lo8(2) |
| 974 0796 0CC0 rjmp .L237 |
| 975 .L100: |
| 976 0798 9D7F andi r25,lo8(-3) |
| 977 079a 9093 0000 sts VersionInfo+6,r25 |
| 978 079e 8091 0000 lds r24,I2CTimeout |
| 979 07a2 9091 0000 lds r25,(I2CTimeout)+1 |
| 980 07a6 0797 sbiw r24,7 |
| 981 07a8 28F0 brlo .L101 |
| 982 07aa 8091 0000 lds r24,DebugOut+1 |
| 983 07ae 8D7F andi r24,lo8(-3) |
| 984 .L237: |
| 985 07b0 8093 0000 sts DebugOut+1,r24 |
| 986 .L101: |
| 987 07b4 8091 0000 lds r24,I2CTimeout |
| 988 07b8 9091 0000 lds r25,(I2CTimeout)+1 |
| 989 07bc 0797 sbiw r24,7 |
| 990 07be 28F0 brlo .L103 |
| 991 07c0 8091 0000 lds r24,VersionInfo+6 |
| 992 07c4 8E7F andi r24,lo8(-2) |
| 993 07c6 8093 0000 sts VersionInfo+6,r24 |
| 994 .L103: |
| 995 07ca 8091 0000 lds r24,PcZugriff |
| 996 07ce 8823 tst r24 |
| 997 07d0 21F0 breq .L104 |
| 998 07d2 8150 subi r24,lo8(-(-1)) |
| 999 07d4 8093 0000 sts PcZugriff,r24 |
| 1000 07d8 25C0 rjmp .L105 |
| 1001 .L104: |
| 1002 07da 8093 0000 sts ExternControl+10,r24 |
| 1003 07de 1092 0000 sts (ExternStickNick)+1,__zero_reg__ |
| 1004 07e2 1092 0000 sts ExternStickNick,__zero_reg__ |
| 1005 07e6 1092 0000 sts (ExternStickRoll)+1,__zero_reg__ |
| 1006 07ea 1092 0000 sts ExternStickRoll,__zero_reg__ |
| 1007 07ee 1092 0000 sts (ExternStickGier)+1,__zero_reg__ |
| 1008 07f2 1092 0000 sts ExternStickGier,__zero_reg__ |
| 1009 07f6 8091 0000 lds r24,BeepMuster |
| 1010 07fa 9091 0000 lds r25,(BeepMuster)+1 |
| 1011 07fe 8F5F subi r24,lo8(-1) |
| 1012 0800 9F4F sbci r25,hi8(-1) |
| 1013 0802 81F4 brne .L105 |
| 1014 0804 8091 0000 lds r24,SenderOkay |
| 1015 0808 8823 tst r24 |
| 1016 080a 61F4 brne .L105 |
| 1017 080c 88E9 ldi r24,lo8(15000) |
| 1018 080e 9AE3 ldi r25,hi8(15000) |
| 1019 0810 9093 0000 sts (beeptime)+1,r25 |
| 1020 0814 8093 0000 sts beeptime,r24 |
| 1021 0818 80E0 ldi r24,lo8(3072) |
| 1022 081a 9CE0 ldi r25,hi8(3072) |
| 1023 081c 9093 0000 sts (BeepMuster)+1,r25 |
| 1024 0820 8093 0000 sts BeepMuster,r24 |
| 1025 .L105: |
| 1026 0824 8091 0000 lds r24,NaviDataOkay |
| 1027 0828 893C cpi r24,lo8(-55) |
| 1028 082a 48F0 brlo .L107 |
| 1029 082c 8150 subi r24,lo8(-(-1)) |
| 1030 082e 8093 0000 sts NaviDataOkay,r24 |
| 1031 0832 8091 0000 lds r24,VersionInfo+6 |
| 1032 0836 8B7F andi r24,lo8(-5) |
| 1033 0838 8093 0000 sts VersionInfo+6,r24 |
| 1034 083c 30C0 rjmp .L108 |
| 1035 .L107: |
| 1036 083e 8091 0000 lds r24,NC_Version+3 |
| 1037 0842 8823 tst r24 |
| 1038 0844 E1F0 breq .L109 |
| 1039 0846 8091 0000 lds r24,VersionInfo+6 |
| 1040 084a 8460 ori r24,lo8(4) |
| 1041 084c 8093 0000 sts VersionInfo+6,r24 |
| 1042 0850 8091 0000 lds r24,BeepMuster |
| 1043 0854 9091 0000 lds r25,(BeepMuster)+1 |
| 1044 0858 8F5F subi r24,lo8(-1) |
| 1045 085a 9F4F sbci r25,hi8(-1) |
| 1046 085c 81F4 brne .L109 |
| 1047 085e 8091 0000 lds r24,MotorenEin |
| 1048 0862 8823 tst r24 |
| 1049 0864 61F0 breq .L109 |
| 1050 0866 88E9 ldi r24,lo8(15000) |
| 1051 0868 9AE3 ldi r25,hi8(15000) |
| 1052 086a 9093 0000 sts (beeptime)+1,r25 |
| 1053 086e 8093 0000 sts beeptime,r24 |
| 1054 0872 80E0 ldi r24,lo8(-22528) |
| 1055 0874 98EA ldi r25,hi8(-22528) |
| 1056 0876 9093 0000 sts (BeepMuster)+1,r25 |
| 1057 087a 8093 0000 sts BeepMuster,r24 |
| 1058 .L109: |
| 1059 087e 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 1060 0882 1092 0000 sts GPS_Nick,__zero_reg__ |
| 1061 0886 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 1062 088a 1092 0000 sts GPS_Roll,__zero_reg__ |
| 1063 088e 8FEF ldi r24,lo8(-1) |
| 1064 0890 9FEF ldi r25,hi8(-1) |
| 1065 0892 9093 0000 sts (FromNaviCtrl+7)+1,r25 |
| 1066 0896 8093 0000 sts FromNaviCtrl+7,r24 |
| 1067 089a 1092 0000 sts NaviDataOkay,__zero_reg__ |
| 1068 .L108: |
| 1069 089e 8091 0000 lds r24,BattLowVoltageWarning |
| 1070 08a2 282F mov r18,r24 |
| 1071 08a4 3327 clr r19 |
| 1072 08a6 8091 0000 lds r24,UBat |
| 1073 08aa 9091 0000 lds r25,(UBat)+1 |
| 1074 08ae 8217 cp r24,r18 |
| 1075 08b0 9307 cpc r25,r19 |
| 1076 08b2 5CF0 brlt .L112 |
| 1077 08b4 8091 0000 lds r24,Capacity+6 |
| 1078 08b8 9091 0000 lds r25,(Capacity+6)+1 |
| 1079 08bc 1816 cp __zero_reg__,r24 |
| 1080 08be 1906 cpc __zero_reg__,r25 |
| 1081 08c0 ECF0 brlt .L111 |
| 1082 08c2 8091 0000 lds r24,EE_Parameter+41 |
| 1083 08c6 8823 tst r24 |
| 1084 08c8 C9F0 breq .L111 |
| 1085 .L112: |
| 1086 08ca 8091 0000 lds r24,FC_StatusFlags |
| 1087 08ce 8062 ori r24,lo8(32) |
| 1088 08d0 8093 0000 sts FC_StatusFlags,r24 |
| 1089 08d4 8091 0000 lds r24,BeepMuster |
| 1090 08d8 9091 0000 lds r25,(BeepMuster)+1 |
| 1091 08dc 8F5F subi r24,lo8(-1) |
| 1092 08de 9F4F sbci r25,hi8(-1) |
| 1093 08e0 C1F4 brne .L114 |
| 1094 08e2 80E7 ldi r24,lo8(6000) |
| 1095 08e4 97E1 ldi r25,hi8(6000) |
| 1096 08e6 9093 0000 sts (beeptime)+1,r25 |
| 1097 08ea 8093 0000 sts beeptime,r24 |
| 1098 08ee 80E0 ldi r24,lo8(768) |
| 1099 08f0 93E0 ldi r25,hi8(768) |
| 1100 08f2 9093 0000 sts (BeepMuster)+1,r25 |
| 1101 08f6 8093 0000 sts BeepMuster,r24 |
| 1102 08fa 0BC0 rjmp .L114 |
| 1103 .L111: |
| 1104 08fc 8091 0000 lds r24,beeptime |
| 1105 0900 9091 0000 lds r25,(beeptime)+1 |
| 1106 0904 892B or r24,r25 |
| 1107 0906 29F4 brne .L114 |
| 1108 0908 8091 0000 lds r24,FC_StatusFlags |
| 1109 090c 8F7D andi r24,lo8(-33) |
| 1110 090e 8093 0000 sts FC_StatusFlags,r24 |
| 1111 .L114: |
| 1112 0912 0E94 0000 call SPI_StartTransmitPacket |
| 1113 0916 84E0 ldi r24,lo8(4) |
| 1114 0918 8093 0000 sts SendSPI,r24 |
| 1115 091c 8091 0000 lds r24,MotorenEin |
| 1116 0920 8823 tst r24 |
| 1117 0922 29F4 brne .L116 |
| 1118 0924 5AEA ldi r21,lo8(1450) |
| 1119 0926 852E mov r8,r21 |
| 1120 0928 55E0 ldi r21,hi8(1450) |
| 1121 092a 952E mov r9,r21 |
| 1122 092c 12C0 rjmp .L117 |
| 1123 .L116: |
| 1124 092e 8091 0000 lds r24,second.11 |
| 1125 0932 8F5F subi r24,lo8(-(1)) |
| 1126 0934 8093 0000 sts second.11,r24 |
| 1127 0938 8133 cpi r24,lo8(49) |
| 1128 093a 59F4 brne .L117 |
| 1129 093c 1092 0000 sts second.11,__zero_reg__ |
| 1130 0940 8091 0000 lds r24,FlugSekunden |
| 1131 0944 9091 0000 lds r25,(FlugSekunden)+1 |
| 1132 0948 0196 adiw r24,1 |
| 1133 094a 9093 0000 sts (FlugSekunden)+1,r25 |
| 1134 094e 8093 0000 sts FlugSekunden,r24 |
| 1135 .L117: |
| 1136 0952 0894 sec |
| 1137 0954 811C adc r8,__zero_reg__ |
| 1138 0956 911C adc r9,__zero_reg__ |
| 1139 0958 F2E7 ldi r31,lo8(2930) |
| 1140 095a 8F16 cp r8,r31 |
| 1141 095c FBE0 ldi r31,hi8(2930) |
| 1142 095e 9F06 cpc r9,r31 |
| 1143 0960 09F0 breq .+2 |
| 1144 0962 40C0 rjmp .L99 |
| 1145 0964 8824 clr r8 |
| 1146 0966 9924 clr r9 |
| 1147 0968 2091 0000 lds r18,FlugMinuten |
| 1148 096c 3091 0000 lds r19,(FlugMinuten)+1 |
| 1149 0970 2F5F subi r18,lo8(-(1)) |
| 1150 0972 3F4F sbci r19,hi8(-(1)) |
| 1151 0974 3093 0000 sts (FlugMinuten)+1,r19 |
| 1152 0978 2093 0000 sts FlugMinuten,r18 |
| 1153 097c 8091 0000 lds r24,FlugMinutenGesamt |
| 1154 0980 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1155 0984 0196 adiw r24,1 |
| 1156 0986 9093 0000 sts (FlugMinutenGesamt)+1,r25 |
| 1157 098a 8093 0000 sts FlugMinutenGesamt,r24 |
| 1158 098e 832F mov r24,r19 |
| 1159 0990 9927 clr r25 |
| 1160 0992 682F mov r22,r24 |
| 1161 0994 8EE0 ldi r24,lo8(14) |
| 1162 0996 90E0 ldi r25,hi8(14) |
| 1163 0998 0E94 0000 call SetParamByte |
| 1164 099c 8091 0000 lds r24,FlugMinuten |
| 1165 09a0 9091 0000 lds r25,(FlugMinuten)+1 |
| 1166 09a4 9070 andi r25,hi8(255) |
| 1167 09a6 682F mov r22,r24 |
| 1168 09a8 8FE0 ldi r24,lo8(15) |
| 1169 09aa 90E0 ldi r25,hi8(15) |
| 1170 09ac 0E94 0000 call SetParamByte |
| 1171 09b0 8091 0000 lds r24,FlugMinutenGesamt |
| 1172 09b4 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1173 09b8 892F mov r24,r25 |
| 1174 09ba 9927 clr r25 |
| 1175 09bc 682F mov r22,r24 |
| 1176 09be 8AE0 ldi r24,lo8(10) |
| 1177 09c0 90E0 ldi r25,hi8(10) |
| 1178 09c2 0E94 0000 call SetParamByte |
| 1179 09c6 8091 0000 lds r24,FlugMinutenGesamt |
| 1180 09ca 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 1181 09ce 9070 andi r25,hi8(255) |
| 1182 09d0 682F mov r22,r24 |
| 1183 09d2 8BE0 ldi r24,lo8(11) |
| 1184 09d4 90E0 ldi r25,hi8(11) |
| 1185 09d6 0E94 0000 call SetParamByte |
| 1186 09da 84E1 ldi r24,lo8(20) |
| 1187 09dc 90E0 ldi r25,hi8(20) |
| 1188 09de 0E94 0000 call SetDelay |
| 1189 09e2 8C01 movw r16,r24 |
| 1190 .L99: |
| 1191 09e4 0E94 0000 call LED_Update |
| 1192 09e8 0E94 0000 call Capacity_Update |
| 1193 .L80: |
| 1194 09ec 8091 0000 lds r24,SendSPI |
| 1195 09f0 8823 tst r24 |
| 1196 09f2 09F0 breq .+2 |
| 1197 09f4 06CE rjmp .L239 |
| 1198 09f6 0E94 0000 call SPI_TransmitByte |
| 1199 09fa 03CE rjmp .L239 |
| 1200 /* epilogue: frame size=0 */ |
| 1201 /* epilogue: noreturn */ |
| 1202 /* epilogue end (size=0) */ |
| 1203 /* function main size 1100 (1096) */ |
| 1205 .comm _printf_P,2,1 |
| 1206 /* File "main.c": code 1293 = 0x050d (1281), prologues 7, epilogues 5 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 main.c |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:15 .bss:00000000 FoundMotors |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:21 .bss:00000001 FlugSekunden |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:27 .bss:00000003 FlugMinutenGesamt |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:33 .bss:00000005 FlugMinuten |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:39 .data:00000000 BattLowVoltageWarning |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:44 .data:00000001 SendVersionToNavi |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:49 .data:00000002 PlatinenVersion |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:53 .data:00000003 stick.15 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:58 .text:00000000 CalMk3Mag |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:112 .progmem.data:00000000 __c.12 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:116 .progmem.data:00000008 __c.13 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:120 .progmem.data:00000013 __c.14 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:125 .text:0000006a LipoDetection |
| *COM*:00000002 _printf_P |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:262 .progmem.data:0000002d __c.0 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:266 .progmem.data:0000003f __c.1 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:270 .progmem.data:00000042 __c.2 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:274 .progmem.data:00000060 __c.3 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:278 .progmem.data:00000086 __c.4 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:282 .progmem.data:000000a6 __c.5 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:286 .progmem.data:000000ab __c.6 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:290 .progmem.data:000000ce __c.7 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:294 .progmem.data:000000da __c.8 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:298 .progmem.data:000000e6 __c.9 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:302 .progmem.data:000000f8 __c.10 |
| .bss:00000007 second.11 |
| C:\Users\Thomas\AppData\Local\Temp/cc42aaaa.s:308 .text:0000017e main |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| EE_Parameter |
| PPM_in |
| WinkelOut |
| beeptime |
| Piep |
| DebugOut |
| uart_putchar |
| SetDelay |
| CheckDelay |
| UBat |
| __udivmodqi4 |
| __stack |
| StickGier |
| StickRoll |
| StickNick |
| GIER_GRAD_FAKTOR |
| Timer_Init |
| TIMER2_Init |
| UART_Init |
| rc_sum_init |
| ADC_Init |
| I2C_Init |
| SPI_MasterInit |
| LIBFC_Init |
| ParamSet_Init |
| Capacity_Init |
| BLFlags |
| motor_read |
| SendMotorData |
| Motor |
| Mixer |
| ServoActive |
| RequiredMotors |
| VersionInfo |
| SucheLuftruckOffset |
| SetNeutral |
| ExternControl |
| GetParamByte |
| LcdClear |
| I2CTimeout |
| LIBFC_ReceiverInit |
| JetiUpdateModeActive |
| LIBFC_Polling |
| UpdateMotor |
| AdReady |
| MotorRegler |
| SenderOkay |
| MissingMotor |
| I2C_Reset |
| BeepMuster |
| MotorenEin |
| CalculateServoSignals |
| CalculateServo |
| DatenUebertragung |
| BearbeiteRxDaten |
| PcZugriff |
| ExternStickNick |
| ExternStickRoll |
| ExternStickGier |
| NaviDataOkay |
| NC_Version |
| GPS_Nick |
| GPS_Roll |
| FromNaviCtrl |
| Capacity |
| FC_StatusFlags |
| SPI_StartTransmitPacket |
| SendSPI |
| SetParamByte |
| LED_Update |
| Capacity_Update |
| SPI_TransmitByte |
| /branches/metro/v0.82a metro_Akku+/makefile |
|---|
| 0,0 → 1,465 |
| #-------------------------------------------------------------------- |
| # MCU name |
| #MCU = atmega1284p |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 82 |
| VERSION_PATCH = 0 |
| NAMEEXT = akku001 |
| VERSION_SERIAL_MAJOR = 11 # Serial Protocol |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol |
| NC_SPI_COMPATIBLE = 16 # Navi-Kompatibilität |
| #------------------------------------------------------------------- |
| # get SVN revision |
| REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
| ifeq ($(MCU), atmega1284p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA1284P |
| LIBFC_EXT = 1284 |
| endif |
| ifeq ($(MCU), atmega644p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA644 |
| LIBFC_EXT = 644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| ifeq ($(VERSION_PATCH), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV)_$(NAMEEXT) |
| endif |
| ifeq ($(VERSION_PATCH), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV)_$(NAMEEXT) |
| endif |
| ifeq ($(VERSION_PATCH), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV)_$(NAMEEXT) |
| endif |
| ifeq ($(VERSION_PATCH), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV)_$(NAMEEXT) |
| endif |
| ifeq ($(VERSION_PATCH), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV)_$(NAMEEXT) |
| endif |
| ifeq ($(VERSION_PATCH), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV)_$(NAMEEXT) |
| endif |
| ifeq ($(VERSION_PATCH), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 8) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 9) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 10) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 11) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)L_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 12) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 13) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 14) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 15) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 16) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 17) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 18) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)s_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 19) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)t_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 20) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)u_SVN$(REV) |
| endif |
| # 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 |
| #OPT = 2 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c timer0.c analog.c menu.c eeprom.c |
| SRC += twimaster.c rc.c fc.c GPS.c spi.c led.c Spektrum.c |
| SRC += mymath.c jetimenu.c capacity.c debug.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 = isqrt.S |
| # 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 |
| # shrink code size |
| CFLAGS += -mtiny-stack |
| #CFLAGS += -fno-inline-functions |
| CFLAGS += -mcall-prologues |
| CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.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=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| LDFLAGS += libfc$(LIBFC_EXT).a |
| ##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 = dt006 |
| #AVRDUDE_PROGRAMMER = stk200 |
| #AVRDUDE_PROGRAMMER = ponyser |
| AVRDUDE_PROGRAMMER = avrispv2 |
| #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_PORT = usb # programmer connected to USB |
| #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 -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
| 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) -x -A $(TARGET).elf |
| LIMITS = $(SIZE) --mcu=$(MCU) -C $(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 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 Size before:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo Size after:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(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) Flight-Ctrl_*.hex |
| $(REMOVE) Flight-Ctrl_*.eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) Flight-Ctrl_*.elf |
| $(REMOVE) Flight-Ctrl_*.map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) Flight-Ctrl_*.sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| $(REMOVE) $(SRC:.c=.o) |
| # 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/metro/v0.82a metro_Akku+/menu.c |
|---|
| 0,0 → 1,204 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.h" |
| char DisplayBuff[80] = "Hello World"; |
| unsigned char DispPtr = 0; |
| unsigned char MaxMenue = 17; |
| unsigned char MenuePunkt = 0; |
| unsigned char RemoteKeys = 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_Putchar(char c) |
| { |
| DisplayBuff[DispPtr++] = c; |
| } |
| void Menu(void) |
| { |
| if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
| if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
| LcdClear(); |
| if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
| else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
| LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
| if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
| else |
| if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
| else |
| if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
| else |
| // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
| // else |
| if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
| LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
| LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
| } |
| else |
| { |
| LCD_printfxy(0,0,"Height control"); |
| LCD_printfxy(0,1,"DISABLED"); |
| LCD_printfxy(0,2,"Height control"); |
| LCD_printfxy(0,3,"DISABLED"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"act. bearing"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Compass: %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 K8:%4i ",PPM_in[7],PPM_in[8]); |
| 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]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+110); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+110); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(PlatinenVersion == 10) |
| { |
| LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
| LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
| LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
| } |
| else |
| if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
| } |
| else |
| if(PlatinenVersion == 13) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
| } |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
| LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Receiver"); |
| LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
| LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
| LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Compass"); |
| LCD_printfxy(0,1,"Heading: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Value: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti[0]); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti[1]); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti[2]); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti[3]); |
| break; |
| case 11: |
| LCD_printfxy(0,0,"Poti5: %3i",Poti[4]); |
| LCD_printfxy(0,1,"Poti6: %3i",Poti[5]); |
| LCD_printfxy(0,2,"Poti7: %3i",Poti[6]); |
| LCD_printfxy(0,3,"Poti8: %3i",Poti[7]); |
| break; |
| case 12: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| case 13: |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
| break; |
| case 14: |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1,"%3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK); |
| LCD_printfxy(0,2,"%3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK); |
| LCD_printfxy(0,3,"%3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK); |
| break; |
| case 15: |
| LCD_printfxy(0,0,"BL Temperature" ); |
| LCD_printfxy(0,1,"%3i %3i %3i %3i ",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
| LCD_printfxy(0,2,"%3i %3i %3i %3i ",Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature); |
| LCD_printfxy(0,3,"%3i %3i %3i %3i ",Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature); |
| break; |
| case 16: |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7)); |
| LCD_printfxy(0,2," %c %c %c %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7)); |
| LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
| if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
| if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
| if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
| break; |
| case 17: |
| LCD_printfxy(0,0,"Flight-Time " ); |
| LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
| LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
| LCD_printfxy(13,3,"(reset)"); |
| if(RemoteKeys & KEY4) |
| { |
| FlugMinuten = 0; |
| SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
| } |
| break; |
| default: |
| if(MenuePunkt == MaxMenue) MaxMenue--; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| } |
| /branches/metro/v0.82a metro_Akku+/menu.d |
|---|
| 0,0 → 1,3 |
| menu.o menu.d : menu.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
| twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
| eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/menu.h |
|---|
| 0,0 → 1,17 |
| #ifndef _MENU_H |
| #define _MENU_H |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern void Menu_Putchar(char c); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char MaxMenue; |
| extern unsigned char MenuePunkt; |
| extern unsigned char RemoteKeys; |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(&Menu_Putchar,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(&Menu_Putchar, PSTR(format) , ## args);} |
| #endif //_MENU_H |
| /branches/metro/v0.82a metro_Akku+/menu.lst |
|---|
| 0,0 → 1,3080 |
| 1 .file "menu.c" |
| 2 .arch atmega644p |
| 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 .global RemoteKeys |
| 11 .global RemoteKeys |
| 12 .section .bss |
| 15 RemoteKeys: |
| 16 0000 00 .skip 1,0 |
| 17 .global MenuePunkt |
| 18 .global MenuePunkt |
| 21 MenuePunkt: |
| 22 0001 00 .skip 1,0 |
| 23 .global MaxMenue |
| 24 .data |
| 27 MaxMenue: |
| 28 0000 11 .byte 17 |
| 29 .global DispPtr |
| 30 .global DispPtr |
| 31 .section .bss |
| 34 DispPtr: |
| 35 0002 00 .skip 1,0 |
| 36 .global DisplayBuff |
| 37 .data |
| 40 DisplayBuff: |
| 41 0001 4865 6C6C .string "Hello World" |
| 41 6F20 576F |
| 41 726C 6400 |
| 42 000d 0000 0000 .skip 68,0 |
| 42 0000 0000 |
| 42 0000 0000 |
| 42 0000 0000 |
| 42 0000 0000 |
| 43 .text |
| 44 .global LcdClear |
| 46 LcdClear: |
| 47 /* prologue: frame size=0 */ |
| 48 /* prologue end (size=0) */ |
| 49 0000 90E2 ldi r25,lo8(32) |
| 50 0002 E0E0 ldi r30,lo8(DisplayBuff) |
| 51 0004 F0E0 ldi r31,hi8(DisplayBuff) |
| 52 0006 8FE4 ldi r24,lo8(79) |
| 53 .L5: |
| 54 0008 9193 st Z+,r25 |
| 55 000a 8150 subi r24,lo8(-(-1)) |
| 56 000c 87FF sbrs r24,7 |
| 57 000e FCCF rjmp .L5 |
| 58 /* epilogue: frame size=0 */ |
| 59 0010 0895 ret |
| 60 /* epilogue end (size=1) */ |
| 61 /* function LcdClear size 9 (8) */ |
| 63 .global Menu_Putchar |
| 65 Menu_Putchar: |
| 66 /* prologue: frame size=0 */ |
| 67 /* prologue end (size=0) */ |
| 68 0012 9091 0000 lds r25,DispPtr |
| 69 0016 E0E0 ldi r30,lo8(DisplayBuff) |
| 70 0018 F0E0 ldi r31,hi8(DisplayBuff) |
| 71 001a E90F add r30,r25 |
| 72 001c F11D adc r31,__zero_reg__ |
| 73 001e 8083 st Z,r24 |
| 74 0020 9F5F subi r25,lo8(-(1)) |
| 75 0022 9093 0000 sts DispPtr,r25 |
| 76 /* epilogue: frame size=0 */ |
| 77 0026 0895 ret |
| 78 /* epilogue end (size=1) */ |
| 79 /* function Menu_Putchar size 11 (10) */ |
| 81 .section .progmem.data,"a",@progbits |
| 84 __c.0: |
| 85 0000 5B25 695D .string "[%i]" |
| 85 00 |
| 88 __c.1: |
| 89 0005 5B25 695D .string "[%i]" |
| 89 00 |
| 92 __c.2: |
| 93 000a 2B20 4D69 .string "+ MikroKopter +" |
| 93 6B72 6F4B |
| 93 6F70 7465 |
| 93 7220 2B00 |
| 96 __c.3: |
| 97 001a 4857 3A56 .string "HW:V%d.%d SW:%d.%d%c" |
| 97 2564 2E25 |
| 97 6420 5357 |
| 97 3A25 642E |
| 97 2564 2563 |
| 100 __c.4: |
| 101 002f 5365 7474 .string "Setting:%d %s" |
| 101 696E 673A |
| 101 2564 2025 |
| 101 7300 |
| 104 __c.5: |
| 105 003d 4861 7264 .string "Hardware Error 1:%d !!" |
| 105 7761 7265 |
| 105 2045 7272 |
| 105 6F72 2031 |
| 105 3A25 6420 |
| 108 __c.6: |
| 109 0054 4D69 7373 .string "Missing BL-Ctrl:%d!!" |
| 109 696E 6720 |
| 109 424C 2D43 |
| 109 7472 6C3A |
| 109 2564 2121 |
| 112 __c.7: |
| 113 0069 4D69 7865 .string "Mixer Error!" |
| 113 7220 4572 |
| 113 726F 7221 |
| 113 00 |
| 116 __c.8: |
| 117 0076 4932 4320 .string "I2C ERROR!!!" |
| 117 4552 524F |
| 117 5221 2121 |
| 117 00 |
| 120 __c.9: |
| 121 0083 4865 6967 .string "Height: %5i" |
| 121 6874 3A20 |
| 121 2025 3569 |
| 121 00 |
| 124 __c.10: |
| 125 0090 5365 7470 .string "Setpoint:%5i" |
| 125 6F69 6E74 |
| 125 3A25 3569 |
| 125 00 |
| 128 __c.11: |
| 129 009d 5072 6573 .string "Pressure:%5i" |
| 129 7375 7265 |
| 129 3A25 3569 |
| 129 00 |
| 132 __c.12: |
| 133 00aa 4F66 6673 .string "Offset: %5i" |
| 133 6574 3A20 |
| 133 2025 3569 |
| 133 00 |
| 136 __c.13: |
| 137 00b7 4865 6967 .string "Height control" |
| 137 6874 2063 |
| 137 6F6E 7472 |
| 137 6F6C 00 |
| 140 __c.14: |
| 141 00c6 4449 5341 .string "DISABLED" |
| 141 424C 4544 |
| 141 00 |
| 144 __c.15: |
| 145 00cf 4865 6967 .string "Height control" |
| 145 6874 2063 |
| 145 6F6E 7472 |
| 145 6F6C 00 |
| 148 __c.16: |
| 149 00de 4449 5341 .string "DISABLED" |
| 149 424C 4544 |
| 149 00 |
| 152 __c.17: |
| 153 00e7 6163 742E .string "act. bearing" |
| 153 2062 6561 |
| 153 7269 6E67 |
| 153 00 |
| 156 __c.18: |
| 157 00f4 4E69 636B .string "Nick: %5i" |
| 157 3A20 2020 |
| 157 2020 2025 |
| 157 3569 00 |
| 160 __c.19: |
| 161 0103 526F 6C6C .string "Roll: %5i" |
| 161 3A20 2020 |
| 161 2020 2025 |
| 161 3569 00 |
| 164 __c.20: |
| 165 0112 436F 6D70 .string "Compass: %5i" |
| 165 6173 733A |
| 165 2020 2025 |
| 165 3569 00 |
| 168 __c.21: |
| 169 0121 4B31 3A25 .string "K1:%4i K2:%4i " |
| 169 3469 2020 |
| 169 4B32 3A25 |
| 169 3469 2000 |
| 172 __c.22: |
| 173 0131 4B33 3A25 .string "K3:%4i K4:%4i " |
| 173 3469 2020 |
| 173 4B34 3A25 |
| 173 3469 2000 |
| 176 __c.23: |
| 177 0141 4B35 3A25 .string "K5:%4i K6:%4i " |
| 177 3469 2020 |
| 177 4B36 3A25 |
| 177 3469 2000 |
| 180 __c.24: |
| 181 0151 4B37 3A25 .string "K7:%4i K8:%4i " |
| 181 3469 2020 |
| 181 4B38 3A25 |
| 181 3469 2000 |
| 184 __c.25: |
| 185 0161 4E69 3A25 .string "Ni:%4i Ro:%4i " |
| 185 3469 2020 |
| 185 526F 3A25 |
| 185 3469 2000 |
| 188 __c.26: |
| 189 0171 4773 3A25 .string "Gs:%4i Gi:%4i " |
| 189 3469 2020 |
| 189 4769 3A25 |
| 189 3469 2000 |
| 192 __c.27: |
| 193 0181 5031 3A25 .string "P1:%4i P2:%4i " |
| 193 3469 2020 |
| 193 5032 3A25 |
| 193 3469 2000 |
| 196 __c.28: |
| 197 0191 5033 3A25 .string "P3:%4i P4:%4i " |
| 197 3469 2020 |
| 197 5034 3A25 |
| 197 3469 2000 |
| 200 __c.29: |
| 201 01a1 4779 726F .string "Gyro - Sensor" |
| 201 202D 2053 |
| 201 656E 736F |
| 201 7200 |
| 204 __c.30: |
| 205 01af 4E69 636B .string "Nick%4i (%3i.%i)" |
| 205 2534 6920 |
| 205 2825 3369 |
| 205 2E25 6929 |
| 205 00 |
| 208 __c.31: |
| 209 01c0 526F 6C6C .string "Roll%4i (%3i.%i)" |
| 209 2534 6920 |
| 209 2825 3369 |
| 209 2E25 6929 |
| 209 00 |
| 212 __c.32: |
| 213 01d1 4769 6572 .string "Gier%4i (%3i)" |
| 213 2534 6920 |
| 213 2825 3369 |
| 213 2900 |
| 216 __c.33: |
| 217 01df 4E69 636B .string "Nick %4i (%3i.%x)" |
| 217 2025 3469 |
| 217 2028 2533 |
| 217 692E 2578 |
| 217 2900 |
| 220 __c.34: |
| 221 01f1 526F 6C6C .string "Roll %4i (%3i.%x)" |
| 221 2025 3469 |
| 221 2028 2533 |
| 221 692E 2578 |
| 221 2900 |
| 224 __c.35: |
| 225 0203 5961 7720 .string "Yaw %4i (%3i)" |
| 225 2025 3469 |
| 225 2028 2533 |
| 225 6929 00 |
| 228 __c.36: |
| 229 0212 4E69 636B .string "Nick %4i (%3i)(%3i)" |
| 229 2025 3469 |
| 229 2028 2533 |
| 229 6929 2825 |
| 229 3369 2900 |
| 232 __c.37: |
| 233 0226 526F 6C6C .string "Roll %4i (%3i)(%3i)" |
| 233 2025 3469 |
| 233 2028 2533 |
| 233 6929 2825 |
| 233 3369 2900 |
| 236 __c.38: |
| 237 023a 5961 7720 .string "Yaw %4i (%3i)(%3i)" |
| 237 2025 3469 |
| 237 2028 2533 |
| 237 6929 2825 |
| 237 3369 2900 |
| 240 __c.39: |
| 241 024e 4143 4320 .string "ACC - Sensor" |
| 241 2D20 5365 |
| 241 6E73 6F72 |
| 241 00 |
| 244 __c.40: |
| 245 025b 4E69 636B .string "Nick %4i (%3i)" |
| 245 2025 3469 |
| 245 2028 2533 |
| 245 6929 00 |
| 248 __c.41: |
| 249 026a 526F 6C6C .string "Roll %4i (%3i)" |
| 249 2025 3469 |
| 249 2028 2533 |
| 249 6929 00 |
| 252 __c.42: |
| 253 0279 5A20 2020 .string "Z %4i (%3i)" |
| 253 2025 3469 |
| 253 2028 2533 |
| 253 6929 00 |
| 256 __c.43: |
| 257 0288 566F 6C74 .string "Voltage: %3i.%1iV" |
| 257 6167 653A |
| 257 2020 2025 |
| 257 3369 2E25 |
| 257 3169 5600 |
| 260 __c.44: |
| 261 029c 4375 7272 .string "Current: %3i.%1iA" |
| 261 656E 743A |
| 261 2020 2025 |
| 261 3369 2E25 |
| 261 3169 4100 |
| 264 __c.45: |
| 265 02b0 506F 7765 .string "Power: %4iW" |
| 265 723A 2020 |
| 265 2020 2025 |
| 265 3469 5700 |
| 268 __c.46: |
| 269 02c0 4469 7363 .string "Discharge: %5imAh" |
| 269 6861 7267 |
| 269 653A 2025 |
| 269 3569 6D41 |
| 269 6800 |
| 272 __c.47: |
| 273 02d2 5265 6365 .string "Receiver" |
| 273 6976 6572 |
| 273 00 |
| 276 __c.48: |
| 277 02db 5243 2D52 .string "RC-RSSI: %4i" |
| 277 5353 493A |
| 277 2020 2020 |
| 277 2534 6900 |
| 280 __c.49: |
| 281 02eb 5243 2D51 .string "RC-Quality: %4i" |
| 281 7561 6C69 |
| 281 7479 3A20 |
| 281 2534 6900 |
| 284 __c.50: |
| 285 02fb 5243 2D43 .string "RC-Channels:%4i" |
| 285 6861 6E6E |
| 285 656C 733A |
| 285 2534 6900 |
| 288 __c.51: |
| 289 030b 436F 6D70 .string "Compass" |
| 289 6173 7300 |
| 292 __c.52: |
| 293 0313 4865 6164 .string "Heading: %5i" |
| 293 696E 673A |
| 293 2020 2535 |
| 293 6900 |
| 296 __c.53: |
| 297 0321 5661 6C75 .string "Value: %5i" |
| 297 653A 2020 |
| 297 2020 2535 |
| 297 6900 |
| 300 __c.54: |
| 301 032f 5374 6172 .string "Start: %5i" |
| 301 743A 2020 |
| 301 2020 2535 |
| 301 6900 |
| 304 __c.55: |
| 305 033d 506F 7469 .string "Poti1: %3i" |
| 305 313A 2020 |
| 305 2533 6900 |
| 308 __c.56: |
| 309 0349 506F 7469 .string "Poti2: %3i" |
| 309 323A 2020 |
| 309 2533 6900 |
| 312 __c.57: |
| 313 0355 506F 7469 .string "Poti3: %3i" |
| 313 333A 2020 |
| 313 2533 6900 |
| 316 __c.58: |
| 317 0361 506F 7469 .string "Poti4: %3i" |
| 317 343A 2020 |
| 317 2533 6900 |
| 320 __c.59: |
| 321 036d 506F 7469 .string "Poti5: %3i" |
| 321 353A 2020 |
| 321 2533 6900 |
| 324 __c.60: |
| 325 0379 506F 7469 .string "Poti6: %3i" |
| 325 363A 2020 |
| 325 2533 6900 |
| 328 __c.61: |
| 329 0385 506F 7469 .string "Poti7: %3i" |
| 329 373A 2020 |
| 329 2533 6900 |
| 332 __c.62: |
| 333 0391 506F 7469 .string "Poti8: %3i" |
| 333 383A 2020 |
| 333 2533 6900 |
| 336 __c.63: |
| 337 039d 5365 7276 .string "Servo " |
| 337 6F20 2000 |
| 340 __c.64: |
| 341 03a5 5365 7470 .string "Setpoint %3i" |
| 341 6F69 6E74 |
| 341 2020 2533 |
| 341 6900 |
| 344 __c.65: |
| 345 03b3 506F 7369 .string "Position: %3i" |
| 345 7469 6F6E |
| 345 3A20 2533 |
| 345 6900 |
| 348 __c.66: |
| 349 03c1 5261 6E67 .string "Range:%3i-%3i" |
| 349 653A 2533 |
| 349 692D 2533 |
| 349 6900 |
| 352 __c.67: |
| 353 03cf 4578 7465 .string "ExternControl " |
| 353 726E 436F |
| 353 6E74 726F |
| 353 6C20 2000 |
| 356 __c.68: |
| 357 03df 4E69 3A25 .string "Ni:%4i Ro:%4i " |
| 357 3469 2020 |
| 357 526F 3A25 |
| 357 3469 2000 |
| 360 __c.69: |
| 361 03ef 4773 3A25 .string "Gs:%4i Gi:%4i " |
| 361 3469 2020 |
| 361 4769 3A25 |
| 361 3469 2000 |
| 364 __c.70: |
| 365 03ff 4869 3A25 .string "Hi:%4i Cf:%4i " |
| 365 3469 2020 |
| 365 4366 3A25 |
| 365 3469 2000 |
| 368 __c.71: |
| 369 040f 424C 2D43 .string "BL-Ctrl Errors " |
| 369 7472 6C20 |
| 369 4572 726F |
| 369 7273 2000 |
| 372 __c.72: |
| 373 041f 2533 6420 .string "%3d %3d %3d %3d " |
| 373 2533 6420 |
| 373 2533 6420 |
| 373 2533 6420 |
| 373 00 |
| 376 __c.73: |
| 377 0430 2533 6420 .string "%3d %3d %3d %3d " |
| 377 2533 6420 |
| 377 2533 6420 |
| 377 2533 6420 |
| 377 00 |
| 380 __c.74: |
| 381 0441 2533 6420 .string "%3d %3d %3d %3d " |
| 381 2533 6420 |
| 381 2533 6420 |
| 381 2533 6420 |
| 381 00 |
| 384 __c.75: |
| 385 0452 424C 2054 .string "BL Temperature" |
| 385 656D 7065 |
| 385 7261 7475 |
| 385 7265 00 |
| 388 __c.76: |
| 389 0461 2533 6920 .string "%3i %3i %3i %3i " |
| 389 2533 6920 |
| 389 2533 6920 |
| 389 2533 6920 |
| 389 00 |
| 392 __c.77: |
| 393 0472 2533 6920 .string "%3i %3i %3i %3i " |
| 393 2533 6920 |
| 393 2533 6920 |
| 393 2533 6920 |
| 393 00 |
| 396 __c.78: |
| 397 0483 2533 6920 .string "%3i %3i %3i %3i " |
| 397 2533 6920 |
| 397 2533 6920 |
| 397 2533 6920 |
| 397 00 |
| 400 __c.79: |
| 401 0494 424C 2D43 .string "BL-Ctrl found " |
| 401 7472 6C20 |
| 401 666F 756E |
| 401 6420 00 |
| 404 __c.80: |
| 405 04a3 2025 6320 .string " %c %c %c %c " |
| 405 2020 2563 |
| 405 2020 2025 |
| 405 6320 2020 |
| 405 2563 2000 |
| 408 __c.81: |
| 409 04b7 2025 6320 .string " %c %c %c %c " |
| 409 2020 2563 |
| 409 2020 2025 |
| 409 6320 2020 |
| 409 2563 2000 |
| 412 __c.82: |
| 413 04cb 2025 6320 .string " %c - - - " |
| 413 2020 2D20 |
| 413 2020 2D20 |
| 413 2020 2D20 |
| 413 00 |
| 416 __c.83: |
| 417 04dc 3130 00 .string "10" |
| 420 __c.84: |
| 421 04df 3131 00 .string "11" |
| 424 __c.85: |
| 425 04e2 3132 00 .string "12" |
| 428 __c.86: |
| 429 04e5 466C 6967 .string "Flight-Time " |
| 429 6874 2D54 |
| 429 696D 6520 |
| 429 2000 |
| 432 __c.87: |
| 433 04f3 546F 7461 .string "Total:%5umin" |
| 433 6C3A 2535 |
| 433 756D 696E |
| 433 00 |
| 436 __c.88: |
| 437 0500 4163 743A .string "Act: %5umin" |
| 437 2020 2535 |
| 437 756D 696E |
| 437 00 |
| 440 __c.89: |
| 441 050d 2872 6573 .string "(reset)" |
| 441 6574 2900 |
| 442 .text |
| 443 .global Menu |
| 445 Menu: |
| 446 /* prologue: frame size=0 */ |
| 447 0028 EF92 push r14 |
| 448 002a FF92 push r15 |
| 449 002c 0F93 push r16 |
| 450 002e 1F93 push r17 |
| 451 0030 CF93 push r28 |
| 452 0032 DF93 push r29 |
| 453 /* prologue end (size=6) */ |
| 454 0034 2091 0000 lds r18,RemoteKeys |
| 455 0038 20FF sbrs r18,0 |
| 456 003a 0AC0 rjmp .L10 |
| 457 003c 8091 0000 lds r24,MenuePunkt |
| 458 0040 8823 tst r24 |
| 459 0042 11F0 breq .L11 |
| 460 0044 8150 subi r24,lo8(-(-1)) |
| 461 0046 02C0 rjmp .L83 |
| 462 .L11: |
| 463 0048 8091 0000 lds r24,MaxMenue |
| 464 .L83: |
| 465 004c 8093 0000 sts MenuePunkt,r24 |
| 466 .L10: |
| 467 0050 21FF sbrs r18,1 |
| 468 0052 0CC0 rjmp .L13 |
| 469 0054 9091 0000 lds r25,MenuePunkt |
| 470 0058 8091 0000 lds r24,MaxMenue |
| 471 005c 9817 cp r25,r24 |
| 472 005e 19F4 brne .L14 |
| 473 0060 1092 0000 sts MenuePunkt,__zero_reg__ |
| 474 0064 03C0 rjmp .L13 |
| 475 .L14: |
| 476 0066 9F5F subi r25,lo8(-(1)) |
| 477 0068 9093 0000 sts MenuePunkt,r25 |
| 478 .L13: |
| 479 006c 822F mov r24,r18 |
| 480 006e 9927 clr r25 |
| 481 0070 80FF sbrs r24,0 |
| 482 0072 04C0 rjmp .L16 |
| 483 0074 81FF sbrs r24,1 |
| 484 0076 02C0 rjmp .L16 |
| 485 0078 1092 0000 sts MenuePunkt,__zero_reg__ |
| 486 .L16: |
| 487 007c 0E94 0000 call LcdClear |
| 488 0080 8091 0000 lds r24,MenuePunkt |
| 489 0084 282F mov r18,r24 |
| 490 0086 3327 clr r19 |
| 491 0088 50E0 ldi r21,lo8(pm(Menu_Putchar)) |
| 492 008a E52E mov r14,r21 |
| 493 008c 50E0 ldi r21,hi8(pm(Menu_Putchar)) |
| 494 008e F52E mov r15,r21 |
| 495 0090 C091 0000 lds r28,_printf_P |
| 496 0094 D091 0000 lds r29,(_printf_P)+1 |
| 497 0098 8A30 cpi r24,lo8(10) |
| 498 009a 98F4 brsh .L17 |
| 499 009c 81E1 ldi r24,lo8(17) |
| 500 009e 8093 0000 sts DispPtr,r24 |
| 501 00a2 3F93 push r19 |
| 502 00a4 2F93 push r18 |
| 503 00a6 80E0 ldi r24,lo8(__c.0) |
| 504 00a8 90E0 ldi r25,hi8(__c.0) |
| 505 00aa 9F93 push r25 |
| 506 00ac 8F93 push r24 |
| 507 00ae FF92 push r15 |
| 508 00b0 EF92 push r14 |
| 509 00b2 FE01 movw r30,r28 |
| 510 00b4 0995 icall |
| 511 00b6 2DB7 in r18,__SP_L__ |
| 512 00b8 3EB7 in r19,__SP_H__ |
| 513 00ba 2A5F subi r18,lo8(-(6)) |
| 514 00bc 3F4F sbci r19,hi8(-(6)) |
| 515 00be 2DBF out __SP_L__,r18 |
| 516 00c0 11C0 rjmp .L18 |
| 517 .L17: |
| 518 00c2 80E1 ldi r24,lo8(16) |
| 519 00c4 8093 0000 sts DispPtr,r24 |
| 520 00c8 3F93 push r19 |
| 521 00ca 2F93 push r18 |
| 522 00cc 80E0 ldi r24,lo8(__c.1) |
| 523 00ce 90E0 ldi r25,hi8(__c.1) |
| 524 00d0 9F93 push r25 |
| 525 00d2 8F93 push r24 |
| 526 00d4 FF92 push r15 |
| 527 00d6 EF92 push r14 |
| 528 00d8 FE01 movw r30,r28 |
| 529 00da 0995 icall |
| 530 00dc 8DB7 in r24,__SP_L__ |
| 531 00de 9EB7 in r25,__SP_H__ |
| 532 00e0 0696 adiw r24,6 |
| 533 00e2 8DBF out __SP_L__,r24 |
| 534 .L18: |
| 535 00e4 2091 0000 lds r18,MenuePunkt |
| 536 00e8 822F mov r24,r18 |
| 537 00ea 9927 clr r25 |
| 538 00ec AA27 clr r26 |
| 539 00ee BB27 clr r27 |
| 540 00f0 FC01 movw r30,r24 |
| 541 00f2 4297 sbiw r24,18 |
| 542 00f4 10F0 brlo .+4 |
| 543 00f6 0C94 0000 jmp .L80 |
| 544 00fa E050 subi r30,lo8(-(pm(.L82))) |
| 545 00fc F040 sbci r31,hi8(-(pm(.L82))) |
| 546 00fe 40E0 ldi r20,lo8(pm(Menu_Putchar)) |
| 547 0100 E42E mov r14,r20 |
| 548 0102 40E0 ldi r20,hi8(pm(Menu_Putchar)) |
| 549 0104 F42E mov r15,r20 |
| 550 0106 C091 0000 lds r28,_printf_P |
| 551 010a D091 0000 lds r29,(_printf_P)+1 |
| 552 010e 0C94 0000 jmp __tablejump2__ |
| 553 .data |
| 554 .section .progmem.gcc_sw_table, "a", @progbits |
| 555 .p2align 1 |
| 556 .L82: |
| 557 0000 0000 .word pm(.L20) |
| 558 0002 0000 .word pm(.L28) |
| 559 0004 0000 .word pm(.L31) |
| 560 0006 0000 .word pm(.L34) |
| 561 0008 0000 .word pm(.L35) |
| 562 000a 0000 .word pm(.L36) |
| 563 000c 0000 .word pm(.L63) |
| 564 000e 0000 .word pm(.L64) |
| 565 0010 0000 .word pm(.L65) |
| 566 0012 0000 .word pm(.L66) |
| 567 0014 0000 .word pm(.L67) |
| 568 0016 0000 .word pm(.L68) |
| 569 0018 0000 .word pm(.L69) |
| 570 001a 0000 .word pm(.L71) |
| 571 001c 0000 .word pm(.L72) |
| 572 001e 0000 .word pm(.L73) |
| 573 0020 0000 .word pm(.L74) |
| 574 0022 0000 .word pm(.L78) |
| 575 .text |
| 576 .L20: |
| 577 0112 1092 0000 sts DispPtr,__zero_reg__ |
| 578 0116 80E0 ldi r24,lo8(__c.2) |
| 579 0118 90E0 ldi r25,hi8(__c.2) |
| 580 011a 9F93 push r25 |
| 581 011c 8F93 push r24 |
| 582 011e 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 583 0120 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 584 0122 FF92 push r15 |
| 585 0124 EF92 push r14 |
| 586 0126 FE01 movw r30,r28 |
| 587 0128 0995 icall |
| 588 012a 84E1 ldi r24,lo8(20) |
| 589 012c 8093 0000 sts DispPtr,r24 |
| 590 0130 0F90 pop __tmp_reg__ |
| 591 0132 0F90 pop __tmp_reg__ |
| 592 0134 0F90 pop __tmp_reg__ |
| 593 0136 0F90 pop __tmp_reg__ |
| 594 0138 81E6 ldi r24,lo8(97) |
| 595 013a 90E0 ldi r25,hi8(97) |
| 596 013c 9F93 push r25 |
| 597 013e 8F93 push r24 |
| 598 0140 82E5 ldi r24,lo8(82) |
| 599 0142 90E0 ldi r25,hi8(82) |
| 600 0144 9F93 push r25 |
| 601 0146 8F93 push r24 |
| 602 0148 1F92 push __zero_reg__ |
| 603 014a 1F92 push __zero_reg__ |
| 604 014c 8091 0000 lds r24,PlatinenVersion |
| 605 0150 6AE0 ldi r22,lo8(10) |
| 606 0152 0E94 0000 call __udivmodqi4 |
| 607 0156 892F mov r24,r25 |
| 608 0158 9927 clr r25 |
| 609 015a 9F93 push r25 |
| 610 015c 8F93 push r24 |
| 611 015e 8091 0000 lds r24,PlatinenVersion |
| 612 0162 0E94 0000 call __udivmodqi4 |
| 613 0166 9927 clr r25 |
| 614 0168 9F93 push r25 |
| 615 016a 8F93 push r24 |
| 616 016c 80E0 ldi r24,lo8(__c.3) |
| 617 016e 90E0 ldi r25,hi8(__c.3) |
| 618 0170 9F93 push r25 |
| 619 0172 8F93 push r24 |
| 620 0174 FF92 push r15 |
| 621 0176 EF92 push r14 |
| 622 0178 E091 0000 lds r30,_printf_P |
| 623 017c F091 0000 lds r31,(_printf_P)+1 |
| 624 0180 0995 icall |
| 625 0182 88E2 ldi r24,lo8(40) |
| 626 0184 8093 0000 sts DispPtr,r24 |
| 627 0188 2DB7 in r18,__SP_L__ |
| 628 018a 3EB7 in r19,__SP_H__ |
| 629 018c 225F subi r18,lo8(-(14)) |
| 630 018e 3F4F sbci r19,hi8(-(14)) |
| 631 0190 2DBF out __SP_L__,r18 |
| 632 0192 80E0 ldi r24,lo8(Mixer+1) |
| 633 0194 90E0 ldi r25,hi8(Mixer+1) |
| 634 0196 9F93 push r25 |
| 635 0198 8F93 push r24 |
| 636 019a 0E94 0000 call GetActiveParamSet |
| 637 019e 9927 clr r25 |
| 638 01a0 9F93 push r25 |
| 639 01a2 8F93 push r24 |
| 640 01a4 80E0 ldi r24,lo8(__c.4) |
| 641 01a6 90E0 ldi r25,hi8(__c.4) |
| 642 01a8 9F93 push r25 |
| 643 01aa 8F93 push r24 |
| 644 01ac FF92 push r15 |
| 645 01ae EF92 push r14 |
| 646 01b0 E091 0000 lds r30,_printf_P |
| 647 01b4 F091 0000 lds r31,(_printf_P)+1 |
| 648 01b8 0995 icall |
| 649 01ba 8DB7 in r24,__SP_L__ |
| 650 01bc 9EB7 in r25,__SP_H__ |
| 651 01be 0896 adiw r24,8 |
| 652 01c0 8DBF out __SP_L__,r24 |
| 653 01c2 9091 0000 lds r25,VersionInfo+5 |
| 654 01c6 9923 tst r25 |
| 655 01c8 51F0 breq .L21 |
| 656 01ca 8CE3 ldi r24,lo8(60) |
| 657 01cc 8093 0000 sts DispPtr,r24 |
| 658 01d0 892F mov r24,r25 |
| 659 01d2 9927 clr r25 |
| 660 01d4 9F93 push r25 |
| 661 01d6 8F93 push r24 |
| 662 01d8 80E0 ldi r24,lo8(__c.5) |
| 663 01da 90E0 ldi r25,hi8(__c.5) |
| 664 01dc 81C6 rjmp .L94 |
| 665 .L21: |
| 666 01de 9091 0000 lds r25,MissingMotor |
| 667 01e2 9923 tst r25 |
| 668 01e4 71F0 breq .L23 |
| 669 01e6 8CE3 ldi r24,lo8(60) |
| 670 01e8 8093 0000 sts DispPtr,r24 |
| 671 01ec 892F mov r24,r25 |
| 672 01ee 9927 clr r25 |
| 673 01f0 9F93 push r25 |
| 674 01f2 8F93 push r24 |
| 675 01f4 80E0 ldi r24,lo8(__c.6) |
| 676 01f6 90E0 ldi r25,hi8(__c.6) |
| 677 01f8 9F93 push r25 |
| 678 01fa 8F93 push r24 |
| 679 01fc 1F93 push r17 |
| 680 01fe 0F93 push r16 |
| 681 0200 91C0 rjmp .L87 |
| 682 .L23: |
| 683 0202 8091 0000 lds r24,VersionInfo+6 |
| 684 0206 84FF sbrs r24,4 |
| 685 0208 07C0 rjmp .L25 |
| 686 020a 8CE3 ldi r24,lo8(60) |
| 687 020c 8093 0000 sts DispPtr,r24 |
| 688 0210 80E0 ldi r24,lo8(__c.7) |
| 689 0212 90E0 ldi r25,hi8(__c.7) |
| 690 0214 0C94 0000 jmp .L92 |
| 691 .L25: |
| 692 0218 8091 0000 lds r24,I2CTimeout |
| 693 021c 9091 0000 lds r25,(I2CTimeout)+1 |
| 694 0220 0697 sbiw r24,6 |
| 695 0222 10F0 brlo .+4 |
| 696 0224 0C94 0000 jmp .L19 |
| 697 0228 8CE3 ldi r24,lo8(60) |
| 698 022a 8093 0000 sts DispPtr,r24 |
| 699 022e 80E0 ldi r24,lo8(__c.8) |
| 700 0230 90E0 ldi r25,hi8(__c.8) |
| 701 0232 0C94 0000 jmp .L92 |
| 702 .L28: |
| 703 0236 8091 0000 lds r24,EE_Parameter+13 |
| 704 023a 30E0 ldi r19,lo8(pm(Menu_Putchar)) |
| 705 023c E32E mov r14,r19 |
| 706 023e 30E0 ldi r19,hi8(pm(Menu_Putchar)) |
| 707 0240 F32E mov r15,r19 |
| 708 0242 C091 0000 lds r28,_printf_P |
| 709 0246 D091 0000 lds r29,(_printf_P)+1 |
| 710 024a 80FF sbrs r24,0 |
| 711 024c 74C0 rjmp .L29 |
| 712 024e 1092 0000 sts DispPtr,__zero_reg__ |
| 713 0252 8091 0000 lds r24,HoehenWert |
| 714 0256 9091 0000 lds r25,(HoehenWert)+1 |
| 715 025a A091 0000 lds r26,(HoehenWert)+2 |
| 716 025e B091 0000 lds r27,(HoehenWert)+3 |
| 717 0262 BC01 movw r22,r24 |
| 718 0264 CD01 movw r24,r26 |
| 719 0266 25E0 ldi r18,lo8(5) |
| 720 0268 30E0 ldi r19,hi8(5) |
| 721 026a 40E0 ldi r20,hlo8(5) |
| 722 026c 50E0 ldi r21,hhi8(5) |
| 723 026e 0E94 0000 call __divmodsi4 |
| 724 0272 3F93 push r19 |
| 725 0274 2F93 push r18 |
| 726 0276 80E0 ldi r24,lo8(__c.9) |
| 727 0278 90E0 ldi r25,hi8(__c.9) |
| 728 027a 9F93 push r25 |
| 729 027c 8F93 push r24 |
| 730 027e FF92 push r15 |
| 731 0280 EF92 push r14 |
| 732 0282 FE01 movw r30,r28 |
| 733 0284 0995 icall |
| 734 0286 84E1 ldi r24,lo8(20) |
| 735 0288 8093 0000 sts DispPtr,r24 |
| 736 028c 2DB7 in r18,__SP_L__ |
| 737 028e 3EB7 in r19,__SP_H__ |
| 738 0290 2A5F subi r18,lo8(-(6)) |
| 739 0292 3F4F sbci r19,hi8(-(6)) |
| 740 0294 2DBF out __SP_L__,r18 |
| 741 0296 8091 0000 lds r24,SollHoehe |
| 742 029a 9091 0000 lds r25,(SollHoehe)+1 |
| 743 029e A091 0000 lds r26,(SollHoehe)+2 |
| 744 02a2 B091 0000 lds r27,(SollHoehe)+3 |
| 745 02a6 BC01 movw r22,r24 |
| 746 02a8 CD01 movw r24,r26 |
| 747 02aa 25E0 ldi r18,lo8(5) |
| 748 02ac 30E0 ldi r19,hi8(5) |
| 749 02ae 40E0 ldi r20,hlo8(5) |
| 750 02b0 50E0 ldi r21,hhi8(5) |
| 751 02b2 0E94 0000 call __divmodsi4 |
| 752 02b6 3F93 push r19 |
| 753 02b8 2F93 push r18 |
| 754 02ba 80E0 ldi r24,lo8(__c.10) |
| 755 02bc 90E0 ldi r25,hi8(__c.10) |
| 756 02be 9F93 push r25 |
| 757 02c0 8F93 push r24 |
| 758 02c2 FF92 push r15 |
| 759 02c4 EF92 push r14 |
| 760 02c6 E091 0000 lds r30,_printf_P |
| 761 02ca F091 0000 lds r31,(_printf_P)+1 |
| 762 02ce 0995 icall |
| 763 02d0 88E2 ldi r24,lo8(40) |
| 764 02d2 8093 0000 sts DispPtr,r24 |
| 765 02d6 8DB7 in r24,__SP_L__ |
| 766 02d8 9EB7 in r25,__SP_H__ |
| 767 02da 0696 adiw r24,6 |
| 768 02dc 8DBF out __SP_L__,r24 |
| 769 02de 8091 0000 lds r24,MessLuftdruck |
| 770 02e2 9091 0000 lds r25,(MessLuftdruck)+1 |
| 771 02e6 9F93 push r25 |
| 772 02e8 8F93 push r24 |
| 773 02ea 80E0 ldi r24,lo8(__c.11) |
| 774 02ec 90E0 ldi r25,hi8(__c.11) |
| 775 02ee 9F93 push r25 |
| 776 02f0 8F93 push r24 |
| 777 02f2 FF92 push r15 |
| 778 02f4 EF92 push r14 |
| 779 02f6 E091 0000 lds r30,_printf_P |
| 780 02fa F091 0000 lds r31,(_printf_P)+1 |
| 781 02fe 0995 icall |
| 782 0300 8CE3 ldi r24,lo8(60) |
| 783 0302 8093 0000 sts DispPtr,r24 |
| 784 0306 2DB7 in r18,__SP_L__ |
| 785 0308 3EB7 in r19,__SP_H__ |
| 786 030a 2A5F subi r18,lo8(-(6)) |
| 787 030c 3F4F sbci r19,hi8(-(6)) |
| 788 030e 2DBF out __SP_L__,r18 |
| 789 0310 87B5 in r24,71-0x20 |
| 790 0312 9927 clr r25 |
| 791 0314 9F93 push r25 |
| 792 0316 8F93 push r24 |
| 793 0318 80E0 ldi r24,lo8(__c.12) |
| 794 031a 90E0 ldi r25,hi8(__c.12) |
| 795 .L93: |
| 796 031c 9F93 push r25 |
| 797 031e 8F93 push r24 |
| 798 0320 FF92 push r15 |
| 799 0322 EF92 push r14 |
| 800 .L87: |
| 801 0324 E091 0000 lds r30,_printf_P |
| 802 0328 F091 0000 lds r31,(_printf_P)+1 |
| 803 032c 0995 icall |
| 804 032e 8DB7 in r24,__SP_L__ |
| 805 0330 9EB7 in r25,__SP_H__ |
| 806 0332 0696 adiw r24,6 |
| 807 0334 33C7 rjmp .L85 |
| 808 .L29: |
| 809 0336 1092 0000 sts DispPtr,__zero_reg__ |
| 810 033a 80E0 ldi r24,lo8(__c.13) |
| 811 033c 90E0 ldi r25,hi8(__c.13) |
| 812 033e 9F93 push r25 |
| 813 0340 8F93 push r24 |
| 814 0342 FF92 push r15 |
| 815 0344 EF92 push r14 |
| 816 0346 FE01 movw r30,r28 |
| 817 0348 0995 icall |
| 818 034a 84E1 ldi r24,lo8(20) |
| 819 034c 8093 0000 sts DispPtr,r24 |
| 820 0350 0F90 pop __tmp_reg__ |
| 821 0352 0F90 pop __tmp_reg__ |
| 822 0354 0F90 pop __tmp_reg__ |
| 823 0356 0F90 pop __tmp_reg__ |
| 824 0358 80E0 ldi r24,lo8(__c.14) |
| 825 035a 90E0 ldi r25,hi8(__c.14) |
| 826 035c 9F93 push r25 |
| 827 035e 8F93 push r24 |
| 828 0360 FF92 push r15 |
| 829 0362 EF92 push r14 |
| 830 0364 E091 0000 lds r30,_printf_P |
| 831 0368 F091 0000 lds r31,(_printf_P)+1 |
| 832 036c 0995 icall |
| 833 036e 88E2 ldi r24,lo8(40) |
| 834 0370 8093 0000 sts DispPtr,r24 |
| 835 0374 0F90 pop __tmp_reg__ |
| 836 0376 0F90 pop __tmp_reg__ |
| 837 0378 0F90 pop __tmp_reg__ |
| 838 037a 0F90 pop __tmp_reg__ |
| 839 037c 80E0 ldi r24,lo8(__c.15) |
| 840 037e 90E0 ldi r25,hi8(__c.15) |
| 841 0380 9F93 push r25 |
| 842 0382 8F93 push r24 |
| 843 0384 FF92 push r15 |
| 844 0386 EF92 push r14 |
| 845 0388 E091 0000 lds r30,_printf_P |
| 846 038c F091 0000 lds r31,(_printf_P)+1 |
| 847 0390 0995 icall |
| 848 0392 8CE3 ldi r24,lo8(60) |
| 849 0394 8093 0000 sts DispPtr,r24 |
| 850 0398 0F90 pop __tmp_reg__ |
| 851 039a 0F90 pop __tmp_reg__ |
| 852 039c 0F90 pop __tmp_reg__ |
| 853 039e 0F90 pop __tmp_reg__ |
| 854 03a0 80E0 ldi r24,lo8(__c.16) |
| 855 03a2 90E0 ldi r25,hi8(__c.16) |
| 856 03a4 9F93 push r25 |
| 857 03a6 8F93 push r24 |
| 858 03a8 FF92 push r15 |
| 859 03aa EF92 push r14 |
| 860 03ac 0C94 0000 jmp .L86 |
| 861 .L31: |
| 862 03b0 1092 0000 sts DispPtr,__zero_reg__ |
| 863 03b4 80E0 ldi r24,lo8(__c.17) |
| 864 03b6 90E0 ldi r25,hi8(__c.17) |
| 865 03b8 9F93 push r25 |
| 866 03ba 8F93 push r24 |
| 867 03bc 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 868 03be 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 869 03c0 FF92 push r15 |
| 870 03c2 EF92 push r14 |
| 871 03c4 FE01 movw r30,r28 |
| 872 03c6 0995 icall |
| 873 03c8 84E1 ldi r24,lo8(20) |
| 874 03ca 8093 0000 sts DispPtr,r24 |
| 875 03ce 0F90 pop __tmp_reg__ |
| 876 03d0 0F90 pop __tmp_reg__ |
| 877 03d2 0F90 pop __tmp_reg__ |
| 878 03d4 0F90 pop __tmp_reg__ |
| 879 03d6 8091 0000 lds r24,IntegralNick |
| 880 03da 9091 0000 lds r25,(IntegralNick)+1 |
| 881 03de A091 0000 lds r26,(IntegralNick)+2 |
| 882 03e2 B091 0000 lds r27,(IntegralNick)+3 |
| 883 03e6 B7FF sbrs r27,7 |
| 884 03e8 04C0 rjmp .L32 |
| 885 03ea 8150 subi r24,lo8(-(1023)) |
| 886 03ec 9C4F sbci r25,hi8(-(1023)) |
| 887 03ee AF4F sbci r26,hlo8(-(1023)) |
| 888 03f0 BF4F sbci r27,hhi8(-(1023)) |
| 889 .L32: |
| 890 03f2 2AE0 ldi r18,10 |
| 891 03f4 B595 1: asr r27 |
| 892 03f6 A795 ror r26 |
| 893 03f8 9795 ror r25 |
| 894 03fa 8795 ror r24 |
| 895 03fc 2A95 dec r18 |
| 896 03fe D1F7 brne 1b |
| 897 0400 BF93 push r27 |
| 898 0402 AF93 push r26 |
| 899 0404 9F93 push r25 |
| 900 0406 8F93 push r24 |
| 901 0408 80E0 ldi r24,lo8(__c.18) |
| 902 040a 90E0 ldi r25,hi8(__c.18) |
| 903 040c 9F93 push r25 |
| 904 040e 8F93 push r24 |
| 905 0410 1F93 push r17 |
| 906 0412 0F93 push r16 |
| 907 0414 E091 0000 lds r30,_printf_P |
| 908 0418 F091 0000 lds r31,(_printf_P)+1 |
| 909 041c 0995 icall |
| 910 041e 88E2 ldi r24,lo8(40) |
| 911 0420 8093 0000 sts DispPtr,r24 |
| 912 0424 2DB7 in r18,__SP_L__ |
| 913 0426 3EB7 in r19,__SP_H__ |
| 914 0428 285F subi r18,lo8(-(8)) |
| 915 042a 3F4F sbci r19,hi8(-(8)) |
| 916 042c 2DBF out __SP_L__,r18 |
| 917 042e 8091 0000 lds r24,IntegralRoll |
| 918 0432 9091 0000 lds r25,(IntegralRoll)+1 |
| 919 0436 A091 0000 lds r26,(IntegralRoll)+2 |
| 920 043a B091 0000 lds r27,(IntegralRoll)+3 |
| 921 043e B7FF sbrs r27,7 |
| 922 0440 04C0 rjmp .L33 |
| 923 0442 8150 subi r24,lo8(-(1023)) |
| 924 0444 9C4F sbci r25,hi8(-(1023)) |
| 925 0446 AF4F sbci r26,hlo8(-(1023)) |
| 926 0448 BF4F sbci r27,hhi8(-(1023)) |
| 927 .L33: |
| 928 044a CAE0 ldi r28,10 |
| 929 044c B595 1: asr r27 |
| 930 044e A795 ror r26 |
| 931 0450 9795 ror r25 |
| 932 0452 8795 ror r24 |
| 933 0454 CA95 dec r28 |
| 934 0456 D1F7 brne 1b |
| 935 0458 BF93 push r27 |
| 936 045a AF93 push r26 |
| 937 045c 9F93 push r25 |
| 938 045e 8F93 push r24 |
| 939 0460 80E0 ldi r24,lo8(__c.19) |
| 940 0462 90E0 ldi r25,hi8(__c.19) |
| 941 0464 9F93 push r25 |
| 942 0466 8F93 push r24 |
| 943 0468 1F93 push r17 |
| 944 046a 0F93 push r16 |
| 945 046c E091 0000 lds r30,_printf_P |
| 946 0470 F091 0000 lds r31,(_printf_P)+1 |
| 947 0474 0995 icall |
| 948 0476 8CE3 ldi r24,lo8(60) |
| 949 0478 8093 0000 sts DispPtr,r24 |
| 950 047c 8DB7 in r24,__SP_L__ |
| 951 047e 9EB7 in r25,__SP_H__ |
| 952 0480 0896 adiw r24,8 |
| 953 0482 8DBF out __SP_L__,r24 |
| 954 0484 8091 0000 lds r24,KompassValue |
| 955 0488 9091 0000 lds r25,(KompassValue)+1 |
| 956 048c 9F93 push r25 |
| 957 048e 8F93 push r24 |
| 958 0490 80E0 ldi r24,lo8(__c.20) |
| 959 0492 90E0 ldi r25,hi8(__c.20) |
| 960 0494 9F93 push r25 |
| 961 0496 8F93 push r24 |
| 962 0498 1F93 push r17 |
| 963 049a 0F93 push r16 |
| 964 .L89: |
| 965 049c E091 0000 lds r30,_printf_P |
| 966 04a0 F091 0000 lds r31,(_printf_P)+1 |
| 967 04a4 0995 icall |
| 968 04a6 2DB7 in r18,__SP_L__ |
| 969 04a8 3EB7 in r19,__SP_H__ |
| 970 04aa 2A5F subi r18,lo8(-(6)) |
| 971 04ac 3F4F sbci r19,hi8(-(6)) |
| 972 04ae 11C7 rjmp .L84 |
| 973 .L34: |
| 974 04b0 1092 0000 sts DispPtr,__zero_reg__ |
| 975 04b4 8091 0000 lds r24,PPM_in+4 |
| 976 04b8 9091 0000 lds r25,(PPM_in+4)+1 |
| 977 04bc 9F93 push r25 |
| 978 04be 8F93 push r24 |
| 979 04c0 8091 0000 lds r24,PPM_in+2 |
| 980 04c4 9091 0000 lds r25,(PPM_in+2)+1 |
| 981 04c8 9F93 push r25 |
| 982 04ca 8F93 push r24 |
| 983 04cc 80E0 ldi r24,lo8(__c.21) |
| 984 04ce 90E0 ldi r25,hi8(__c.21) |
| 985 04d0 9F93 push r25 |
| 986 04d2 8F93 push r24 |
| 987 04d4 FF92 push r15 |
| 988 04d6 EF92 push r14 |
| 989 04d8 FE01 movw r30,r28 |
| 990 04da 0995 icall |
| 991 04dc 84E1 ldi r24,lo8(20) |
| 992 04de 8093 0000 sts DispPtr,r24 |
| 993 04e2 8DB7 in r24,__SP_L__ |
| 994 04e4 9EB7 in r25,__SP_H__ |
| 995 04e6 0896 adiw r24,8 |
| 996 04e8 8DBF out __SP_L__,r24 |
| 997 04ea 8091 0000 lds r24,PPM_in+8 |
| 998 04ee 9091 0000 lds r25,(PPM_in+8)+1 |
| 999 04f2 9F93 push r25 |
| 1000 04f4 8F93 push r24 |
| 1001 04f6 8091 0000 lds r24,PPM_in+6 |
| 1002 04fa 9091 0000 lds r25,(PPM_in+6)+1 |
| 1003 04fe 9F93 push r25 |
| 1004 0500 8F93 push r24 |
| 1005 0502 80E0 ldi r24,lo8(__c.22) |
| 1006 0504 90E0 ldi r25,hi8(__c.22) |
| 1007 0506 9F93 push r25 |
| 1008 0508 8F93 push r24 |
| 1009 050a FF92 push r15 |
| 1010 050c EF92 push r14 |
| 1011 050e E091 0000 lds r30,_printf_P |
| 1012 0512 F091 0000 lds r31,(_printf_P)+1 |
| 1013 0516 0995 icall |
| 1014 0518 88E2 ldi r24,lo8(40) |
| 1015 051a 8093 0000 sts DispPtr,r24 |
| 1016 051e 2DB7 in r18,__SP_L__ |
| 1017 0520 3EB7 in r19,__SP_H__ |
| 1018 0522 285F subi r18,lo8(-(8)) |
| 1019 0524 3F4F sbci r19,hi8(-(8)) |
| 1020 0526 2DBF out __SP_L__,r18 |
| 1021 0528 8091 0000 lds r24,PPM_in+12 |
| 1022 052c 9091 0000 lds r25,(PPM_in+12)+1 |
| 1023 0530 9F93 push r25 |
| 1024 0532 8F93 push r24 |
| 1025 0534 8091 0000 lds r24,PPM_in+10 |
| 1026 0538 9091 0000 lds r25,(PPM_in+10)+1 |
| 1027 053c 9F93 push r25 |
| 1028 053e 8F93 push r24 |
| 1029 0540 80E0 ldi r24,lo8(__c.23) |
| 1030 0542 90E0 ldi r25,hi8(__c.23) |
| 1031 0544 9F93 push r25 |
| 1032 0546 8F93 push r24 |
| 1033 0548 FF92 push r15 |
| 1034 054a EF92 push r14 |
| 1035 054c E091 0000 lds r30,_printf_P |
| 1036 0550 F091 0000 lds r31,(_printf_P)+1 |
| 1037 0554 0995 icall |
| 1038 0556 8CE3 ldi r24,lo8(60) |
| 1039 0558 8093 0000 sts DispPtr,r24 |
| 1040 055c 8DB7 in r24,__SP_L__ |
| 1041 055e 9EB7 in r25,__SP_H__ |
| 1042 0560 0896 adiw r24,8 |
| 1043 0562 8DBF out __SP_L__,r24 |
| 1044 0564 8091 0000 lds r24,PPM_in+16 |
| 1045 0568 9091 0000 lds r25,(PPM_in+16)+1 |
| 1046 056c 9F93 push r25 |
| 1047 056e 8F93 push r24 |
| 1048 0570 8091 0000 lds r24,PPM_in+14 |
| 1049 0574 9091 0000 lds r25,(PPM_in+14)+1 |
| 1050 0578 9F93 push r25 |
| 1051 057a 8F93 push r24 |
| 1052 057c 80E0 ldi r24,lo8(__c.24) |
| 1053 057e 90E0 ldi r25,hi8(__c.24) |
| 1054 0580 A2C0 rjmp .L90 |
| 1055 .L35: |
| 1056 0582 1092 0000 sts DispPtr,__zero_reg__ |
| 1057 0586 8091 0000 lds r24,EE_Parameter+2 |
| 1058 058a E82F mov r30,r24 |
| 1059 058c FF27 clr r31 |
| 1060 058e EE0F add r30,r30 |
| 1061 0590 FF1F adc r31,r31 |
| 1062 0592 E050 subi r30,lo8(-(PPM_in)) |
| 1063 0594 F040 sbci r31,hi8(-(PPM_in)) |
| 1064 0596 8081 ld r24,Z |
| 1065 0598 9181 ldd r25,Z+1 |
| 1066 059a 9F93 push r25 |
| 1067 059c 8F93 push r24 |
| 1068 059e 8091 0000 lds r24,EE_Parameter+1 |
| 1069 05a2 E82F mov r30,r24 |
| 1070 05a4 FF27 clr r31 |
| 1071 05a6 EE0F add r30,r30 |
| 1072 05a8 FF1F adc r31,r31 |
| 1073 05aa E050 subi r30,lo8(-(PPM_in)) |
| 1074 05ac F040 sbci r31,hi8(-(PPM_in)) |
| 1075 05ae 8081 ld r24,Z |
| 1076 05b0 9181 ldd r25,Z+1 |
| 1077 05b2 9F93 push r25 |
| 1078 05b4 8F93 push r24 |
| 1079 05b6 80E0 ldi r24,lo8(__c.25) |
| 1080 05b8 90E0 ldi r25,hi8(__c.25) |
| 1081 05ba 9F93 push r25 |
| 1082 05bc 8F93 push r24 |
| 1083 05be FF92 push r15 |
| 1084 05c0 EF92 push r14 |
| 1085 05c2 FE01 movw r30,r28 |
| 1086 05c4 0995 icall |
| 1087 05c6 84E1 ldi r24,lo8(20) |
| 1088 05c8 8093 0000 sts DispPtr,r24 |
| 1089 05cc 8DB7 in r24,__SP_L__ |
| 1090 05ce 9EB7 in r25,__SP_H__ |
| 1091 05d0 0896 adiw r24,8 |
| 1092 05d2 8DBF out __SP_L__,r24 |
| 1093 05d4 8091 0000 lds r24,EE_Parameter+4 |
| 1094 05d8 E82F mov r30,r24 |
| 1095 05da FF27 clr r31 |
| 1096 05dc EE0F add r30,r30 |
| 1097 05de FF1F adc r31,r31 |
| 1098 05e0 E050 subi r30,lo8(-(PPM_in)) |
| 1099 05e2 F040 sbci r31,hi8(-(PPM_in)) |
| 1100 05e4 8081 ld r24,Z |
| 1101 05e6 9181 ldd r25,Z+1 |
| 1102 05e8 9F93 push r25 |
| 1103 05ea 8F93 push r24 |
| 1104 05ec 8091 0000 lds r24,EE_Parameter+3 |
| 1105 05f0 E82F mov r30,r24 |
| 1106 05f2 FF27 clr r31 |
| 1107 05f4 EE0F add r30,r30 |
| 1108 05f6 FF1F adc r31,r31 |
| 1109 05f8 E050 subi r30,lo8(-(PPM_in)) |
| 1110 05fa F040 sbci r31,hi8(-(PPM_in)) |
| 1111 05fc 8081 ld r24,Z |
| 1112 05fe 9181 ldd r25,Z+1 |
| 1113 0600 8858 subi r24,lo8(-(120)) |
| 1114 0602 9F4F sbci r25,hi8(-(120)) |
| 1115 0604 9F93 push r25 |
| 1116 0606 8F93 push r24 |
| 1117 0608 80E0 ldi r24,lo8(__c.26) |
| 1118 060a 90E0 ldi r25,hi8(__c.26) |
| 1119 060c 9F93 push r25 |
| 1120 060e 8F93 push r24 |
| 1121 0610 FF92 push r15 |
| 1122 0612 EF92 push r14 |
| 1123 0614 E091 0000 lds r30,_printf_P |
| 1124 0618 F091 0000 lds r31,(_printf_P)+1 |
| 1125 061c 0995 icall |
| 1126 061e 88E2 ldi r24,lo8(40) |
| 1127 0620 8093 0000 sts DispPtr,r24 |
| 1128 0624 2DB7 in r18,__SP_L__ |
| 1129 0626 3EB7 in r19,__SP_H__ |
| 1130 0628 285F subi r18,lo8(-(8)) |
| 1131 062a 3F4F sbci r19,hi8(-(8)) |
| 1132 062c 2DBF out __SP_L__,r18 |
| 1133 062e 8091 0000 lds r24,EE_Parameter+6 |
| 1134 0632 E82F mov r30,r24 |
| 1135 0634 FF27 clr r31 |
| 1136 0636 EE0F add r30,r30 |
| 1137 0638 FF1F adc r31,r31 |
| 1138 063a E050 subi r30,lo8(-(PPM_in)) |
| 1139 063c F040 sbci r31,hi8(-(PPM_in)) |
| 1140 063e 8081 ld r24,Z |
| 1141 0640 9181 ldd r25,Z+1 |
| 1142 0642 8259 subi r24,lo8(-(110)) |
| 1143 0644 9F4F sbci r25,hi8(-(110)) |
| 1144 0646 9F93 push r25 |
| 1145 0648 8F93 push r24 |
| 1146 064a 8091 0000 lds r24,EE_Parameter+5 |
| 1147 064e E82F mov r30,r24 |
| 1148 0650 FF27 clr r31 |
| 1149 0652 EE0F add r30,r30 |
| 1150 0654 FF1F adc r31,r31 |
| 1151 0656 E050 subi r30,lo8(-(PPM_in)) |
| 1152 0658 F040 sbci r31,hi8(-(PPM_in)) |
| 1153 065a 8081 ld r24,Z |
| 1154 065c 9181 ldd r25,Z+1 |
| 1155 065e 8259 subi r24,lo8(-(110)) |
| 1156 0660 9F4F sbci r25,hi8(-(110)) |
| 1157 0662 9F93 push r25 |
| 1158 0664 8F93 push r24 |
| 1159 0666 80E0 ldi r24,lo8(__c.27) |
| 1160 0668 90E0 ldi r25,hi8(__c.27) |
| 1161 066a 9F93 push r25 |
| 1162 066c 8F93 push r24 |
| 1163 066e FF92 push r15 |
| 1164 0670 EF92 push r14 |
| 1165 0672 E091 0000 lds r30,_printf_P |
| 1166 0676 F091 0000 lds r31,(_printf_P)+1 |
| 1167 067a 0995 icall |
| 1168 067c 8CE3 ldi r24,lo8(60) |
| 1169 067e 8093 0000 sts DispPtr,r24 |
| 1170 0682 8DB7 in r24,__SP_L__ |
| 1171 0684 9EB7 in r25,__SP_H__ |
| 1172 0686 0896 adiw r24,8 |
| 1173 0688 8DBF out __SP_L__,r24 |
| 1174 068a 8091 0000 lds r24,EE_Parameter+8 |
| 1175 068e E82F mov r30,r24 |
| 1176 0690 FF27 clr r31 |
| 1177 0692 EE0F add r30,r30 |
| 1178 0694 FF1F adc r31,r31 |
| 1179 0696 E050 subi r30,lo8(-(PPM_in)) |
| 1180 0698 F040 sbci r31,hi8(-(PPM_in)) |
| 1181 069a 8081 ld r24,Z |
| 1182 069c 9181 ldd r25,Z+1 |
| 1183 069e 8259 subi r24,lo8(-(110)) |
| 1184 06a0 9F4F sbci r25,hi8(-(110)) |
| 1185 06a2 9F93 push r25 |
| 1186 06a4 8F93 push r24 |
| 1187 06a6 8091 0000 lds r24,EE_Parameter+7 |
| 1188 06aa E82F mov r30,r24 |
| 1189 06ac FF27 clr r31 |
| 1190 06ae EE0F add r30,r30 |
| 1191 06b0 FF1F adc r31,r31 |
| 1192 06b2 E050 subi r30,lo8(-(PPM_in)) |
| 1193 06b4 F040 sbci r31,hi8(-(PPM_in)) |
| 1194 06b6 8081 ld r24,Z |
| 1195 06b8 9181 ldd r25,Z+1 |
| 1196 06ba 8259 subi r24,lo8(-(110)) |
| 1197 06bc 9F4F sbci r25,hi8(-(110)) |
| 1198 06be 9F93 push r25 |
| 1199 06c0 8F93 push r24 |
| 1200 06c2 80E0 ldi r24,lo8(__c.28) |
| 1201 06c4 90E0 ldi r25,hi8(__c.28) |
| 1202 .L90: |
| 1203 06c6 9F93 push r25 |
| 1204 06c8 8F93 push r24 |
| 1205 06ca FF92 push r15 |
| 1206 06cc EF92 push r14 |
| 1207 .L91: |
| 1208 06ce E091 0000 lds r30,_printf_P |
| 1209 06d2 F091 0000 lds r31,(_printf_P)+1 |
| 1210 06d6 0995 icall |
| 1211 06d8 2DB7 in r18,__SP_L__ |
| 1212 06da 3EB7 in r19,__SP_H__ |
| 1213 06dc 285F subi r18,lo8(-(8)) |
| 1214 06de 3F4F sbci r19,hi8(-(8)) |
| 1215 06e0 F8C5 rjmp .L84 |
| 1216 .L36: |
| 1217 06e2 1092 0000 sts DispPtr,__zero_reg__ |
| 1218 06e6 80E0 ldi r24,lo8(__c.29) |
| 1219 06e8 90E0 ldi r25,hi8(__c.29) |
| 1220 06ea 9F93 push r25 |
| 1221 06ec 8F93 push r24 |
| 1222 06ee 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 1223 06f0 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 1224 06f2 FF92 push r15 |
| 1225 06f4 EF92 push r14 |
| 1226 06f6 FE01 movw r30,r28 |
| 1227 06f8 0995 icall |
| 1228 06fa 8091 0000 lds r24,PlatinenVersion |
| 1229 06fe 0F90 pop __tmp_reg__ |
| 1230 0700 0F90 pop __tmp_reg__ |
| 1231 0702 0F90 pop __tmp_reg__ |
| 1232 0704 0F90 pop __tmp_reg__ |
| 1233 0706 8A30 cpi r24,lo8(10) |
| 1234 0708 09F0 breq .+2 |
| 1235 070a 9DC0 rjmp .L37 |
| 1236 070c 84E1 ldi r24,lo8(20) |
| 1237 070e 8093 0000 sts DispPtr,r24 |
| 1238 0712 8091 0000 lds r24,AdNeutralNick |
| 1239 0716 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1240 071a 9C01 movw r18,r24 |
| 1241 071c 97FF sbrs r25,7 |
| 1242 071e 02C0 rjmp .L38 |
| 1243 0720 295F subi r18,lo8(-(7)) |
| 1244 0722 3F4F sbci r19,hi8(-(7)) |
| 1245 .L38: |
| 1246 0724 287F andi r18,lo8(-8) |
| 1247 0726 821B sub r24,r18 |
| 1248 0728 930B sbc r25,r19 |
| 1249 072a 9F93 push r25 |
| 1250 072c 8F93 push r24 |
| 1251 072e 8091 0000 lds r24,AdNeutralNick |
| 1252 0732 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1253 0736 97FD sbrc r25,7 |
| 1254 0738 0796 adiw r24,7 |
| 1255 .L39: |
| 1256 073a A3E0 ldi r26,3 |
| 1257 073c 9595 1: asr r25 |
| 1258 073e 8795 ror r24 |
| 1259 0740 AA95 dec r26 |
| 1260 0742 E1F7 brne 1b |
| 1261 0744 9F93 push r25 |
| 1262 0746 8F93 push r24 |
| 1263 0748 2091 0000 lds r18,AdNeutralNick |
| 1264 074c 3091 0000 lds r19,(AdNeutralNick)+1 |
| 1265 0750 37FF sbrs r19,7 |
| 1266 0752 02C0 rjmp .L40 |
| 1267 0754 295F subi r18,lo8(-(7)) |
| 1268 0756 3F4F sbci r19,hi8(-(7)) |
| 1269 .L40: |
| 1270 0758 F3E0 ldi r31,3 |
| 1271 075a 3595 1: asr r19 |
| 1272 075c 2795 ror r18 |
| 1273 075e FA95 dec r31 |
| 1274 0760 E1F7 brne 1b |
| 1275 0762 8091 0000 lds r24,AdWertNick |
| 1276 0766 9091 0000 lds r25,(AdWertNick)+1 |
| 1277 076a 821B sub r24,r18 |
| 1278 076c 930B sbc r25,r19 |
| 1279 076e 9F93 push r25 |
| 1280 0770 8F93 push r24 |
| 1281 0772 80E0 ldi r24,lo8(__c.30) |
| 1282 0774 90E0 ldi r25,hi8(__c.30) |
| 1283 0776 9F93 push r25 |
| 1284 0778 8F93 push r24 |
| 1285 077a 1F93 push r17 |
| 1286 077c 0F93 push r16 |
| 1287 077e E091 0000 lds r30,_printf_P |
| 1288 0782 F091 0000 lds r31,(_printf_P)+1 |
| 1289 0786 0995 icall |
| 1290 0788 88E2 ldi r24,lo8(40) |
| 1291 078a 8093 0000 sts DispPtr,r24 |
| 1292 078e 8DB7 in r24,__SP_L__ |
| 1293 0790 9EB7 in r25,__SP_H__ |
| 1294 0792 0A96 adiw r24,10 |
| 1295 0794 8DBF out __SP_L__,r24 |
| 1296 0796 8091 0000 lds r24,AdNeutralRoll |
| 1297 079a 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1298 079e 9C01 movw r18,r24 |
| 1299 07a0 97FF sbrs r25,7 |
| 1300 07a2 02C0 rjmp .L41 |
| 1301 07a4 295F subi r18,lo8(-(7)) |
| 1302 07a6 3F4F sbci r19,hi8(-(7)) |
| 1303 .L41: |
| 1304 07a8 287F andi r18,lo8(-8) |
| 1305 07aa 821B sub r24,r18 |
| 1306 07ac 930B sbc r25,r19 |
| 1307 07ae 9F93 push r25 |
| 1308 07b0 8F93 push r24 |
| 1309 07b2 8091 0000 lds r24,AdNeutralRoll |
| 1310 07b6 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1311 07ba 97FD sbrc r25,7 |
| 1312 07bc 0796 adiw r24,7 |
| 1313 .L42: |
| 1314 07be E3E0 ldi r30,3 |
| 1315 07c0 9595 1: asr r25 |
| 1316 07c2 8795 ror r24 |
| 1317 07c4 EA95 dec r30 |
| 1318 07c6 E1F7 brne 1b |
| 1319 07c8 9F93 push r25 |
| 1320 07ca 8F93 push r24 |
| 1321 07cc 2091 0000 lds r18,AdNeutralRoll |
| 1322 07d0 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 1323 07d4 37FF sbrs r19,7 |
| 1324 07d6 02C0 rjmp .L43 |
| 1325 07d8 295F subi r18,lo8(-(7)) |
| 1326 07da 3F4F sbci r19,hi8(-(7)) |
| 1327 .L43: |
| 1328 07dc 73E0 ldi r23,3 |
| 1329 07de 3595 1: asr r19 |
| 1330 07e0 2795 ror r18 |
| 1331 07e2 7A95 dec r23 |
| 1332 07e4 E1F7 brne 1b |
| 1333 07e6 8091 0000 lds r24,AdWertRoll |
| 1334 07ea 9091 0000 lds r25,(AdWertRoll)+1 |
| 1335 07ee 821B sub r24,r18 |
| 1336 07f0 930B sbc r25,r19 |
| 1337 07f2 9F93 push r25 |
| 1338 07f4 8F93 push r24 |
| 1339 07f6 80E0 ldi r24,lo8(__c.31) |
| 1340 07f8 90E0 ldi r25,hi8(__c.31) |
| 1341 07fa 9F93 push r25 |
| 1342 07fc 8F93 push r24 |
| 1343 07fe 1F93 push r17 |
| 1344 0800 0F93 push r16 |
| 1345 0802 E091 0000 lds r30,_printf_P |
| 1346 0806 F091 0000 lds r31,(_printf_P)+1 |
| 1347 080a 0995 icall |
| 1348 080c 8CE3 ldi r24,lo8(60) |
| 1349 080e 8093 0000 sts DispPtr,r24 |
| 1350 0812 2DB7 in r18,__SP_L__ |
| 1351 0814 3EB7 in r19,__SP_H__ |
| 1352 0816 265F subi r18,lo8(-(10)) |
| 1353 0818 3F4F sbci r19,hi8(-(10)) |
| 1354 081a 2DBF out __SP_L__,r18 |
| 1355 081c 8091 0000 lds r24,AdNeutralGier |
| 1356 0820 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1357 0824 9F93 push r25 |
| 1358 0826 8F93 push r24 |
| 1359 0828 8091 0000 lds r24,AdNeutralGier |
| 1360 082c 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1361 0830 2091 0000 lds r18,AdWertGier |
| 1362 0834 3091 0000 lds r19,(AdWertGier)+1 |
| 1363 0838 821B sub r24,r18 |
| 1364 083a 930B sbc r25,r19 |
| 1365 083c 9F93 push r25 |
| 1366 083e 8F93 push r24 |
| 1367 0840 80E0 ldi r24,lo8(__c.32) |
| 1368 0842 90E0 ldi r25,hi8(__c.32) |
| 1369 0844 A7C3 rjmp .L88 |
| 1370 .L37: |
| 1371 0846 8B30 cpi r24,lo8(11) |
| 1372 0848 19F0 breq .L46 |
| 1373 084a 8431 cpi r24,lo8(20) |
| 1374 084c 08F4 brsh .+2 |
| 1375 084e ADC0 rjmp .L45 |
| 1376 .L46: |
| 1377 0850 84E1 ldi r24,lo8(20) |
| 1378 0852 8093 0000 sts DispPtr,r24 |
| 1379 0856 8091 0000 lds r24,AdNeutralNick |
| 1380 085a 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1381 085e 9C01 movw r18,r24 |
| 1382 0860 97FF sbrs r25,7 |
| 1383 0862 02C0 rjmp .L47 |
| 1384 0864 215F subi r18,lo8(-(15)) |
| 1385 0866 3F4F sbci r19,hi8(-(15)) |
| 1386 .L47: |
| 1387 0868 207F andi r18,lo8(-16) |
| 1388 086a 821B sub r24,r18 |
| 1389 086c 930B sbc r25,r19 |
| 1390 086e 97FD sbrc r25,7 |
| 1391 0870 0196 adiw r24,1 |
| 1392 .L48: |
| 1393 0872 9595 asr r25 |
| 1394 0874 8795 ror r24 |
| 1395 0876 9F93 push r25 |
| 1396 0878 8F93 push r24 |
| 1397 087a 8091 0000 lds r24,AdNeutralNick |
| 1398 087e 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1399 0882 97FD sbrc r25,7 |
| 1400 0884 0F96 adiw r24,15 |
| 1401 .L49: |
| 1402 0886 54E0 ldi r21,4 |
| 1403 0888 9595 1: asr r25 |
| 1404 088a 8795 ror r24 |
| 1405 088c 5A95 dec r21 |
| 1406 088e E1F7 brne 1b |
| 1407 0890 9F93 push r25 |
| 1408 0892 8F93 push r24 |
| 1409 0894 2091 0000 lds r18,AdNeutralNick |
| 1410 0898 3091 0000 lds r19,(AdNeutralNick)+1 |
| 1411 089c 37FF sbrs r19,7 |
| 1412 089e 02C0 rjmp .L50 |
| 1413 08a0 295F subi r18,lo8(-(7)) |
| 1414 08a2 3F4F sbci r19,hi8(-(7)) |
| 1415 .L50: |
| 1416 08a4 43E0 ldi r20,3 |
| 1417 08a6 3595 1: asr r19 |
| 1418 08a8 2795 ror r18 |
| 1419 08aa 4A95 dec r20 |
| 1420 08ac E1F7 brne 1b |
| 1421 08ae 8091 0000 lds r24,AdWertNick |
| 1422 08b2 9091 0000 lds r25,(AdWertNick)+1 |
| 1423 08b6 821B sub r24,r18 |
| 1424 08b8 930B sbc r25,r19 |
| 1425 08ba 9F93 push r25 |
| 1426 08bc 8F93 push r24 |
| 1427 08be 80E0 ldi r24,lo8(__c.33) |
| 1428 08c0 90E0 ldi r25,hi8(__c.33) |
| 1429 08c2 9F93 push r25 |
| 1430 08c4 8F93 push r24 |
| 1431 08c6 1F93 push r17 |
| 1432 08c8 0F93 push r16 |
| 1433 08ca E091 0000 lds r30,_printf_P |
| 1434 08ce F091 0000 lds r31,(_printf_P)+1 |
| 1435 08d2 0995 icall |
| 1436 08d4 88E2 ldi r24,lo8(40) |
| 1437 08d6 8093 0000 sts DispPtr,r24 |
| 1438 08da 2DB7 in r18,__SP_L__ |
| 1439 08dc 3EB7 in r19,__SP_H__ |
| 1440 08de 265F subi r18,lo8(-(10)) |
| 1441 08e0 3F4F sbci r19,hi8(-(10)) |
| 1442 08e2 2DBF out __SP_L__,r18 |
| 1443 08e4 8091 0000 lds r24,AdNeutralRoll |
| 1444 08e8 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1445 08ec 9C01 movw r18,r24 |
| 1446 08ee 97FF sbrs r25,7 |
| 1447 08f0 02C0 rjmp .L51 |
| 1448 08f2 215F subi r18,lo8(-(15)) |
| 1449 08f4 3F4F sbci r19,hi8(-(15)) |
| 1450 .L51: |
| 1451 08f6 207F andi r18,lo8(-16) |
| 1452 08f8 821B sub r24,r18 |
| 1453 08fa 930B sbc r25,r19 |
| 1454 08fc 97FD sbrc r25,7 |
| 1455 08fe 0196 adiw r24,1 |
| 1456 .L52: |
| 1457 0900 9595 asr r25 |
| 1458 0902 8795 ror r24 |
| 1459 0904 9F93 push r25 |
| 1460 0906 8F93 push r24 |
| 1461 0908 8091 0000 lds r24,AdNeutralRoll |
| 1462 090c 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1463 0910 97FD sbrc r25,7 |
| 1464 0912 0F96 adiw r24,15 |
| 1465 .L53: |
| 1466 0914 C4E0 ldi r28,4 |
| 1467 0916 9595 1: asr r25 |
| 1468 0918 8795 ror r24 |
| 1469 091a CA95 dec r28 |
| 1470 091c E1F7 brne 1b |
| 1471 091e 9F93 push r25 |
| 1472 0920 8F93 push r24 |
| 1473 0922 2091 0000 lds r18,AdNeutralRoll |
| 1474 0926 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 1475 092a 37FF sbrs r19,7 |
| 1476 092c 02C0 rjmp .L54 |
| 1477 092e 295F subi r18,lo8(-(7)) |
| 1478 0930 3F4F sbci r19,hi8(-(7)) |
| 1479 .L54: |
| 1480 0932 B3E0 ldi r27,3 |
| 1481 0934 3595 1: asr r19 |
| 1482 0936 2795 ror r18 |
| 1483 0938 BA95 dec r27 |
| 1484 093a E1F7 brne 1b |
| 1485 093c 8091 0000 lds r24,AdWertRoll |
| 1486 0940 9091 0000 lds r25,(AdWertRoll)+1 |
| 1487 0944 821B sub r24,r18 |
| 1488 0946 930B sbc r25,r19 |
| 1489 0948 9F93 push r25 |
| 1490 094a 8F93 push r24 |
| 1491 094c 80E0 ldi r24,lo8(__c.34) |
| 1492 094e 90E0 ldi r25,hi8(__c.34) |
| 1493 0950 9F93 push r25 |
| 1494 0952 8F93 push r24 |
| 1495 0954 1F93 push r17 |
| 1496 0956 0F93 push r16 |
| 1497 0958 E091 0000 lds r30,_printf_P |
| 1498 095c F091 0000 lds r31,(_printf_P)+1 |
| 1499 0960 0995 icall |
| 1500 0962 8CE3 ldi r24,lo8(60) |
| 1501 0964 8093 0000 sts DispPtr,r24 |
| 1502 0968 8DB7 in r24,__SP_L__ |
| 1503 096a 9EB7 in r25,__SP_H__ |
| 1504 096c 0A96 adiw r24,10 |
| 1505 096e 8DBF out __SP_L__,r24 |
| 1506 0970 8091 0000 lds r24,AdNeutralGier |
| 1507 0974 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1508 0978 97FD sbrc r25,7 |
| 1509 097a 0196 adiw r24,1 |
| 1510 .L55: |
| 1511 097c 9595 asr r25 |
| 1512 097e 8795 ror r24 |
| 1513 0980 9F93 push r25 |
| 1514 0982 8F93 push r24 |
| 1515 0984 8091 0000 lds r24,AdNeutralGier |
| 1516 0988 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1517 098c 2091 0000 lds r18,AdWertGier |
| 1518 0990 3091 0000 lds r19,(AdWertGier)+1 |
| 1519 0994 821B sub r24,r18 |
| 1520 0996 930B sbc r25,r19 |
| 1521 0998 9F93 push r25 |
| 1522 099a 8F93 push r24 |
| 1523 099c 80E0 ldi r24,lo8(__c.35) |
| 1524 099e 90E0 ldi r25,hi8(__c.35) |
| 1525 09a0 9F93 push r25 |
| 1526 09a2 8F93 push r24 |
| 1527 09a4 1F93 push r17 |
| 1528 09a6 0F93 push r16 |
| 1529 09a8 92CE rjmp .L91 |
| 1530 .L45: |
| 1531 09aa 8D30 cpi r24,lo8(13) |
| 1532 09ac 09F0 breq .+2 |
| 1533 09ae F6C5 rjmp .L19 |
| 1534 09b0 84E1 ldi r24,lo8(20) |
| 1535 09b2 8093 0000 sts DispPtr,r24 |
| 1536 09b6 8091 0000 lds r24,AnalogOffsetNick |
| 1537 09ba 9927 clr r25 |
| 1538 09bc 9F93 push r25 |
| 1539 09be 8F93 push r24 |
| 1540 09c0 8091 0000 lds r24,AdNeutralNick |
| 1541 09c4 9091 0000 lds r25,(AdNeutralNick)+1 |
| 1542 09c8 97FD sbrc r25,7 |
| 1543 09ca 0F96 adiw r24,15 |
| 1544 .L58: |
| 1545 09cc F4E0 ldi r31,4 |
| 1546 09ce 9595 1: asr r25 |
| 1547 09d0 8795 ror r24 |
| 1548 09d2 FA95 dec r31 |
| 1549 09d4 E1F7 brne 1b |
| 1550 09d6 9F93 push r25 |
| 1551 09d8 8F93 push r24 |
| 1552 09da 2091 0000 lds r18,AdNeutralNick |
| 1553 09de 3091 0000 lds r19,(AdNeutralNick)+1 |
| 1554 09e2 37FF sbrs r19,7 |
| 1555 09e4 02C0 rjmp .L59 |
| 1556 09e6 295F subi r18,lo8(-(7)) |
| 1557 09e8 3F4F sbci r19,hi8(-(7)) |
| 1558 .L59: |
| 1559 09ea E3E0 ldi r30,3 |
| 1560 09ec 3595 1: asr r19 |
| 1561 09ee 2795 ror r18 |
| 1562 09f0 EA95 dec r30 |
| 1563 09f2 E1F7 brne 1b |
| 1564 09f4 8091 0000 lds r24,AdWertNick |
| 1565 09f8 9091 0000 lds r25,(AdWertNick)+1 |
| 1566 09fc 821B sub r24,r18 |
| 1567 09fe 930B sbc r25,r19 |
| 1568 0a00 9F93 push r25 |
| 1569 0a02 8F93 push r24 |
| 1570 0a04 80E0 ldi r24,lo8(__c.36) |
| 1571 0a06 90E0 ldi r25,hi8(__c.36) |
| 1572 0a08 9F93 push r25 |
| 1573 0a0a 8F93 push r24 |
| 1574 0a0c 1F93 push r17 |
| 1575 0a0e 0F93 push r16 |
| 1576 0a10 E091 0000 lds r30,_printf_P |
| 1577 0a14 F091 0000 lds r31,(_printf_P)+1 |
| 1578 0a18 0995 icall |
| 1579 0a1a 88E2 ldi r24,lo8(40) |
| 1580 0a1c 8093 0000 sts DispPtr,r24 |
| 1581 0a20 8DB7 in r24,__SP_L__ |
| 1582 0a22 9EB7 in r25,__SP_H__ |
| 1583 0a24 0A96 adiw r24,10 |
| 1584 0a26 8DBF out __SP_L__,r24 |
| 1585 0a28 8091 0000 lds r24,AnalogOffsetRoll |
| 1586 0a2c 9927 clr r25 |
| 1587 0a2e 9F93 push r25 |
| 1588 0a30 8F93 push r24 |
| 1589 0a32 8091 0000 lds r24,AdNeutralRoll |
| 1590 0a36 9091 0000 lds r25,(AdNeutralRoll)+1 |
| 1591 0a3a 97FD sbrc r25,7 |
| 1592 0a3c 0F96 adiw r24,15 |
| 1593 .L60: |
| 1594 0a3e 74E0 ldi r23,4 |
| 1595 0a40 9595 1: asr r25 |
| 1596 0a42 8795 ror r24 |
| 1597 0a44 7A95 dec r23 |
| 1598 0a46 E1F7 brne 1b |
| 1599 0a48 9F93 push r25 |
| 1600 0a4a 8F93 push r24 |
| 1601 0a4c 2091 0000 lds r18,AdNeutralRoll |
| 1602 0a50 3091 0000 lds r19,(AdNeutralRoll)+1 |
| 1603 0a54 37FF sbrs r19,7 |
| 1604 0a56 02C0 rjmp .L61 |
| 1605 0a58 295F subi r18,lo8(-(7)) |
| 1606 0a5a 3F4F sbci r19,hi8(-(7)) |
| 1607 .L61: |
| 1608 0a5c 63E0 ldi r22,3 |
| 1609 0a5e 3595 1: asr r19 |
| 1610 0a60 2795 ror r18 |
| 1611 0a62 6A95 dec r22 |
| 1612 0a64 E1F7 brne 1b |
| 1613 0a66 8091 0000 lds r24,AdWertRoll |
| 1614 0a6a 9091 0000 lds r25,(AdWertRoll)+1 |
| 1615 0a6e 821B sub r24,r18 |
| 1616 0a70 930B sbc r25,r19 |
| 1617 0a72 9F93 push r25 |
| 1618 0a74 8F93 push r24 |
| 1619 0a76 80E0 ldi r24,lo8(__c.37) |
| 1620 0a78 90E0 ldi r25,hi8(__c.37) |
| 1621 0a7a 9F93 push r25 |
| 1622 0a7c 8F93 push r24 |
| 1623 0a7e 1F93 push r17 |
| 1624 0a80 0F93 push r16 |
| 1625 0a82 E091 0000 lds r30,_printf_P |
| 1626 0a86 F091 0000 lds r31,(_printf_P)+1 |
| 1627 0a8a 0995 icall |
| 1628 0a8c 8CE3 ldi r24,lo8(60) |
| 1629 0a8e 8093 0000 sts DispPtr,r24 |
| 1630 0a92 2DB7 in r18,__SP_L__ |
| 1631 0a94 3EB7 in r19,__SP_H__ |
| 1632 0a96 265F subi r18,lo8(-(10)) |
| 1633 0a98 3F4F sbci r19,hi8(-(10)) |
| 1634 0a9a 2DBF out __SP_L__,r18 |
| 1635 0a9c 8091 0000 lds r24,AnalogOffsetGier |
| 1636 0aa0 9927 clr r25 |
| 1637 0aa2 9F93 push r25 |
| 1638 0aa4 8F93 push r24 |
| 1639 0aa6 8091 0000 lds r24,AdNeutralGier |
| 1640 0aaa 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1641 0aae 97FD sbrc r25,7 |
| 1642 0ab0 0196 adiw r24,1 |
| 1643 .L62: |
| 1644 0ab2 9595 asr r25 |
| 1645 0ab4 8795 ror r24 |
| 1646 0ab6 9F93 push r25 |
| 1647 0ab8 8F93 push r24 |
| 1648 0aba 8091 0000 lds r24,AdNeutralGier |
| 1649 0abe 9091 0000 lds r25,(AdNeutralGier)+1 |
| 1650 0ac2 2091 0000 lds r18,AdWertGier |
| 1651 0ac6 3091 0000 lds r19,(AdWertGier)+1 |
| 1652 0aca 821B sub r24,r18 |
| 1653 0acc 930B sbc r25,r19 |
| 1654 0ace 9F93 push r25 |
| 1655 0ad0 8F93 push r24 |
| 1656 0ad2 80E0 ldi r24,lo8(__c.38) |
| 1657 0ad4 90E0 ldi r25,hi8(__c.38) |
| 1658 0ad6 9F93 push r25 |
| 1659 0ad8 8F93 push r24 |
| 1660 0ada 1F93 push r17 |
| 1661 0adc 0F93 push r16 |
| 1662 0ade E091 0000 lds r30,_printf_P |
| 1663 0ae2 F091 0000 lds r31,(_printf_P)+1 |
| 1664 0ae6 0995 icall |
| 1665 0ae8 8DB7 in r24,__SP_L__ |
| 1666 0aea 9EB7 in r25,__SP_H__ |
| 1667 0aec 0A96 adiw r24,10 |
| 1668 0aee 56C3 rjmp .L85 |
| 1669 .L63: |
| 1670 0af0 1092 0000 sts DispPtr,__zero_reg__ |
| 1671 0af4 80E0 ldi r24,lo8(__c.39) |
| 1672 0af6 90E0 ldi r25,hi8(__c.39) |
| 1673 0af8 9F93 push r25 |
| 1674 0afa 8F93 push r24 |
| 1675 0afc FF92 push r15 |
| 1676 0afe EF92 push r14 |
| 1677 0b00 FE01 movw r30,r28 |
| 1678 0b02 0995 icall |
| 1679 0b04 84E1 ldi r24,lo8(20) |
| 1680 0b06 8093 0000 sts DispPtr,r24 |
| 1681 0b0a 0F90 pop __tmp_reg__ |
| 1682 0b0c 0F90 pop __tmp_reg__ |
| 1683 0b0e 0F90 pop __tmp_reg__ |
| 1684 0b10 0F90 pop __tmp_reg__ |
| 1685 0b12 8091 0000 lds r24,NeutralAccX |
| 1686 0b16 9091 0000 lds r25,(NeutralAccX)+1 |
| 1687 0b1a 9F93 push r25 |
| 1688 0b1c 8F93 push r24 |
| 1689 0b1e 8091 0000 lds r24,AdWertAccNick |
| 1690 0b22 9091 0000 lds r25,(AdWertAccNick)+1 |
| 1691 0b26 9F93 push r25 |
| 1692 0b28 8F93 push r24 |
| 1693 0b2a 80E0 ldi r24,lo8(__c.40) |
| 1694 0b2c 90E0 ldi r25,hi8(__c.40) |
| 1695 0b2e 9F93 push r25 |
| 1696 0b30 8F93 push r24 |
| 1697 0b32 FF92 push r15 |
| 1698 0b34 EF92 push r14 |
| 1699 0b36 E091 0000 lds r30,_printf_P |
| 1700 0b3a F091 0000 lds r31,(_printf_P)+1 |
| 1701 0b3e 0995 icall |
| 1702 0b40 88E2 ldi r24,lo8(40) |
| 1703 0b42 8093 0000 sts DispPtr,r24 |
| 1704 0b46 2DB7 in r18,__SP_L__ |
| 1705 0b48 3EB7 in r19,__SP_H__ |
| 1706 0b4a 285F subi r18,lo8(-(8)) |
| 1707 0b4c 3F4F sbci r19,hi8(-(8)) |
| 1708 0b4e 2DBF out __SP_L__,r18 |
| 1709 0b50 8091 0000 lds r24,NeutralAccY |
| 1710 0b54 9091 0000 lds r25,(NeutralAccY)+1 |
| 1711 0b58 9F93 push r25 |
| 1712 0b5a 8F93 push r24 |
| 1713 0b5c 8091 0000 lds r24,AdWertAccRoll |
| 1714 0b60 9091 0000 lds r25,(AdWertAccRoll)+1 |
| 1715 0b64 9F93 push r25 |
| 1716 0b66 8F93 push r24 |
| 1717 0b68 80E0 ldi r24,lo8(__c.41) |
| 1718 0b6a 90E0 ldi r25,hi8(__c.41) |
| 1719 0b6c 9F93 push r25 |
| 1720 0b6e 8F93 push r24 |
| 1721 0b70 FF92 push r15 |
| 1722 0b72 EF92 push r14 |
| 1723 0b74 E091 0000 lds r30,_printf_P |
| 1724 0b78 F091 0000 lds r31,(_printf_P)+1 |
| 1725 0b7c 0995 icall |
| 1726 0b7e 8CE3 ldi r24,lo8(60) |
| 1727 0b80 8093 0000 sts DispPtr,r24 |
| 1728 0b84 8DB7 in r24,__SP_L__ |
| 1729 0b86 9EB7 in r25,__SP_H__ |
| 1730 0b88 0896 adiw r24,8 |
| 1731 0b8a 8DBF out __SP_L__,r24 |
| 1732 0b8c 8091 0000 lds r24,NeutralAccZ |
| 1733 0b90 9091 0000 lds r25,(NeutralAccZ)+1 |
| 1734 0b94 9F93 push r25 |
| 1735 0b96 8F93 push r24 |
| 1736 0b98 8091 0000 lds r24,AdWertAccHoch |
| 1737 0b9c 9091 0000 lds r25,(AdWertAccHoch)+1 |
| 1738 0ba0 9F93 push r25 |
| 1739 0ba2 8F93 push r24 |
| 1740 0ba4 80E0 ldi r24,lo8(__c.42) |
| 1741 0ba6 90E0 ldi r25,hi8(__c.42) |
| 1742 0ba8 8ECD rjmp .L90 |
| 1743 .L64: |
| 1744 0baa 1092 0000 sts DispPtr,__zero_reg__ |
| 1745 0bae 8091 0000 lds r24,UBat |
| 1746 0bb2 9091 0000 lds r25,(UBat)+1 |
| 1747 0bb6 6AE0 ldi r22,lo8(10) |
| 1748 0bb8 70E0 ldi r23,hi8(10) |
| 1749 0bba 0E94 0000 call __divmodhi4 |
| 1750 0bbe 9F93 push r25 |
| 1751 0bc0 8F93 push r24 |
| 1752 0bc2 8091 0000 lds r24,UBat |
| 1753 0bc6 9091 0000 lds r25,(UBat)+1 |
| 1754 0bca 6AE0 ldi r22,lo8(10) |
| 1755 0bcc 70E0 ldi r23,hi8(10) |
| 1756 0bce 0E94 0000 call __divmodhi4 |
| 1757 0bd2 7F93 push r23 |
| 1758 0bd4 6F93 push r22 |
| 1759 0bd6 80E0 ldi r24,lo8(__c.43) |
| 1760 0bd8 90E0 ldi r25,hi8(__c.43) |
| 1761 0bda 9F93 push r25 |
| 1762 0bdc 8F93 push r24 |
| 1763 0bde FF92 push r15 |
| 1764 0be0 EF92 push r14 |
| 1765 0be2 FE01 movw r30,r28 |
| 1766 0be4 0995 icall |
| 1767 0be6 84E1 ldi r24,lo8(20) |
| 1768 0be8 8093 0000 sts DispPtr,r24 |
| 1769 0bec 8DB7 in r24,__SP_L__ |
| 1770 0bee 9EB7 in r25,__SP_H__ |
| 1771 0bf0 0896 adiw r24,8 |
| 1772 0bf2 8DBF out __SP_L__,r24 |
| 1773 0bf4 8091 0000 lds r24,Capacity |
| 1774 0bf8 9091 0000 lds r25,(Capacity)+1 |
| 1775 0bfc 6AE0 ldi r22,lo8(10) |
| 1776 0bfe 70E0 ldi r23,hi8(10) |
| 1777 0c00 0E94 0000 call __udivmodhi4 |
| 1778 0c04 9F93 push r25 |
| 1779 0c06 8F93 push r24 |
| 1780 0c08 8091 0000 lds r24,Capacity |
| 1781 0c0c 9091 0000 lds r25,(Capacity)+1 |
| 1782 0c10 6AE0 ldi r22,lo8(10) |
| 1783 0c12 70E0 ldi r23,hi8(10) |
| 1784 0c14 0E94 0000 call __udivmodhi4 |
| 1785 0c18 7F93 push r23 |
| 1786 0c1a 6F93 push r22 |
| 1787 0c1c 80E0 ldi r24,lo8(__c.44) |
| 1788 0c1e 90E0 ldi r25,hi8(__c.44) |
| 1789 0c20 9F93 push r25 |
| 1790 0c22 8F93 push r24 |
| 1791 0c24 FF92 push r15 |
| 1792 0c26 EF92 push r14 |
| 1793 0c28 E091 0000 lds r30,_printf_P |
| 1794 0c2c F091 0000 lds r31,(_printf_P)+1 |
| 1795 0c30 0995 icall |
| 1796 0c32 88E2 ldi r24,lo8(40) |
| 1797 0c34 8093 0000 sts DispPtr,r24 |
| 1798 0c38 2DB7 in r18,__SP_L__ |
| 1799 0c3a 3EB7 in r19,__SP_H__ |
| 1800 0c3c 285F subi r18,lo8(-(8)) |
| 1801 0c3e 3F4F sbci r19,hi8(-(8)) |
| 1802 0c40 2DBF out __SP_L__,r18 |
| 1803 0c42 8091 0000 lds r24,Capacity+2 |
| 1804 0c46 9091 0000 lds r25,(Capacity+2)+1 |
| 1805 0c4a 9F93 push r25 |
| 1806 0c4c 8F93 push r24 |
| 1807 0c4e 80E0 ldi r24,lo8(__c.45) |
| 1808 0c50 90E0 ldi r25,hi8(__c.45) |
| 1809 0c52 9F93 push r25 |
| 1810 0c54 8F93 push r24 |
| 1811 0c56 FF92 push r15 |
| 1812 0c58 EF92 push r14 |
| 1813 0c5a E091 0000 lds r30,_printf_P |
| 1814 0c5e F091 0000 lds r31,(_printf_P)+1 |
| 1815 0c62 0995 icall |
| 1816 0c64 8CE3 ldi r24,lo8(60) |
| 1817 0c66 8093 0000 sts DispPtr,r24 |
| 1818 0c6a 8DB7 in r24,__SP_L__ |
| 1819 0c6c 9EB7 in r25,__SP_H__ |
| 1820 0c6e 0696 adiw r24,6 |
| 1821 0c70 8DBF out __SP_L__,r24 |
| 1822 0c72 8091 0000 lds r24,Capacity+4 |
| 1823 0c76 9091 0000 lds r25,(Capacity+4)+1 |
| 1824 0c7a 9F93 push r25 |
| 1825 0c7c 8F93 push r24 |
| 1826 0c7e 80E0 ldi r24,lo8(__c.46) |
| 1827 0c80 90E0 ldi r25,hi8(__c.46) |
| 1828 0c82 2EC1 rjmp .L94 |
| 1829 .L65: |
| 1830 0c84 1092 0000 sts DispPtr,__zero_reg__ |
| 1831 0c88 80E0 ldi r24,lo8(__c.47) |
| 1832 0c8a 90E0 ldi r25,hi8(__c.47) |
| 1833 0c8c 9F93 push r25 |
| 1834 0c8e 8F93 push r24 |
| 1835 0c90 FF92 push r15 |
| 1836 0c92 EF92 push r14 |
| 1837 0c94 FE01 movw r30,r28 |
| 1838 0c96 0995 icall |
| 1839 0c98 84E1 ldi r24,lo8(20) |
| 1840 0c9a 8093 0000 sts DispPtr,r24 |
| 1841 0c9e 0F90 pop __tmp_reg__ |
| 1842 0ca0 0F90 pop __tmp_reg__ |
| 1843 0ca2 0F90 pop __tmp_reg__ |
| 1844 0ca4 0F90 pop __tmp_reg__ |
| 1845 0ca6 8091 0000 lds r24,PPM_in |
| 1846 0caa 9091 0000 lds r25,(PPM_in)+1 |
| 1847 0cae 9F93 push r25 |
| 1848 0cb0 8F93 push r24 |
| 1849 0cb2 80E0 ldi r24,lo8(__c.48) |
| 1850 0cb4 90E0 ldi r25,hi8(__c.48) |
| 1851 0cb6 9F93 push r25 |
| 1852 0cb8 8F93 push r24 |
| 1853 0cba FF92 push r15 |
| 1854 0cbc EF92 push r14 |
| 1855 0cbe E091 0000 lds r30,_printf_P |
| 1856 0cc2 F091 0000 lds r31,(_printf_P)+1 |
| 1857 0cc6 0995 icall |
| 1858 0cc8 88E2 ldi r24,lo8(40) |
| 1859 0cca 8093 0000 sts DispPtr,r24 |
| 1860 0cce 8DB7 in r24,__SP_L__ |
| 1861 0cd0 9EB7 in r25,__SP_H__ |
| 1862 0cd2 0696 adiw r24,6 |
| 1863 0cd4 8DBF out __SP_L__,r24 |
| 1864 0cd6 8091 0000 lds r24,SenderOkay |
| 1865 0cda 9927 clr r25 |
| 1866 0cdc 9F93 push r25 |
| 1867 0cde 8F93 push r24 |
| 1868 0ce0 80E0 ldi r24,lo8(__c.49) |
| 1869 0ce2 90E0 ldi r25,hi8(__c.49) |
| 1870 0ce4 9F93 push r25 |
| 1871 0ce6 8F93 push r24 |
| 1872 0ce8 FF92 push r15 |
| 1873 0cea EF92 push r14 |
| 1874 0cec E091 0000 lds r30,_printf_P |
| 1875 0cf0 F091 0000 lds r31,(_printf_P)+1 |
| 1876 0cf4 0995 icall |
| 1877 0cf6 8CE3 ldi r24,lo8(60) |
| 1878 0cf8 8093 0000 sts DispPtr,r24 |
| 1879 0cfc 2DB7 in r18,__SP_L__ |
| 1880 0cfe 3EB7 in r19,__SP_H__ |
| 1881 0d00 2A5F subi r18,lo8(-(6)) |
| 1882 0d02 3F4F sbci r19,hi8(-(6)) |
| 1883 0d04 2DBF out __SP_L__,r18 |
| 1884 0d06 8091 0000 lds r24,Channels |
| 1885 0d0a 9927 clr r25 |
| 1886 0d0c 0197 sbiw r24,1 |
| 1887 0d0e 9F93 push r25 |
| 1888 0d10 8F93 push r24 |
| 1889 0d12 80E0 ldi r24,lo8(__c.50) |
| 1890 0d14 90E0 ldi r25,hi8(__c.50) |
| 1891 0d16 02CB rjmp .L93 |
| 1892 .L66: |
| 1893 0d18 1092 0000 sts DispPtr,__zero_reg__ |
| 1894 0d1c 80E0 ldi r24,lo8(__c.51) |
| 1895 0d1e 90E0 ldi r25,hi8(__c.51) |
| 1896 0d20 9F93 push r25 |
| 1897 0d22 8F93 push r24 |
| 1898 0d24 FF92 push r15 |
| 1899 0d26 EF92 push r14 |
| 1900 0d28 FE01 movw r30,r28 |
| 1901 0d2a 0995 icall |
| 1902 0d2c 84E1 ldi r24,lo8(20) |
| 1903 0d2e 8093 0000 sts DispPtr,r24 |
| 1904 0d32 0F90 pop __tmp_reg__ |
| 1905 0d34 0F90 pop __tmp_reg__ |
| 1906 0d36 0F90 pop __tmp_reg__ |
| 1907 0d38 0F90 pop __tmp_reg__ |
| 1908 0d3a 8091 0000 lds r24,KompassRichtung |
| 1909 0d3e 9091 0000 lds r25,(KompassRichtung)+1 |
| 1910 0d42 9F93 push r25 |
| 1911 0d44 8F93 push r24 |
| 1912 0d46 80E0 ldi r24,lo8(__c.52) |
| 1913 0d48 90E0 ldi r25,hi8(__c.52) |
| 1914 0d4a 9F93 push r25 |
| 1915 0d4c 8F93 push r24 |
| 1916 0d4e FF92 push r15 |
| 1917 0d50 EF92 push r14 |
| 1918 0d52 E091 0000 lds r30,_printf_P |
| 1919 0d56 F091 0000 lds r31,(_printf_P)+1 |
| 1920 0d5a 0995 icall |
| 1921 0d5c 88E2 ldi r24,lo8(40) |
| 1922 0d5e 8093 0000 sts DispPtr,r24 |
| 1923 0d62 2DB7 in r18,__SP_L__ |
| 1924 0d64 3EB7 in r19,__SP_H__ |
| 1925 0d66 2A5F subi r18,lo8(-(6)) |
| 1926 0d68 3F4F sbci r19,hi8(-(6)) |
| 1927 0d6a 2DBF out __SP_L__,r18 |
| 1928 0d6c 8091 0000 lds r24,KompassValue |
| 1929 0d70 9091 0000 lds r25,(KompassValue)+1 |
| 1930 0d74 9F93 push r25 |
| 1931 0d76 8F93 push r24 |
| 1932 0d78 80E0 ldi r24,lo8(__c.53) |
| 1933 0d7a 90E0 ldi r25,hi8(__c.53) |
| 1934 0d7c 9F93 push r25 |
| 1935 0d7e 8F93 push r24 |
| 1936 0d80 FF92 push r15 |
| 1937 0d82 EF92 push r14 |
| 1938 0d84 E091 0000 lds r30,_printf_P |
| 1939 0d88 F091 0000 lds r31,(_printf_P)+1 |
| 1940 0d8c 0995 icall |
| 1941 0d8e 8CE3 ldi r24,lo8(60) |
| 1942 0d90 8093 0000 sts DispPtr,r24 |
| 1943 0d94 8DB7 in r24,__SP_L__ |
| 1944 0d96 9EB7 in r25,__SP_H__ |
| 1945 0d98 0696 adiw r24,6 |
| 1946 0d9a 8DBF out __SP_L__,r24 |
| 1947 0d9c 8091 0000 lds r24,KompassStartwert |
| 1948 0da0 9091 0000 lds r25,(KompassStartwert)+1 |
| 1949 0da4 9F93 push r25 |
| 1950 0da6 8F93 push r24 |
| 1951 0da8 80E0 ldi r24,lo8(__c.54) |
| 1952 0daa 90E0 ldi r25,hi8(__c.54) |
| 1953 0dac 99C0 rjmp .L94 |
| 1954 .L67: |
| 1955 0dae 1092 0000 sts DispPtr,__zero_reg__ |
| 1956 0db2 8091 0000 lds r24,Poti |
| 1957 0db6 9927 clr r25 |
| 1958 0db8 9F93 push r25 |
| 1959 0dba 8F93 push r24 |
| 1960 0dbc 80E0 ldi r24,lo8(__c.55) |
| 1961 0dbe 90E0 ldi r25,hi8(__c.55) |
| 1962 0dc0 9F93 push r25 |
| 1963 0dc2 8F93 push r24 |
| 1964 0dc4 FF92 push r15 |
| 1965 0dc6 EF92 push r14 |
| 1966 0dc8 FE01 movw r30,r28 |
| 1967 0dca 0995 icall |
| 1968 0dcc 84E1 ldi r24,lo8(20) |
| 1969 0dce 8093 0000 sts DispPtr,r24 |
| 1970 0dd2 8DB7 in r24,__SP_L__ |
| 1971 0dd4 9EB7 in r25,__SP_H__ |
| 1972 0dd6 0696 adiw r24,6 |
| 1973 0dd8 8DBF out __SP_L__,r24 |
| 1974 0dda 8091 0000 lds r24,Poti+1 |
| 1975 0dde 9927 clr r25 |
| 1976 0de0 9F93 push r25 |
| 1977 0de2 8F93 push r24 |
| 1978 0de4 80E0 ldi r24,lo8(__c.56) |
| 1979 0de6 90E0 ldi r25,hi8(__c.56) |
| 1980 0de8 9F93 push r25 |
| 1981 0dea 8F93 push r24 |
| 1982 0dec FF92 push r15 |
| 1983 0dee EF92 push r14 |
| 1984 0df0 E091 0000 lds r30,_printf_P |
| 1985 0df4 F091 0000 lds r31,(_printf_P)+1 |
| 1986 0df8 0995 icall |
| 1987 0dfa 88E2 ldi r24,lo8(40) |
| 1988 0dfc 8093 0000 sts DispPtr,r24 |
| 1989 0e00 2DB7 in r18,__SP_L__ |
| 1990 0e02 3EB7 in r19,__SP_H__ |
| 1991 0e04 2A5F subi r18,lo8(-(6)) |
| 1992 0e06 3F4F sbci r19,hi8(-(6)) |
| 1993 0e08 2DBF out __SP_L__,r18 |
| 1994 0e0a 8091 0000 lds r24,Poti+2 |
| 1995 0e0e 9927 clr r25 |
| 1996 0e10 9F93 push r25 |
| 1997 0e12 8F93 push r24 |
| 1998 0e14 80E0 ldi r24,lo8(__c.57) |
| 1999 0e16 90E0 ldi r25,hi8(__c.57) |
| 2000 0e18 9F93 push r25 |
| 2001 0e1a 8F93 push r24 |
| 2002 0e1c FF92 push r15 |
| 2003 0e1e EF92 push r14 |
| 2004 0e20 E091 0000 lds r30,_printf_P |
| 2005 0e24 F091 0000 lds r31,(_printf_P)+1 |
| 2006 0e28 0995 icall |
| 2007 0e2a 8CE3 ldi r24,lo8(60) |
| 2008 0e2c 8093 0000 sts DispPtr,r24 |
| 2009 0e30 8DB7 in r24,__SP_L__ |
| 2010 0e32 9EB7 in r25,__SP_H__ |
| 2011 0e34 0696 adiw r24,6 |
| 2012 0e36 8DBF out __SP_L__,r24 |
| 2013 0e38 8091 0000 lds r24,Poti+3 |
| 2014 0e3c 9927 clr r25 |
| 2015 0e3e 9F93 push r25 |
| 2016 0e40 8F93 push r24 |
| 2017 0e42 80E0 ldi r24,lo8(__c.58) |
| 2018 0e44 90E0 ldi r25,hi8(__c.58) |
| 2019 0e46 4CC0 rjmp .L94 |
| 2020 .L68: |
| 2021 0e48 1092 0000 sts DispPtr,__zero_reg__ |
| 2022 0e4c 8091 0000 lds r24,Poti+4 |
| 2023 0e50 9927 clr r25 |
| 2024 0e52 9F93 push r25 |
| 2025 0e54 8F93 push r24 |
| 2026 0e56 80E0 ldi r24,lo8(__c.59) |
| 2027 0e58 90E0 ldi r25,hi8(__c.59) |
| 2028 0e5a 9F93 push r25 |
| 2029 0e5c 8F93 push r24 |
| 2030 0e5e FF92 push r15 |
| 2031 0e60 EF92 push r14 |
| 2032 0e62 FE01 movw r30,r28 |
| 2033 0e64 0995 icall |
| 2034 0e66 84E1 ldi r24,lo8(20) |
| 2035 0e68 8093 0000 sts DispPtr,r24 |
| 2036 0e6c 8DB7 in r24,__SP_L__ |
| 2037 0e6e 9EB7 in r25,__SP_H__ |
| 2038 0e70 0696 adiw r24,6 |
| 2039 0e72 8DBF out __SP_L__,r24 |
| 2040 0e74 8091 0000 lds r24,Poti+5 |
| 2041 0e78 9927 clr r25 |
| 2042 0e7a 9F93 push r25 |
| 2043 0e7c 8F93 push r24 |
| 2044 0e7e 80E0 ldi r24,lo8(__c.60) |
| 2045 0e80 90E0 ldi r25,hi8(__c.60) |
| 2046 0e82 9F93 push r25 |
| 2047 0e84 8F93 push r24 |
| 2048 0e86 FF92 push r15 |
| 2049 0e88 EF92 push r14 |
| 2050 0e8a E091 0000 lds r30,_printf_P |
| 2051 0e8e F091 0000 lds r31,(_printf_P)+1 |
| 2052 0e92 0995 icall |
| 2053 0e94 88E2 ldi r24,lo8(40) |
| 2054 0e96 8093 0000 sts DispPtr,r24 |
| 2055 0e9a 2DB7 in r18,__SP_L__ |
| 2056 0e9c 3EB7 in r19,__SP_H__ |
| 2057 0e9e 2A5F subi r18,lo8(-(6)) |
| 2058 0ea0 3F4F sbci r19,hi8(-(6)) |
| 2059 0ea2 2DBF out __SP_L__,r18 |
| 2060 0ea4 8091 0000 lds r24,Poti+6 |
| 2061 0ea8 9927 clr r25 |
| 2062 0eaa 9F93 push r25 |
| 2063 0eac 8F93 push r24 |
| 2064 0eae 80E0 ldi r24,lo8(__c.61) |
| 2065 0eb0 90E0 ldi r25,hi8(__c.61) |
| 2066 0eb2 9F93 push r25 |
| 2067 0eb4 8F93 push r24 |
| 2068 0eb6 FF92 push r15 |
| 2069 0eb8 EF92 push r14 |
| 2070 0eba E091 0000 lds r30,_printf_P |
| 2071 0ebe F091 0000 lds r31,(_printf_P)+1 |
| 2072 0ec2 0995 icall |
| 2073 0ec4 8CE3 ldi r24,lo8(60) |
| 2074 0ec6 8093 0000 sts DispPtr,r24 |
| 2075 0eca 8DB7 in r24,__SP_L__ |
| 2076 0ecc 9EB7 in r25,__SP_H__ |
| 2077 0ece 0696 adiw r24,6 |
| 2078 0ed0 8DBF out __SP_L__,r24 |
| 2079 0ed2 8091 0000 lds r24,Poti+7 |
| 2080 0ed6 9927 clr r25 |
| 2081 0ed8 9F93 push r25 |
| 2082 0eda 8F93 push r24 |
| 2083 0edc 80E0 ldi r24,lo8(__c.62) |
| 2084 0ede 90E0 ldi r25,hi8(__c.62) |
| 2085 .L94: |
| 2086 0ee0 9F93 push r25 |
| 2087 0ee2 8F93 push r24 |
| 2088 0ee4 FF92 push r15 |
| 2089 0ee6 EF92 push r14 |
| 2090 0ee8 D9CA rjmp .L89 |
| 2091 .L69: |
| 2092 0eea 1092 0000 sts DispPtr,__zero_reg__ |
| 2093 0eee 80E0 ldi r24,lo8(__c.63) |
| 2094 0ef0 90E0 ldi r25,hi8(__c.63) |
| 2095 0ef2 9F93 push r25 |
| 2096 0ef4 8F93 push r24 |
| 2097 0ef6 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 2098 0ef8 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 2099 0efa FF92 push r15 |
| 2100 0efc EF92 push r14 |
| 2101 0efe FE01 movw r30,r28 |
| 2102 0f00 0995 icall |
| 2103 0f02 84E1 ldi r24,lo8(20) |
| 2104 0f04 8093 0000 sts DispPtr,r24 |
| 2105 0f08 0F90 pop __tmp_reg__ |
| 2106 0f0a 0F90 pop __tmp_reg__ |
| 2107 0f0c 0F90 pop __tmp_reg__ |
| 2108 0f0e 0F90 pop __tmp_reg__ |
| 2109 0f10 8091 0000 lds r24,Parameter_ServoNickControl |
| 2110 0f14 9927 clr r25 |
| 2111 0f16 9F93 push r25 |
| 2112 0f18 8F93 push r24 |
| 2113 0f1a 80E0 ldi r24,lo8(__c.64) |
| 2114 0f1c 90E0 ldi r25,hi8(__c.64) |
| 2115 0f1e 9F93 push r25 |
| 2116 0f20 8F93 push r24 |
| 2117 0f22 FF92 push r15 |
| 2118 0f24 EF92 push r14 |
| 2119 0f26 E091 0000 lds r30,_printf_P |
| 2120 0f2a F091 0000 lds r31,(_printf_P)+1 |
| 2121 0f2e 0995 icall |
| 2122 0f30 88E2 ldi r24,lo8(40) |
| 2123 0f32 8093 0000 sts DispPtr,r24 |
| 2124 0f36 8DB7 in r24,__SP_L__ |
| 2125 0f38 9EB7 in r25,__SP_H__ |
| 2126 0f3a 0696 adiw r24,6 |
| 2127 0f3c 8DBF out __SP_L__,r24 |
| 2128 0f3e 8091 0000 lds r24,ServoNickValue |
| 2129 0f42 9091 0000 lds r25,(ServoNickValue)+1 |
| 2130 0f46 97FD sbrc r25,7 |
| 2131 0f48 0396 adiw r24,3 |
| 2132 .L70: |
| 2133 0f4a 9595 asr r25 |
| 2134 0f4c 8795 ror r24 |
| 2135 0f4e 9595 asr r25 |
| 2136 0f50 8795 ror r24 |
| 2137 0f52 9F93 push r25 |
| 2138 0f54 8F93 push r24 |
| 2139 0f56 80E0 ldi r24,lo8(__c.65) |
| 2140 0f58 90E0 ldi r25,hi8(__c.65) |
| 2141 0f5a 9F93 push r25 |
| 2142 0f5c 8F93 push r24 |
| 2143 0f5e 1F93 push r17 |
| 2144 0f60 0F93 push r16 |
| 2145 0f62 E091 0000 lds r30,_printf_P |
| 2146 0f66 F091 0000 lds r31,(_printf_P)+1 |
| 2147 0f6a 0995 icall |
| 2148 0f6c 8CE3 ldi r24,lo8(60) |
| 2149 0f6e 8093 0000 sts DispPtr,r24 |
| 2150 0f72 2DB7 in r18,__SP_L__ |
| 2151 0f74 3EB7 in r19,__SP_H__ |
| 2152 0f76 2A5F subi r18,lo8(-(6)) |
| 2153 0f78 3F4F sbci r19,hi8(-(6)) |
| 2154 0f7a 2DBF out __SP_L__,r18 |
| 2155 0f7c 8091 0000 lds r24,EE_Parameter+48 |
| 2156 0f80 9927 clr r25 |
| 2157 0f82 9F93 push r25 |
| 2158 0f84 8F93 push r24 |
| 2159 0f86 8091 0000 lds r24,EE_Parameter+47 |
| 2160 0f8a 9927 clr r25 |
| 2161 0f8c 9F93 push r25 |
| 2162 0f8e 8F93 push r24 |
| 2163 0f90 80E0 ldi r24,lo8(__c.66) |
| 2164 0f92 90E0 ldi r25,hi8(__c.66) |
| 2165 .L88: |
| 2166 0f94 9F93 push r25 |
| 2167 0f96 8F93 push r24 |
| 2168 0f98 1F93 push r17 |
| 2169 0f9a 0F93 push r16 |
| 2170 0f9c E091 0000 lds r30,_printf_P |
| 2171 0fa0 F091 0000 lds r31,(_printf_P)+1 |
| 2172 0fa4 0995 icall |
| 2173 0fa6 8DB7 in r24,__SP_L__ |
| 2174 0fa8 9EB7 in r25,__SP_H__ |
| 2175 0faa 0896 adiw r24,8 |
| 2176 0fac F7C0 rjmp .L85 |
| 2177 .L71: |
| 2178 0fae 1092 0000 sts DispPtr,__zero_reg__ |
| 2179 0fb2 80E0 ldi r24,lo8(__c.67) |
| 2180 0fb4 90E0 ldi r25,hi8(__c.67) |
| 2181 0fb6 9F93 push r25 |
| 2182 0fb8 8F93 push r24 |
| 2183 0fba FF92 push r15 |
| 2184 0fbc EF92 push r14 |
| 2185 0fbe FE01 movw r30,r28 |
| 2186 0fc0 0995 icall |
| 2187 0fc2 84E1 ldi r24,lo8(20) |
| 2188 0fc4 8093 0000 sts DispPtr,r24 |
| 2189 0fc8 0F90 pop __tmp_reg__ |
| 2190 0fca 0F90 pop __tmp_reg__ |
| 2191 0fcc 0F90 pop __tmp_reg__ |
| 2192 0fce 0F90 pop __tmp_reg__ |
| 2193 0fd0 8091 0000 lds r24,ExternControl+4 |
| 2194 0fd4 9927 clr r25 |
| 2195 0fd6 87FD sbrc r24,7 |
| 2196 0fd8 9095 com r25 |
| 2197 0fda 9F93 push r25 |
| 2198 0fdc 8F93 push r24 |
| 2199 0fde 8091 0000 lds r24,ExternControl+3 |
| 2200 0fe2 9927 clr r25 |
| 2201 0fe4 87FD sbrc r24,7 |
| 2202 0fe6 9095 com r25 |
| 2203 0fe8 9F93 push r25 |
| 2204 0fea 8F93 push r24 |
| 2205 0fec 80E0 ldi r24,lo8(__c.68) |
| 2206 0fee 90E0 ldi r25,hi8(__c.68) |
| 2207 0ff0 9F93 push r25 |
| 2208 0ff2 8F93 push r24 |
| 2209 0ff4 FF92 push r15 |
| 2210 0ff6 EF92 push r14 |
| 2211 0ff8 E091 0000 lds r30,_printf_P |
| 2212 0ffc F091 0000 lds r31,(_printf_P)+1 |
| 2213 1000 0995 icall |
| 2214 1002 88E2 ldi r24,lo8(40) |
| 2215 1004 8093 0000 sts DispPtr,r24 |
| 2216 1008 2DB7 in r18,__SP_L__ |
| 2217 100a 3EB7 in r19,__SP_H__ |
| 2218 100c 285F subi r18,lo8(-(8)) |
| 2219 100e 3F4F sbci r19,hi8(-(8)) |
| 2220 1010 2DBF out __SP_L__,r18 |
| 2221 1012 8091 0000 lds r24,ExternControl+5 |
| 2222 1016 9927 clr r25 |
| 2223 1018 87FD sbrc r24,7 |
| 2224 101a 9095 com r25 |
| 2225 101c 9F93 push r25 |
| 2226 101e 8F93 push r24 |
| 2227 1020 8091 0000 lds r24,ExternControl+6 |
| 2228 1024 9927 clr r25 |
| 2229 1026 9F93 push r25 |
| 2230 1028 8F93 push r24 |
| 2231 102a 80E0 ldi r24,lo8(__c.69) |
| 2232 102c 90E0 ldi r25,hi8(__c.69) |
| 2233 102e 9F93 push r25 |
| 2234 1030 8F93 push r24 |
| 2235 1032 FF92 push r15 |
| 2236 1034 EF92 push r14 |
| 2237 1036 E091 0000 lds r30,_printf_P |
| 2238 103a F091 0000 lds r31,(_printf_P)+1 |
| 2239 103e 0995 icall |
| 2240 1040 8CE3 ldi r24,lo8(60) |
| 2241 1042 8093 0000 sts DispPtr,r24 |
| 2242 1046 8DB7 in r24,__SP_L__ |
| 2243 1048 9EB7 in r25,__SP_H__ |
| 2244 104a 0896 adiw r24,8 |
| 2245 104c 8DBF out __SP_L__,r24 |
| 2246 104e 8091 0000 lds r24,ExternControl+10 |
| 2247 1052 9927 clr r25 |
| 2248 1054 9F93 push r25 |
| 2249 1056 8F93 push r24 |
| 2250 1058 8091 0000 lds r24,ExternControl+7 |
| 2251 105c 9927 clr r25 |
| 2252 105e 87FD sbrc r24,7 |
| 2253 1060 9095 com r25 |
| 2254 1062 9F93 push r25 |
| 2255 1064 8F93 push r24 |
| 2256 1066 80E0 ldi r24,lo8(__c.70) |
| 2257 1068 90E0 ldi r25,hi8(__c.70) |
| 2258 106a 2DCB rjmp .L90 |
| 2259 .L72: |
| 2260 106c 1092 0000 sts DispPtr,__zero_reg__ |
| 2261 1070 80E0 ldi r24,lo8(__c.71) |
| 2262 1072 90E0 ldi r25,hi8(__c.71) |
| 2263 1074 9F93 push r25 |
| 2264 1076 8F93 push r24 |
| 2265 1078 FF92 push r15 |
| 2266 107a EF92 push r14 |
| 2267 107c FE01 movw r30,r28 |
| 2268 107e 0995 icall |
| 2269 1080 84E1 ldi r24,lo8(20) |
| 2270 1082 8093 0000 sts DispPtr,r24 |
| 2271 1086 0F90 pop __tmp_reg__ |
| 2272 1088 0F90 pop __tmp_reg__ |
| 2273 108a 0F90 pop __tmp_reg__ |
| 2274 108c 0F90 pop __tmp_reg__ |
| 2275 108e 8091 0000 lds r24,Motor+27 |
| 2276 1092 9927 clr r25 |
| 2277 1094 8F77 andi r24,lo8(127) |
| 2278 1096 9070 andi r25,hi8(127) |
| 2279 1098 9F93 push r25 |
| 2280 109a 8F93 push r24 |
| 2281 109c 8091 0000 lds r24,Motor+19 |
| 2282 10a0 9927 clr r25 |
| 2283 10a2 8F77 andi r24,lo8(127) |
| 2284 10a4 9070 andi r25,hi8(127) |
| 2285 10a6 9F93 push r25 |
| 2286 10a8 8F93 push r24 |
| 2287 10aa 8091 0000 lds r24,Motor+11 |
| 2288 10ae 9927 clr r25 |
| 2289 10b0 8F77 andi r24,lo8(127) |
| 2290 10b2 9070 andi r25,hi8(127) |
| 2291 10b4 9F93 push r25 |
| 2292 10b6 8F93 push r24 |
| 2293 10b8 8091 0000 lds r24,Motor+3 |
| 2294 10bc 9927 clr r25 |
| 2295 10be 8F77 andi r24,lo8(127) |
| 2296 10c0 9070 andi r25,hi8(127) |
| 2297 10c2 9F93 push r25 |
| 2298 10c4 8F93 push r24 |
| 2299 10c6 80E0 ldi r24,lo8(__c.72) |
| 2300 10c8 90E0 ldi r25,hi8(__c.72) |
| 2301 10ca 9F93 push r25 |
| 2302 10cc 8F93 push r24 |
| 2303 10ce FF92 push r15 |
| 2304 10d0 EF92 push r14 |
| 2305 10d2 E091 0000 lds r30,_printf_P |
| 2306 10d6 F091 0000 lds r31,(_printf_P)+1 |
| 2307 10da 0995 icall |
| 2308 10dc 88E2 ldi r24,lo8(40) |
| 2309 10de 8093 0000 sts DispPtr,r24 |
| 2310 10e2 8DB7 in r24,__SP_L__ |
| 2311 10e4 9EB7 in r25,__SP_H__ |
| 2312 10e6 0C96 adiw r24,12 |
| 2313 10e8 8DBF out __SP_L__,r24 |
| 2314 10ea 8091 0000 lds r24,Motor+59 |
| 2315 10ee 9927 clr r25 |
| 2316 10f0 8F77 andi r24,lo8(127) |
| 2317 10f2 9070 andi r25,hi8(127) |
| 2318 10f4 9F93 push r25 |
| 2319 10f6 8F93 push r24 |
| 2320 10f8 8091 0000 lds r24,Motor+51 |
| 2321 10fc 9927 clr r25 |
| 2322 10fe 8F77 andi r24,lo8(127) |
| 2323 1100 9070 andi r25,hi8(127) |
| 2324 1102 9F93 push r25 |
| 2325 1104 8F93 push r24 |
| 2326 1106 8091 0000 lds r24,Motor+43 |
| 2327 110a 9927 clr r25 |
| 2328 110c 8F77 andi r24,lo8(127) |
| 2329 110e 9070 andi r25,hi8(127) |
| 2330 1110 9F93 push r25 |
| 2331 1112 8F93 push r24 |
| 2332 1114 8091 0000 lds r24,Motor+35 |
| 2333 1118 9927 clr r25 |
| 2334 111a 8F77 andi r24,lo8(127) |
| 2335 111c 9070 andi r25,hi8(127) |
| 2336 111e 9F93 push r25 |
| 2337 1120 8F93 push r24 |
| 2338 1122 80E0 ldi r24,lo8(__c.73) |
| 2339 1124 90E0 ldi r25,hi8(__c.73) |
| 2340 1126 9F93 push r25 |
| 2341 1128 8F93 push r24 |
| 2342 112a FF92 push r15 |
| 2343 112c EF92 push r14 |
| 2344 112e E091 0000 lds r30,_printf_P |
| 2345 1132 F091 0000 lds r31,(_printf_P)+1 |
| 2346 1136 0995 icall |
| 2347 1138 8CE3 ldi r24,lo8(60) |
| 2348 113a 8093 0000 sts DispPtr,r24 |
| 2349 113e 2DB7 in r18,__SP_L__ |
| 2350 1140 3EB7 in r19,__SP_H__ |
| 2351 1142 245F subi r18,lo8(-(12)) |
| 2352 1144 3F4F sbci r19,hi8(-(12)) |
| 2353 1146 2DBF out __SP_L__,r18 |
| 2354 1148 8091 0000 lds r24,Motor+91 |
| 2355 114c 9927 clr r25 |
| 2356 114e 8F77 andi r24,lo8(127) |
| 2357 1150 9070 andi r25,hi8(127) |
| 2358 1152 9F93 push r25 |
| 2359 1154 8F93 push r24 |
| 2360 1156 8091 0000 lds r24,Motor+83 |
| 2361 115a 9927 clr r25 |
| 2362 115c 8F77 andi r24,lo8(127) |
| 2363 115e 9070 andi r25,hi8(127) |
| 2364 1160 9F93 push r25 |
| 2365 1162 8F93 push r24 |
| 2366 1164 8091 0000 lds r24,Motor+75 |
| 2367 1168 9927 clr r25 |
| 2368 116a 8F77 andi r24,lo8(127) |
| 2369 116c 9070 andi r25,hi8(127) |
| 2370 116e 9F93 push r25 |
| 2371 1170 8F93 push r24 |
| 2372 1172 8091 0000 lds r24,Motor+67 |
| 2373 1176 9927 clr r25 |
| 2374 1178 8F77 andi r24,lo8(127) |
| 2375 117a 9070 andi r25,hi8(127) |
| 2376 117c 9F93 push r25 |
| 2377 117e 8F93 push r24 |
| 2378 1180 80E0 ldi r24,lo8(__c.74) |
| 2379 1182 90E0 ldi r25,hi8(__c.74) |
| 2380 1184 9F93 push r25 |
| 2381 1186 8F93 push r24 |
| 2382 1188 FF92 push r15 |
| 2383 118a EF92 push r14 |
| 2384 118c E091 0000 lds r30,_printf_P |
| 2385 1190 F091 0000 lds r31,(_printf_P)+1 |
| 2386 1194 0995 icall |
| 2387 1196 8DB7 in r24,__SP_L__ |
| 2388 1198 9EB7 in r25,__SP_H__ |
| 2389 119a 0C96 adiw r24,12 |
| 2390 .L85: |
| 2391 119c 8DBF out __SP_L__,r24 |
| 2392 119e FEC1 rjmp .L19 |
| 2393 .L73: |
| 2394 11a0 1092 0000 sts DispPtr,__zero_reg__ |
| 2395 11a4 80E0 ldi r24,lo8(__c.75) |
| 2396 11a6 90E0 ldi r25,hi8(__c.75) |
| 2397 11a8 9F93 push r25 |
| 2398 11aa 8F93 push r24 |
| 2399 11ac FF92 push r15 |
| 2400 11ae EF92 push r14 |
| 2401 11b0 FE01 movw r30,r28 |
| 2402 11b2 0995 icall |
| 2403 11b4 84E1 ldi r24,lo8(20) |
| 2404 11b6 8093 0000 sts DispPtr,r24 |
| 2405 11ba 0F90 pop __tmp_reg__ |
| 2406 11bc 0F90 pop __tmp_reg__ |
| 2407 11be 0F90 pop __tmp_reg__ |
| 2408 11c0 0F90 pop __tmp_reg__ |
| 2409 11c2 8091 0000 lds r24,Motor+31 |
| 2410 11c6 9927 clr r25 |
| 2411 11c8 87FD sbrc r24,7 |
| 2412 11ca 9095 com r25 |
| 2413 11cc 9F93 push r25 |
| 2414 11ce 8F93 push r24 |
| 2415 11d0 8091 0000 lds r24,Motor+23 |
| 2416 11d4 9927 clr r25 |
| 2417 11d6 87FD sbrc r24,7 |
| 2418 11d8 9095 com r25 |
| 2419 11da 9F93 push r25 |
| 2420 11dc 8F93 push r24 |
| 2421 11de 8091 0000 lds r24,Motor+15 |
| 2422 11e2 9927 clr r25 |
| 2423 11e4 87FD sbrc r24,7 |
| 2424 11e6 9095 com r25 |
| 2425 11e8 9F93 push r25 |
| 2426 11ea 8F93 push r24 |
| 2427 11ec 8091 0000 lds r24,Motor+7 |
| 2428 11f0 9927 clr r25 |
| 2429 11f2 87FD sbrc r24,7 |
| 2430 11f4 9095 com r25 |
| 2431 11f6 9F93 push r25 |
| 2432 11f8 8F93 push r24 |
| 2433 11fa 80E0 ldi r24,lo8(__c.76) |
| 2434 11fc 90E0 ldi r25,hi8(__c.76) |
| 2435 11fe 9F93 push r25 |
| 2436 1200 8F93 push r24 |
| 2437 1202 FF92 push r15 |
| 2438 1204 EF92 push r14 |
| 2439 1206 E091 0000 lds r30,_printf_P |
| 2440 120a F091 0000 lds r31,(_printf_P)+1 |
| 2441 120e 0995 icall |
| 2442 1210 88E2 ldi r24,lo8(40) |
| 2443 1212 8093 0000 sts DispPtr,r24 |
| 2444 1216 2DB7 in r18,__SP_L__ |
| 2445 1218 3EB7 in r19,__SP_H__ |
| 2446 121a 245F subi r18,lo8(-(12)) |
| 2447 121c 3F4F sbci r19,hi8(-(12)) |
| 2448 121e 2DBF out __SP_L__,r18 |
| 2449 1220 8091 0000 lds r24,Motor+63 |
| 2450 1224 9927 clr r25 |
| 2451 1226 87FD sbrc r24,7 |
| 2452 1228 9095 com r25 |
| 2453 122a 9F93 push r25 |
| 2454 122c 8F93 push r24 |
| 2455 122e 8091 0000 lds r24,Motor+55 |
| 2456 1232 9927 clr r25 |
| 2457 1234 87FD sbrc r24,7 |
| 2458 1236 9095 com r25 |
| 2459 1238 9F93 push r25 |
| 2460 123a 8F93 push r24 |
| 2461 123c 8091 0000 lds r24,Motor+47 |
| 2462 1240 9927 clr r25 |
| 2463 1242 87FD sbrc r24,7 |
| 2464 1244 9095 com r25 |
| 2465 1246 9F93 push r25 |
| 2466 1248 8F93 push r24 |
| 2467 124a 8091 0000 lds r24,Motor+39 |
| 2468 124e 9927 clr r25 |
| 2469 1250 87FD sbrc r24,7 |
| 2470 1252 9095 com r25 |
| 2471 1254 9F93 push r25 |
| 2472 1256 8F93 push r24 |
| 2473 1258 80E0 ldi r24,lo8(__c.77) |
| 2474 125a 90E0 ldi r25,hi8(__c.77) |
| 2475 125c 9F93 push r25 |
| 2476 125e 8F93 push r24 |
| 2477 1260 FF92 push r15 |
| 2478 1262 EF92 push r14 |
| 2479 1264 E091 0000 lds r30,_printf_P |
| 2480 1268 F091 0000 lds r31,(_printf_P)+1 |
| 2481 126c 0995 icall |
| 2482 126e 8CE3 ldi r24,lo8(60) |
| 2483 1270 8093 0000 sts DispPtr,r24 |
| 2484 1274 8DB7 in r24,__SP_L__ |
| 2485 1276 9EB7 in r25,__SP_H__ |
| 2486 1278 0C96 adiw r24,12 |
| 2487 127a 8DBF out __SP_L__,r24 |
| 2488 127c 8091 0000 lds r24,Motor+95 |
| 2489 1280 9927 clr r25 |
| 2490 1282 87FD sbrc r24,7 |
| 2491 1284 9095 com r25 |
| 2492 1286 9F93 push r25 |
| 2493 1288 8F93 push r24 |
| 2494 128a 8091 0000 lds r24,Motor+87 |
| 2495 128e 9927 clr r25 |
| 2496 1290 87FD sbrc r24,7 |
| 2497 1292 9095 com r25 |
| 2498 1294 9F93 push r25 |
| 2499 1296 8F93 push r24 |
| 2500 1298 8091 0000 lds r24,Motor+79 |
| 2501 129c 9927 clr r25 |
| 2502 129e 87FD sbrc r24,7 |
| 2503 12a0 9095 com r25 |
| 2504 12a2 9F93 push r25 |
| 2505 12a4 8F93 push r24 |
| 2506 12a6 8091 0000 lds r24,Motor+71 |
| 2507 12aa 9927 clr r25 |
| 2508 12ac 87FD sbrc r24,7 |
| 2509 12ae 9095 com r25 |
| 2510 12b0 9F93 push r25 |
| 2511 12b2 8F93 push r24 |
| 2512 12b4 80E0 ldi r24,lo8(__c.78) |
| 2513 12b6 90E0 ldi r25,hi8(__c.78) |
| 2514 12b8 9F93 push r25 |
| 2515 12ba 8F93 push r24 |
| 2516 12bc FF92 push r15 |
| 2517 12be EF92 push r14 |
| 2518 12c0 E091 0000 lds r30,_printf_P |
| 2519 12c4 F091 0000 lds r31,(_printf_P)+1 |
| 2520 12c8 0995 icall |
| 2521 12ca 2DB7 in r18,__SP_L__ |
| 2522 12cc 3EB7 in r19,__SP_H__ |
| 2523 12ce 245F subi r18,lo8(-(12)) |
| 2524 12d0 3F4F sbci r19,hi8(-(12)) |
| 2525 .L84: |
| 2526 12d2 2DBF out __SP_L__,r18 |
| 2527 12d4 63C1 rjmp .L19 |
| 2528 .L74: |
| 2529 12d6 1092 0000 sts DispPtr,__zero_reg__ |
| 2530 12da 80E0 ldi r24,lo8(__c.79) |
| 2531 12dc 90E0 ldi r25,hi8(__c.79) |
| 2532 12de 9F93 push r25 |
| 2533 12e0 8F93 push r24 |
| 2534 12e2 00E0 ldi r16,lo8(pm(Menu_Putchar)) |
| 2535 12e4 10E0 ldi r17,hi8(pm(Menu_Putchar)) |
| 2536 12e6 FF92 push r15 |
| 2537 12e8 EF92 push r14 |
| 2538 12ea FE01 movw r30,r28 |
| 2539 12ec 0995 icall |
| 2540 12ee 84E1 ldi r24,lo8(20) |
| 2541 12f0 8093 0000 sts DispPtr,r24 |
| 2542 12f4 0F90 pop __tmp_reg__ |
| 2543 12f6 0F90 pop __tmp_reg__ |
| 2544 12f8 0F90 pop __tmp_reg__ |
| 2545 12fa 0F90 pop __tmp_reg__ |
| 2546 12fc 8091 0000 lds r24,Motor+27 |
| 2547 1300 881F rol r24 |
| 2548 1302 8827 clr r24 |
| 2549 1304 881F rol r24 |
| 2550 1306 97E0 ldi r25,lo8(7) |
| 2551 1308 899F mul r24,r25 |
| 2552 130a C001 movw r24,r0 |
| 2553 130c 1124 clr r1 |
| 2554 130e 8D96 adiw r24,45 |
| 2555 1310 9F93 push r25 |
| 2556 1312 8F93 push r24 |
| 2557 1314 8091 0000 lds r24,Motor+19 |
| 2558 1318 881F rol r24 |
| 2559 131a 8827 clr r24 |
| 2560 131c 881F rol r24 |
| 2561 131e 96E0 ldi r25,lo8(6) |
| 2562 1320 899F mul r24,r25 |
| 2563 1322 C001 movw r24,r0 |
| 2564 1324 1124 clr r1 |
| 2565 1326 8D96 adiw r24,45 |
| 2566 1328 9F93 push r25 |
| 2567 132a 8F93 push r24 |
| 2568 132c 8091 0000 lds r24,Motor+11 |
| 2569 1330 881F rol r24 |
| 2570 1332 8827 clr r24 |
| 2571 1334 881F rol r24 |
| 2572 1336 95E0 ldi r25,lo8(5) |
| 2573 1338 899F mul r24,r25 |
| 2574 133a C001 movw r24,r0 |
| 2575 133c 1124 clr r1 |
| 2576 133e 8D96 adiw r24,45 |
| 2577 1340 9F93 push r25 |
| 2578 1342 8F93 push r24 |
| 2579 1344 8091 0000 lds r24,Motor+3 |
| 2580 1348 881F rol r24 |
| 2581 134a 8827 clr r24 |
| 2582 134c 881F rol r24 |
| 2583 134e 9927 clr r25 |
| 2584 1350 880F lsl r24 |
| 2585 1352 991F rol r25 |
| 2586 1354 880F lsl r24 |
| 2587 1356 991F rol r25 |
| 2588 1358 8D96 adiw r24,45 |
| 2589 135a 9F93 push r25 |
| 2590 135c 8F93 push r24 |
| 2591 135e 80E0 ldi r24,lo8(__c.80) |
| 2592 1360 90E0 ldi r25,hi8(__c.80) |
| 2593 1362 9F93 push r25 |
| 2594 1364 8F93 push r24 |
| 2595 1366 FF92 push r15 |
| 2596 1368 EF92 push r14 |
| 2597 136a E091 0000 lds r30,_printf_P |
| 2598 136e F091 0000 lds r31,(_printf_P)+1 |
| 2599 1372 0995 icall |
| 2600 1374 88E2 ldi r24,lo8(40) |
| 2601 1376 8093 0000 sts DispPtr,r24 |
| 2602 137a 8DB7 in r24,__SP_L__ |
| 2603 137c 9EB7 in r25,__SP_H__ |
| 2604 137e 0C96 adiw r24,12 |
| 2605 1380 8DBF out __SP_L__,r24 |
| 2606 1382 8091 0000 lds r24,Motor+59 |
| 2607 1386 881F rol r24 |
| 2608 1388 8827 clr r24 |
| 2609 138a 881F rol r24 |
| 2610 138c 9BE0 ldi r25,lo8(11) |
| 2611 138e 899F mul r24,r25 |
| 2612 1390 C001 movw r24,r0 |
| 2613 1392 1124 clr r1 |
| 2614 1394 8D96 adiw r24,45 |
| 2615 1396 9F93 push r25 |
| 2616 1398 8F93 push r24 |
| 2617 139a 8091 0000 lds r24,Motor+51 |
| 2618 139e 881F rol r24 |
| 2619 13a0 8827 clr r24 |
| 2620 13a2 881F rol r24 |
| 2621 13a4 9AE0 ldi r25,lo8(10) |
| 2622 13a6 899F mul r24,r25 |
| 2623 13a8 C001 movw r24,r0 |
| 2624 13aa 1124 clr r1 |
| 2625 13ac 8D96 adiw r24,45 |
| 2626 13ae 9F93 push r25 |
| 2627 13b0 8F93 push r24 |
| 2628 13b2 8091 0000 lds r24,Motor+43 |
| 2629 13b6 881F rol r24 |
| 2630 13b8 8827 clr r24 |
| 2631 13ba 881F rol r24 |
| 2632 13bc 99E0 ldi r25,lo8(9) |
| 2633 13be 899F mul r24,r25 |
| 2634 13c0 C001 movw r24,r0 |
| 2635 13c2 1124 clr r1 |
| 2636 13c4 8D96 adiw r24,45 |
| 2637 13c6 9F93 push r25 |
| 2638 13c8 8F93 push r24 |
| 2639 13ca 8091 0000 lds r24,Motor+35 |
| 2640 13ce 881F rol r24 |
| 2641 13d0 8827 clr r24 |
| 2642 13d2 881F rol r24 |
| 2643 13d4 9927 clr r25 |
| 2644 13d6 23E0 ldi r18,3 |
| 2645 13d8 880F 1: lsl r24 |
| 2646 13da 991F rol r25 |
| 2647 13dc 2A95 dec r18 |
| 2648 13de E1F7 brne 1b |
| 2649 13e0 8D96 adiw r24,45 |
| 2650 13e2 9F93 push r25 |
| 2651 13e4 8F93 push r24 |
| 2652 13e6 80E0 ldi r24,lo8(__c.81) |
| 2653 13e8 90E0 ldi r25,hi8(__c.81) |
| 2654 13ea 9F93 push r25 |
| 2655 13ec 8F93 push r24 |
| 2656 13ee FF92 push r15 |
| 2657 13f0 EF92 push r14 |
| 2658 13f2 E091 0000 lds r30,_printf_P |
| 2659 13f6 F091 0000 lds r31,(_printf_P)+1 |
| 2660 13fa 0995 icall |
| 2661 13fc 8CE3 ldi r24,lo8(60) |
| 2662 13fe 8093 0000 sts DispPtr,r24 |
| 2663 1402 2DB7 in r18,__SP_L__ |
| 2664 1404 3EB7 in r19,__SP_H__ |
| 2665 1406 245F subi r18,lo8(-(12)) |
| 2666 1408 3F4F sbci r19,hi8(-(12)) |
| 2667 140a 2DBF out __SP_L__,r18 |
| 2668 140c 8091 0000 lds r24,Motor+67 |
| 2669 1410 881F rol r24 |
| 2670 1412 8827 clr r24 |
| 2671 1414 881F rol r24 |
| 2672 1416 9CE0 ldi r25,lo8(12) |
| 2673 1418 899F mul r24,r25 |
| 2674 141a C001 movw r24,r0 |
| 2675 141c 1124 clr r1 |
| 2676 141e 8D96 adiw r24,45 |
| 2677 1420 9F93 push r25 |
| 2678 1422 8F93 push r24 |
| 2679 1424 80E0 ldi r24,lo8(__c.82) |
| 2680 1426 90E0 ldi r25,hi8(__c.82) |
| 2681 1428 9F93 push r25 |
| 2682 142a 8F93 push r24 |
| 2683 142c FF92 push r15 |
| 2684 142e EF92 push r14 |
| 2685 1430 E091 0000 lds r30,_printf_P |
| 2686 1434 F091 0000 lds r31,(_printf_P)+1 |
| 2687 1438 0995 icall |
| 2688 143a 8091 0000 lds r24,Motor+75 |
| 2689 143e 2DB7 in r18,__SP_L__ |
| 2690 1440 3EB7 in r19,__SP_H__ |
| 2691 1442 2A5F subi r18,lo8(-(6)) |
| 2692 1444 3F4F sbci r19,hi8(-(6)) |
| 2693 1446 2DBF out __SP_L__,r18 |
| 2694 1448 87FF sbrs r24,7 |
| 2695 144a 12C0 rjmp .L75 |
| 2696 144c 80E4 ldi r24,lo8(64) |
| 2697 144e 8093 0000 sts DispPtr,r24 |
| 2698 1452 80E0 ldi r24,lo8(__c.83) |
| 2699 1454 90E0 ldi r25,hi8(__c.83) |
| 2700 1456 9F93 push r25 |
| 2701 1458 8F93 push r24 |
| 2702 145a FF92 push r15 |
| 2703 145c EF92 push r14 |
| 2704 145e E091 0000 lds r30,_printf_P |
| 2705 1462 F091 0000 lds r31,(_printf_P)+1 |
| 2706 1466 0995 icall |
| 2707 1468 0F90 pop __tmp_reg__ |
| 2708 146a 0F90 pop __tmp_reg__ |
| 2709 146c 0F90 pop __tmp_reg__ |
| 2710 146e 0F90 pop __tmp_reg__ |
| 2711 .L75: |
| 2712 1470 8091 0000 lds r24,Motor+83 |
| 2713 1474 87FF sbrs r24,7 |
| 2714 1476 12C0 rjmp .L76 |
| 2715 1478 84E4 ldi r24,lo8(68) |
| 2716 147a 8093 0000 sts DispPtr,r24 |
| 2717 147e 80E0 ldi r24,lo8(__c.84) |
| 2718 1480 90E0 ldi r25,hi8(__c.84) |
| 2719 1482 9F93 push r25 |
| 2720 1484 8F93 push r24 |
| 2721 1486 1F93 push r17 |
| 2722 1488 0F93 push r16 |
| 2723 148a E091 0000 lds r30,_printf_P |
| 2724 148e F091 0000 lds r31,(_printf_P)+1 |
| 2725 1492 0995 icall |
| 2726 1494 0F90 pop __tmp_reg__ |
| 2727 1496 0F90 pop __tmp_reg__ |
| 2728 1498 0F90 pop __tmp_reg__ |
| 2729 149a 0F90 pop __tmp_reg__ |
| 2730 .L76: |
| 2731 149c 8091 0000 lds r24,Motor+91 |
| 2732 14a0 87FF sbrs r24,7 |
| 2733 14a2 7CC0 rjmp .L19 |
| 2734 14a4 88E4 ldi r24,lo8(72) |
| 2735 14a6 8093 0000 sts DispPtr,r24 |
| 2736 14aa 80E0 ldi r24,lo8(__c.85) |
| 2737 14ac 90E0 ldi r25,hi8(__c.85) |
| 2738 .L92: |
| 2739 14ae 9F93 push r25 |
| 2740 14b0 8F93 push r24 |
| 2741 14b2 1F93 push r17 |
| 2742 14b4 0F93 push r16 |
| 2743 .L86: |
| 2744 14b6 E091 0000 lds r30,_printf_P |
| 2745 14ba F091 0000 lds r31,(_printf_P)+1 |
| 2746 14be 0995 icall |
| 2747 14c0 0F90 pop __tmp_reg__ |
| 2748 14c2 0F90 pop __tmp_reg__ |
| 2749 14c4 0F90 pop __tmp_reg__ |
| 2750 14c6 0F90 pop __tmp_reg__ |
| 2751 14c8 69C0 rjmp .L19 |
| 2752 .L78: |
| 2753 14ca 1092 0000 sts DispPtr,__zero_reg__ |
| 2754 14ce 80E0 ldi r24,lo8(__c.86) |
| 2755 14d0 90E0 ldi r25,hi8(__c.86) |
| 2756 14d2 9F93 push r25 |
| 2757 14d4 8F93 push r24 |
| 2758 14d6 FF92 push r15 |
| 2759 14d8 EF92 push r14 |
| 2760 14da FE01 movw r30,r28 |
| 2761 14dc 0995 icall |
| 2762 14de 84E1 ldi r24,lo8(20) |
| 2763 14e0 8093 0000 sts DispPtr,r24 |
| 2764 14e4 0F90 pop __tmp_reg__ |
| 2765 14e6 0F90 pop __tmp_reg__ |
| 2766 14e8 0F90 pop __tmp_reg__ |
| 2767 14ea 0F90 pop __tmp_reg__ |
| 2768 14ec 8091 0000 lds r24,FlugMinutenGesamt |
| 2769 14f0 9091 0000 lds r25,(FlugMinutenGesamt)+1 |
| 2770 14f4 9F93 push r25 |
| 2771 14f6 8F93 push r24 |
| 2772 14f8 80E0 ldi r24,lo8(__c.87) |
| 2773 14fa 90E0 ldi r25,hi8(__c.87) |
| 2774 14fc 9F93 push r25 |
| 2775 14fe 8F93 push r24 |
| 2776 1500 FF92 push r15 |
| 2777 1502 EF92 push r14 |
| 2778 1504 E091 0000 lds r30,_printf_P |
| 2779 1508 F091 0000 lds r31,(_printf_P)+1 |
| 2780 150c 0995 icall |
| 2781 150e 88E2 ldi r24,lo8(40) |
| 2782 1510 8093 0000 sts DispPtr,r24 |
| 2783 1514 8DB7 in r24,__SP_L__ |
| 2784 1516 9EB7 in r25,__SP_H__ |
| 2785 1518 0696 adiw r24,6 |
| 2786 151a 8DBF out __SP_L__,r24 |
| 2787 151c 8091 0000 lds r24,FlugMinuten |
| 2788 1520 9091 0000 lds r25,(FlugMinuten)+1 |
| 2789 1524 9F93 push r25 |
| 2790 1526 8F93 push r24 |
| 2791 1528 80E0 ldi r24,lo8(__c.88) |
| 2792 152a 90E0 ldi r25,hi8(__c.88) |
| 2793 152c 9F93 push r25 |
| 2794 152e 8F93 push r24 |
| 2795 1530 FF92 push r15 |
| 2796 1532 EF92 push r14 |
| 2797 1534 E091 0000 lds r30,_printf_P |
| 2798 1538 F091 0000 lds r31,(_printf_P)+1 |
| 2799 153c 0995 icall |
| 2800 153e 89E4 ldi r24,lo8(73) |
| 2801 1540 8093 0000 sts DispPtr,r24 |
| 2802 1544 2DB7 in r18,__SP_L__ |
| 2803 1546 3EB7 in r19,__SP_H__ |
| 2804 1548 2A5F subi r18,lo8(-(6)) |
| 2805 154a 3F4F sbci r19,hi8(-(6)) |
| 2806 154c 2DBF out __SP_L__,r18 |
| 2807 154e 80E0 ldi r24,lo8(__c.89) |
| 2808 1550 90E0 ldi r25,hi8(__c.89) |
| 2809 1552 9F93 push r25 |
| 2810 1554 8F93 push r24 |
| 2811 1556 FF92 push r15 |
| 2812 1558 EF92 push r14 |
| 2813 155a E091 0000 lds r30,_printf_P |
| 2814 155e F091 0000 lds r31,(_printf_P)+1 |
| 2815 1562 0995 icall |
| 2816 1564 8091 0000 lds r24,RemoteKeys |
| 2817 1568 0F90 pop __tmp_reg__ |
| 2818 156a 0F90 pop __tmp_reg__ |
| 2819 156c 0F90 pop __tmp_reg__ |
| 2820 156e 0F90 pop __tmp_reg__ |
| 2821 1570 83FF sbrs r24,3 |
| 2822 1572 14C0 rjmp .L19 |
| 2823 1574 1092 0000 sts (FlugMinuten)+1,__zero_reg__ |
| 2824 1578 1092 0000 sts FlugMinuten,__zero_reg__ |
| 2825 157c 60E0 ldi r22,lo8(0) |
| 2826 157e 70E0 ldi r23,hi8(0) |
| 2827 1580 8EE0 ldi r24,lo8(14) |
| 2828 1582 90E0 ldi r25,hi8(14) |
| 2829 1584 0E94 0000 call SetParamWord |
| 2830 1588 09C0 rjmp .L19 |
| 2831 .L80: |
| 2832 158a 8091 0000 lds r24,MaxMenue |
| 2833 158e 2817 cp r18,r24 |
| 2834 1590 19F4 brne .L81 |
| 2835 1592 2150 subi r18,lo8(-(-1)) |
| 2836 1594 2093 0000 sts MaxMenue,r18 |
| 2837 .L81: |
| 2838 1598 1092 0000 sts MenuePunkt,__zero_reg__ |
| 2839 .L19: |
| 2840 159c 1092 0000 sts RemoteKeys,__zero_reg__ |
| 2841 /* epilogue: frame size=0 */ |
| 2842 15a0 E6E0 ldi r30,6 |
| 2843 15a2 CDB7 in r28,__SP_L__ |
| 2844 15a4 DEB7 in r29,__SP_H__ |
| 2845 15a6 0C94 0000 jmp __epilogue_restores__+24 |
| 2846 /* epilogue end (size=5) */ |
| 2847 /* function Menu size 2788 (2777) */ |
| 2849 /* File "menu.c": code 2808 = 0x0af8 (2795), prologues 6, epilogues 7 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 menu.c |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:15 .bss:00000000 RemoteKeys |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:21 .bss:00000001 MenuePunkt |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:27 .data:00000000 MaxMenue |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:34 .bss:00000002 DispPtr |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:40 .data:00000001 DisplayBuff |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:46 .text:00000000 LcdClear |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:65 .text:00000012 Menu_Putchar |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:84 .progmem.data:00000000 __c.0 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:88 .progmem.data:00000005 __c.1 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:92 .progmem.data:0000000a __c.2 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:96 .progmem.data:0000001a __c.3 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:100 .progmem.data:0000002f __c.4 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:104 .progmem.data:0000003d __c.5 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:108 .progmem.data:00000054 __c.6 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:112 .progmem.data:00000069 __c.7 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:116 .progmem.data:00000076 __c.8 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:120 .progmem.data:00000083 __c.9 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:124 .progmem.data:00000090 __c.10 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:128 .progmem.data:0000009d __c.11 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:132 .progmem.data:000000aa __c.12 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:136 .progmem.data:000000b7 __c.13 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:140 .progmem.data:000000c6 __c.14 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:144 .progmem.data:000000cf __c.15 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:148 .progmem.data:000000de __c.16 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:152 .progmem.data:000000e7 __c.17 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:156 .progmem.data:000000f4 __c.18 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:160 .progmem.data:00000103 __c.19 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:164 .progmem.data:00000112 __c.20 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:168 .progmem.data:00000121 __c.21 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:172 .progmem.data:00000131 __c.22 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:176 .progmem.data:00000141 __c.23 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:180 .progmem.data:00000151 __c.24 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:184 .progmem.data:00000161 __c.25 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:188 .progmem.data:00000171 __c.26 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:192 .progmem.data:00000181 __c.27 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:196 .progmem.data:00000191 __c.28 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:200 .progmem.data:000001a1 __c.29 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:204 .progmem.data:000001af __c.30 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:208 .progmem.data:000001c0 __c.31 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:212 .progmem.data:000001d1 __c.32 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:216 .progmem.data:000001df __c.33 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:220 .progmem.data:000001f1 __c.34 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:224 .progmem.data:00000203 __c.35 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:228 .progmem.data:00000212 __c.36 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:232 .progmem.data:00000226 __c.37 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:236 .progmem.data:0000023a __c.38 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:240 .progmem.data:0000024e __c.39 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:244 .progmem.data:0000025b __c.40 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:248 .progmem.data:0000026a __c.41 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:252 .progmem.data:00000279 __c.42 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:256 .progmem.data:00000288 __c.43 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:260 .progmem.data:0000029c __c.44 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:264 .progmem.data:000002b0 __c.45 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:268 .progmem.data:000002c0 __c.46 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:272 .progmem.data:000002d2 __c.47 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:276 .progmem.data:000002db __c.48 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:280 .progmem.data:000002eb __c.49 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:284 .progmem.data:000002fb __c.50 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:288 .progmem.data:0000030b __c.51 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:292 .progmem.data:00000313 __c.52 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:296 .progmem.data:00000321 __c.53 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:300 .progmem.data:0000032f __c.54 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:304 .progmem.data:0000033d __c.55 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:308 .progmem.data:00000349 __c.56 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:312 .progmem.data:00000355 __c.57 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:316 .progmem.data:00000361 __c.58 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:320 .progmem.data:0000036d __c.59 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:324 .progmem.data:00000379 __c.60 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:328 .progmem.data:00000385 __c.61 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:332 .progmem.data:00000391 __c.62 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:336 .progmem.data:0000039d __c.63 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:340 .progmem.data:000003a5 __c.64 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:344 .progmem.data:000003b3 __c.65 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:348 .progmem.data:000003c1 __c.66 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:352 .progmem.data:000003cf __c.67 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:356 .progmem.data:000003df __c.68 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:360 .progmem.data:000003ef __c.69 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:364 .progmem.data:000003ff __c.70 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:368 .progmem.data:0000040f __c.71 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:372 .progmem.data:0000041f __c.72 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:376 .progmem.data:00000430 __c.73 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:380 .progmem.data:00000441 __c.74 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:384 .progmem.data:00000452 __c.75 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:388 .progmem.data:00000461 __c.76 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:392 .progmem.data:00000472 __c.77 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:396 .progmem.data:00000483 __c.78 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:400 .progmem.data:00000494 __c.79 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:404 .progmem.data:000004a3 __c.80 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:408 .progmem.data:000004b7 __c.81 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:412 .progmem.data:000004cb __c.82 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:416 .progmem.data:000004dc __c.83 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:420 .progmem.data:000004df __c.84 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:424 .progmem.data:000004e2 __c.85 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:428 .progmem.data:000004e5 __c.86 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:432 .progmem.data:000004f3 __c.87 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:436 .progmem.data:00000500 __c.88 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:440 .progmem.data:0000050d __c.89 |
| C:\Users\Thomas\AppData\Local\Temp/cc0mbaaa.s:445 .text:00000028 Menu |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| _printf_P |
| __tablejump2__ |
| PlatinenVersion |
| __udivmodqi4 |
| Mixer |
| GetActiveParamSet |
| VersionInfo |
| MissingMotor |
| I2CTimeout |
| EE_Parameter |
| HoehenWert |
| __divmodsi4 |
| SollHoehe |
| MessLuftdruck |
| IntegralNick |
| IntegralRoll |
| KompassValue |
| PPM_in |
| AdNeutralNick |
| AdWertNick |
| AdNeutralRoll |
| AdWertRoll |
| AdNeutralGier |
| AdWertGier |
| AnalogOffsetNick |
| AnalogOffsetRoll |
| AnalogOffsetGier |
| NeutralAccX |
| AdWertAccNick |
| NeutralAccY |
| AdWertAccRoll |
| NeutralAccZ |
| AdWertAccHoch |
| UBat |
| __divmodhi4 |
| Capacity |
| __udivmodhi4 |
| SenderOkay |
| Channels |
| KompassRichtung |
| KompassStartwert |
| Poti |
| Parameter_ServoNickControl |
| ServoNickValue |
| ExternControl |
| Motor |
| FlugMinutenGesamt |
| FlugMinuten |
| SetParamWord |
| __epilogue_restores__ |
| /branches/metro/v0.82a metro_Akku+/mymath.c |
|---|
| 0,0 → 1,41 |
| #include <stdlib.h> |
| #include <avr/pgmspace.h> |
| #include "mymath.h" |
| // discrete mathematics |
| // Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192}; |
| int16_t c_sin_8192(int16_t angle) |
| { |
| int8_t m,n; |
| int16_t sinus; |
| // avoid negative angles |
| if (angle < 0) |
| { |
| m = -1; |
| angle = abs(angle); |
| } |
| else m = +1; |
| // fold angle to intervall 0 to 359 |
| angle %= 360; |
| // check quadrant |
| if (angle <= 90) n=1; // first quadrant |
| else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
| else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
| else {angle = 360 - angle; n = -1;} //fourth quadrant |
| // get lookup value |
| sinus = pgm_read_word(&pgm_sinlookup[angle]); |
| // calculate sinus value |
| return (sinus * m * n); |
| } |
| // Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| int16_t c_cos_8192(int16_t angle) |
| { |
| return (c_sin_8192(90 - angle)); |
| } |
| /branches/metro/v0.82a metro_Akku+/mymath.d |
|---|
| 0,0 → 1,0 |
| mymath.o mymath.d : mymath.c mymath.h |
| /branches/metro/v0.82a metro_Akku+/mymath.h |
|---|
| 0,0 → 1,10 |
| #ifndef _MYMATH_H |
| #define _MYMATH_H |
| #include <inttypes.h> |
| extern int16_t c_sin_8192(int16_t angle); |
| extern int16_t c_cos_8192(int16_t angle); |
| extern int16_t c_atan2(int16_t y, int16_t x); |
| extern uint32_t c_sqrt(uint32_t a); |
| #endif // _MYMATH_H |
| /branches/metro/v0.82a metro_Akku+/mymath.lst |
|---|
| 0,0 → 1,226 |
| 1 .file "mymath.c" |
| 2 .arch atmega644p |
| 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 .global pgm_sinlookup |
| 11 .section .progmem.data,"a",@progbits |
| 14 pgm_sinlookup: |
| 15 0000 0000 .word 0 |
| 16 0002 8F00 .word 143 |
| 17 0004 1E01 .word 286 |
| 18 0006 AD01 .word 429 |
| 19 0008 3B02 .word 571 |
| 20 000a CA02 .word 714 |
| 21 000c 5803 .word 856 |
| 22 000e E603 .word 998 |
| 23 0010 7404 .word 1140 |
| 24 0012 0205 .word 1282 |
| 25 0014 8F05 .word 1423 |
| 26 0016 1B06 .word 1563 |
| 27 0018 A706 .word 1703 |
| 28 001a 3307 .word 1843 |
| 29 001c BE07 .word 1982 |
| 30 001e 4808 .word 2120 |
| 31 0020 D208 .word 2258 |
| 32 0022 5B09 .word 2395 |
| 33 0024 E309 .word 2531 |
| 34 0026 6B0A .word 2667 |
| 35 0028 F20A .word 2802 |
| 36 002a 780B .word 2936 |
| 37 002c FD0B .word 3069 |
| 38 002e 810C .word 3201 |
| 39 0030 040D .word 3332 |
| 40 0032 860D .word 3462 |
| 41 0034 070E .word 3591 |
| 42 0036 870E .word 3719 |
| 43 0038 060F .word 3846 |
| 44 003a 840F .word 3972 |
| 45 003c 0010 .word 4096 |
| 46 003e 7B10 .word 4219 |
| 47 0040 F510 .word 4341 |
| 48 0042 6E11 .word 4462 |
| 49 0044 E511 .word 4581 |
| 50 0046 5B12 .word 4699 |
| 51 0048 CF12 .word 4815 |
| 52 004a 4213 .word 4930 |
| 53 004c B313 .word 5043 |
| 54 004e 2314 .word 5155 |
| 55 0050 9214 .word 5266 |
| 56 0052 FE14 .word 5374 |
| 57 0054 6A15 .word 5482 |
| 58 0056 D315 .word 5587 |
| 59 0058 3B16 .word 5691 |
| 60 005a A116 .word 5793 |
| 61 005c 0517 .word 5893 |
| 62 005e 6717 .word 5991 |
| 63 0060 C817 .word 6088 |
| 64 0062 2718 .word 6183 |
| 65 0064 8318 .word 6275 |
| 66 0066 DE18 .word 6366 |
| 67 0068 3719 .word 6455 |
| 68 006a 8E19 .word 6542 |
| 69 006c E319 .word 6627 |
| 70 006e 361A .word 6710 |
| 71 0070 871A .word 6791 |
| 72 0072 D61A .word 6870 |
| 73 0074 231B .word 6947 |
| 74 0076 6E1B .word 7022 |
| 75 0078 B61B .word 7094 |
| 76 007a FD1B .word 7165 |
| 77 007c 411C .word 7233 |
| 78 007e 831C .word 7299 |
| 79 0080 C31C .word 7363 |
| 80 0082 001D .word 7424 |
| 81 0084 3C1D .word 7484 |
| 82 0086 751D .word 7541 |
| 83 0088 AB1D .word 7595 |
| 84 008a E01D .word 7648 |
| 85 008c 121E .word 7698 |
| 86 008e 421E .word 7746 |
| 87 0090 6F1E .word 7791 |
| 88 0092 9A1E .word 7834 |
| 89 0094 C31E .word 7875 |
| 90 0096 E91E .word 7913 |
| 91 0098 0D1F .word 7949 |
| 92 009a 2E1F .word 7982 |
| 93 009c 4D1F .word 8013 |
| 94 009e 691F .word 8041 |
| 95 00a0 841F .word 8068 |
| 96 00a2 9B1F .word 8091 |
| 97 00a4 B01F .word 8112 |
| 98 00a6 C31F .word 8131 |
| 99 00a8 D31F .word 8147 |
| 100 00aa E11F .word 8161 |
| 101 00ac EC1F .word 8172 |
| 102 00ae F51F .word 8181 |
| 103 00b0 FB1F .word 8187 |
| 104 00b2 FF1F .word 8191 |
| 105 00b4 0020 .word 8192 |
| 106 .text |
| 107 .global c_sin_8192 |
| 109 c_sin_8192: |
| 110 /* prologue: frame size=0 */ |
| 111 0000 CF93 push r28 |
| 112 /* prologue end (size=1) */ |
| 113 0002 FC01 movw r30,r24 |
| 114 0004 97FF sbrs r25,7 |
| 115 0006 05C0 rjmp .L2 |
| 116 0008 CFEF ldi r28,lo8(-1) |
| 117 000a F095 com r31 |
| 118 000c E195 neg r30 |
| 119 000e FF4F sbci r31,lo8(-1) |
| 120 0010 01C0 rjmp .L4 |
| 121 .L2: |
| 122 0012 C1E0 ldi r28,lo8(1) |
| 123 .L4: |
| 124 0014 28E6 ldi r18,lo8(360) |
| 125 0016 31E0 ldi r19,hi8(360) |
| 126 0018 CF01 movw r24,r30 |
| 127 001a B901 movw r22,r18 |
| 128 001c 0E94 0000 call __divmodhi4 |
| 129 0020 FC01 movw r30,r24 |
| 130 0022 8B35 cpi r24,91 |
| 131 0024 9105 cpc r25,__zero_reg__ |
| 132 0026 54F0 brlt .L12 |
| 133 0028 8B55 subi r24,lo8(-(-91)) |
| 134 002a 9040 sbci r25,hi8(-(-91)) |
| 135 002c 8A35 cpi r24,90 |
| 136 002e 9105 cpc r25,__zero_reg__ |
| 137 0030 38F4 brsh .L7 |
| 138 0032 84EB ldi r24,lo8(180) |
| 139 0034 90E0 ldi r25,hi8(180) |
| 140 0036 8E1B sub r24,r30 |
| 141 0038 9F0B sbc r25,r31 |
| 142 003a FC01 movw r30,r24 |
| 143 .L12: |
| 144 003c 41E0 ldi r20,lo8(1) |
| 145 003e 0DC0 rjmp .L6 |
| 146 .L7: |
| 147 0040 CF01 movw r24,r30 |
| 148 0042 855B subi r24,lo8(-(-181)) |
| 149 0044 9040 sbci r25,hi8(-(-181)) |
| 150 0046 8A35 cpi r24,90 |
| 151 0048 9105 cpc r25,__zero_reg__ |
| 152 004a 18F4 brsh .L9 |
| 153 004c E45B subi r30,lo8(-(-180)) |
| 154 004e F040 sbci r31,hi8(-(-180)) |
| 155 0050 03C0 rjmp .L11 |
| 156 .L9: |
| 157 0052 2E1B sub r18,r30 |
| 158 0054 3F0B sbc r19,r31 |
| 159 0056 F901 movw r30,r18 |
| 160 .L11: |
| 161 0058 4FEF ldi r20,lo8(-1) |
| 162 .L6: |
| 163 005a EE0F add r30,r30 |
| 164 005c FF1F adc r31,r31 |
| 165 005e E050 subi r30,lo8(-(pgm_sinlookup)) |
| 166 0060 F040 sbci r31,hi8(-(pgm_sinlookup)) |
| 167 /* #APP */ |
| 168 0062 2591 lpm r18, Z+ |
| 169 0064 3491 lpm r19, Z |
| 170 |
| 171 /* #NOAPP */ |
| 172 0066 8C2F mov r24,r28 |
| 173 0068 9927 clr r25 |
| 174 006a 87FD sbrc r24,7 |
| 175 006c 9095 com r25 |
| 176 006e 289F mul r18,r24 |
| 177 0070 B001 movw r22,r0 |
| 178 0072 299F mul r18,r25 |
| 179 0074 700D add r23,r0 |
| 180 0076 389F mul r19,r24 |
| 181 0078 700D add r23,r0 |
| 182 007a 1124 clr r1 |
| 183 007c 842F mov r24,r20 |
| 184 007e 9927 clr r25 |
| 185 0080 87FD sbrc r24,7 |
| 186 0082 9095 com r25 |
| 187 0084 689F mul r22,r24 |
| 188 0086 A001 movw r20,r0 |
| 189 0088 699F mul r22,r25 |
| 190 008a 500D add r21,r0 |
| 191 008c 789F mul r23,r24 |
| 192 008e 500D add r21,r0 |
| 193 0090 1124 clr r1 |
| 194 0092 CA01 movw r24,r20 |
| 195 /* epilogue: frame size=0 */ |
| 196 0094 CF91 pop r28 |
| 197 0096 0895 ret |
| 198 /* epilogue end (size=2) */ |
| 199 /* function c_sin_8192 size 80 (77) */ |
| 201 .global c_cos_8192 |
| 203 c_cos_8192: |
| 204 /* prologue: frame size=0 */ |
| 205 /* prologue end (size=0) */ |
| 206 0098 2AE5 ldi r18,lo8(90) |
| 207 009a 30E0 ldi r19,hi8(90) |
| 208 009c 281B sub r18,r24 |
| 209 009e 390B sbc r19,r25 |
| 210 00a0 C901 movw r24,r18 |
| 211 00a2 0E94 0000 call c_sin_8192 |
| 212 /* epilogue: frame size=0 */ |
| 213 00a6 0895 ret |
| 214 /* epilogue end (size=1) */ |
| 215 /* function c_cos_8192 size 8 (7) */ |
| 217 /* File "mymath.c": code 88 = 0x0058 ( 84), prologues 1, epilogues 3 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 mymath.c |
| C:\Users\Thomas\AppData\Local\Temp/ccywbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccywbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccywbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccywbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccywbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccywbaaa.s:14 .progmem.data:00000000 pgm_sinlookup |
| C:\Users\Thomas\AppData\Local\Temp/ccywbaaa.s:109 .text:00000000 c_sin_8192 |
| C:\Users\Thomas\AppData\Local\Temp/ccywbaaa.s:203 .text:00000098 c_cos_8192 |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __divmodhi4 |
| /branches/metro/v0.82a metro_Akku+/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/metro/v0.82a metro_Akku+/printf_P.h |
|---|
| 0,0 → 1,69 |
| // 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. |
| */ |
| /******************************************************************************/ |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| // function pointer to external callback function |
| typedef void (*pVoidFnctChar) (char ); |
| typedef void (*pVoidFnct_pVoidFnctChar_const_fmt) (pVoidFnctChar, char const *fmt0, ...); |
| extern pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| #endif //_PRINTF_P_H_ |
| /branches/metro/v0.82a metro_Akku+/rc.c |
|---|
| 0,0 → 1,217 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
| volatile int PPM_in[26]; |
| volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
| volatile char Channels,tmpChannels = 0; |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| unsigned char i; |
| for(i=0;i<26;i++) |
| { |
| PPM_in[i] = 0; |
| PPM_diff[i] = 0; |
| } |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| #ifndef ACT_S3D_SUMMENSIGNAL |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| { |
| if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| Channels = index; |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| if(PlatinenVersion < 20) |
| { |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| } |
| } |
| } |
| else |
| { |
| static unsigned int AltICR=0; |
| static int ppm_in[13]; |
| static int ppm_diff[13]; |
| static int old_ppm_in[13]; |
| static int old_ppm_diff[13]; |
| signed int signal = 0,tmp; |
| static unsigned char index, okay_cnt = 0; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| tmpChannels = index; |
| if(tmpChannels >= 4 && Channels == tmpChannels) |
| { |
| if(okay_cnt > 10) |
| { |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| for(index = 0; index < 13; index++) |
| { |
| if(okay_cnt > 30) |
| { |
| old_ppm_in[index] = PPM_in[index]; |
| old_ppm_diff[index] = PPM_diff[index]; |
| } |
| PPM_in[index] = ppm_in[index]; |
| PPM_diff[index] = ppm_diff[index]; |
| } |
| } |
| if(okay_cnt < 255) okay_cnt++; |
| } |
| else |
| { |
| if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
| ROT_ON; |
| } |
| index = 1; |
| if(!MotorenEin) Channels = tmpChannels; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if((abs(signal - ppm_in[index]) < 6)) |
| { |
| if(okay_cnt > 25) SenderOkay += 10; |
| else |
| if(okay_cnt > 10) SenderOkay += 2; |
| if(SenderOkay > 200) SenderOkay = 200; |
| } |
| tmp = (3 * (ppm_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
| else ppm_diff[index] = 0; |
| ppm_in[index] = tmp; |
| } |
| else ROT_ON; |
| if(PlatinenVersion < 20) |
| { |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| } |
| if(index < 20) index++; |
| else |
| if(index == 20) |
| { |
| unsigned char i; |
| ROT_ON; |
| index = 30; |
| for(i=0;i<13;i++) // restore from older data |
| { |
| PPM_in[i] = old_ppm_in[i]; |
| PPM_diff[i] = 0; |
| // okay_cnt /= 2; |
| } |
| } |
| } |
| } |
| } |
| #else |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| signal /= 2; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if((signal > 1100*2) && (signal < 8000*2)) |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687*2)) |
| { |
| signal -= 962; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| } |
| } |
| } |
| #endif |
| /branches/metro/v0.82a metro_Akku+/rc.d |
|---|
| 0,0 → 1,3 |
| rc.o rc.d : rc.c rc.h main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
| twimaster.h menu.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
| eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/rc.h |
|---|
| 0,0 → 1,31 |
| /*####################################################################################### |
| 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_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[26]; |
| extern volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| extern volatile char Channels,tmpChannels; |
| #endif //_RC_H |
| /branches/metro/v0.82a metro_Akku+/rc.lst |
|---|
| 0,0 → 1,690 |
| 1 .file "rc.c" |
| 2 .arch atmega644p |
| 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 .global NewPpmData |
| 11 .data |
| 14 NewPpmData: |
| 15 0000 01 .byte 1 |
| 16 .global tmpChannels |
| 17 .global tmpChannels |
| 18 .section .bss |
| 21 tmpChannels: |
| 22 0000 00 .skip 1,0 |
| 23 .text |
| 24 .global rc_sum_init |
| 26 rc_sum_init: |
| 27 /* prologue: frame size=0 */ |
| 28 /* prologue end (size=0) */ |
| 29 0000 89E1 ldi r24,lo8(25) |
| 30 0002 A0E0 ldi r26,lo8(PPM_diff) |
| 31 0004 B0E0 ldi r27,hi8(PPM_diff) |
| 32 0006 E0E0 ldi r30,lo8(PPM_in) |
| 33 0008 F0E0 ldi r31,hi8(PPM_in) |
| 34 .L5: |
| 35 000a 1182 std Z+1,__zero_reg__ |
| 36 000c 1082 st Z,__zero_reg__ |
| 37 000e 3296 adiw r30,2 |
| 38 0010 1196 adiw r26,1 |
| 39 0012 1C92 st X,__zero_reg__ |
| 40 0014 1E92 st -X,__zero_reg__ |
| 41 0016 1296 adiw r26,2 |
| 42 0018 8150 subi r24,lo8(-(-1)) |
| 43 001a 87FF sbrs r24,7 |
| 44 001c F6CF rjmp .L5 |
| 45 001e 1092 0000 sts (AdNeutralGier)+1,__zero_reg__ |
| 46 0022 1092 0000 sts AdNeutralGier,__zero_reg__ |
| 47 0026 1092 0000 sts (AdNeutralRoll)+1,__zero_reg__ |
| 48 002a 1092 0000 sts AdNeutralRoll,__zero_reg__ |
| 49 002e 1092 0000 sts (AdNeutralNick)+1,__zero_reg__ |
| 50 0032 1092 0000 sts AdNeutralNick,__zero_reg__ |
| 51 /* epilogue: frame size=0 */ |
| 52 0036 0895 ret |
| 53 /* epilogue end (size=1) */ |
| 54 /* function rc_sum_init size 28 (27) */ |
| 56 .lcomm AltICR.0,2 |
| 57 .lcomm index.1,2 |
| 58 .lcomm AltICR.2,2 |
| 59 .lcomm ppm_in.3,26 |
| 60 .lcomm ppm_diff.4,26 |
| 61 .lcomm old_ppm_in.5,26 |
| 62 .lcomm old_ppm_diff.6,26 |
| 63 .lcomm index.7,1 |
| 64 .lcomm okay_cnt.8,1 |
| 65 .global __vector_12 |
| 67 __vector_12: |
| 68 /* prologue: frame size=0 */ |
| 69 0038 1F92 push __zero_reg__ |
| 70 003a 0F92 push __tmp_reg__ |
| 71 003c 0FB6 in __tmp_reg__,__SREG__ |
| 72 003e 0F92 push __tmp_reg__ |
| 73 0040 1124 clr __zero_reg__ |
| 74 0042 0F93 push r16 |
| 75 0044 1F93 push r17 |
| 76 0046 2F93 push r18 |
| 77 0048 3F93 push r19 |
| 78 004a 4F93 push r20 |
| 79 004c 5F93 push r21 |
| 80 004e 6F93 push r22 |
| 81 0050 7F93 push r23 |
| 82 0052 8F93 push r24 |
| 83 0054 9F93 push r25 |
| 84 0056 AF93 push r26 |
| 85 0058 BF93 push r27 |
| 86 005a CF93 push r28 |
| 87 005c DF93 push r29 |
| 88 005e EF93 push r30 |
| 89 0060 FF93 push r31 |
| 90 /* prologue end (size=21) */ |
| 91 0062 8091 0000 lds r24,EE_Parameter+102 |
| 92 0066 82FD sbrc r24,2 |
| 93 0068 CFC0 rjmp .L9 |
| 94 006a 4091 8600 lds r20,134 |
| 95 006e 5091 8700 lds r21,(134)+1 |
| 96 0072 8091 0000 lds r24,AltICR.0 |
| 97 0076 9091 0000 lds r25,(AltICR.0)+1 |
| 98 007a 481B sub r20,r24 |
| 99 007c 590B sbc r21,r25 |
| 100 007e 8091 8600 lds r24,134 |
| 101 0082 9091 8700 lds r25,(134)+1 |
| 102 0086 9093 0000 sts (AltICR.0)+1,r25 |
| 103 008a 8093 0000 sts AltICR.0,r24 |
| 104 008e CA01 movw r24,r20 |
| 105 0090 8D54 subi r24,lo8(-(-1101)) |
| 106 0092 9440 sbci r25,hi8(-(-1101)) |
| 107 0094 A091 0000 lds r26,index.1 |
| 108 0098 B091 0000 lds r27,(index.1)+1 |
| 109 009c 835F subi r24,lo8(6899) |
| 110 009e 9A41 sbci r25,hi8(6899) |
| 111 00a0 78F4 brsh .L10 |
| 112 00a2 8091 0000 lds r24,index.1 |
| 113 00a6 8093 0000 sts Channels,r24 |
| 114 00aa 1497 sbiw r26,4 |
| 115 00ac 14F0 brlt .L11 |
| 116 00ae 1092 0000 sts NewPpmData,__zero_reg__ |
| 117 .L11: |
| 118 00b2 81E0 ldi r24,lo8(1) |
| 119 00b4 90E0 ldi r25,hi8(1) |
| 120 00b6 9093 0000 sts (index.1)+1,r25 |
| 121 00ba 8093 0000 sts index.1,r24 |
| 122 00be 07C2 rjmp .L8 |
| 123 .L10: |
| 124 00c0 AD30 cpi r26,13 |
| 125 00c2 B105 cpc r27,__zero_reg__ |
| 126 00c4 0CF0 brlt .+2 |
| 127 00c6 03C2 rjmp .L8 |
| 128 00c8 CA01 movw r24,r20 |
| 129 00ca 8B5F subi r24,lo8(-(-251)) |
| 130 00cc 9040 sbci r25,hi8(-(-251)) |
| 131 00ce 845B subi r24,lo8(436) |
| 132 00d0 9140 sbci r25,hi8(436) |
| 133 00d2 08F0 brlo .+2 |
| 134 00d4 74C0 rjmp .L14 |
| 135 00d6 425D subi r20,lo8(-(-466)) |
| 136 00d8 5140 sbci r21,hi8(-(-466)) |
| 137 00da FD01 movw r30,r26 |
| 138 00dc EA0F add r30,r26 |
| 139 00de FB1F adc r31,r27 |
| 140 00e0 E050 subi r30,lo8(-(PPM_in)) |
| 141 00e2 F040 sbci r31,hi8(-(PPM_in)) |
| 142 00e4 8081 ld r24,Z |
| 143 00e6 9181 ldd r25,Z+1 |
| 144 00e8 FA01 movw r30,r20 |
| 145 00ea E81B sub r30,r24 |
| 146 00ec F90B sbc r31,r25 |
| 147 00ee CF01 movw r24,r30 |
| 148 00f0 F7FF sbrs r31,7 |
| 149 00f2 03C0 rjmp .L16 |
| 150 00f4 9095 com r25 |
| 151 00f6 8195 neg r24 |
| 152 00f8 9F4F sbci r25,lo8(-1) |
| 153 .L16: |
| 154 00fa 0697 sbiw r24,6 |
| 155 00fc 5CF4 brge .L15 |
| 156 00fe 8091 0000 lds r24,SenderOkay |
| 157 0102 883C cpi r24,lo8(-56) |
| 158 0104 20F4 brsh .L17 |
| 159 0106 8091 0000 lds r24,SenderOkay |
| 160 010a 865F subi r24,lo8(-(10)) |
| 161 010c 01C0 rjmp .L87 |
| 162 .L17: |
| 163 010e 88EC ldi r24,lo8(-56) |
| 164 .L87: |
| 165 0110 8093 0000 sts SenderOkay,r24 |
| 166 .L15: |
| 167 0114 FD01 movw r30,r26 |
| 168 0116 EA0F add r30,r26 |
| 169 0118 FB1F adc r31,r27 |
| 170 011a E050 subi r30,lo8(-(PPM_in)) |
| 171 011c F040 sbci r31,hi8(-(PPM_in)) |
| 172 011e 8081 ld r24,Z |
| 173 0120 9181 ldd r25,Z+1 |
| 174 0122 9C01 movw r18,r24 |
| 175 0124 220F lsl r18 |
| 176 0126 331F rol r19 |
| 177 0128 280F add r18,r24 |
| 178 012a 391F adc r19,r25 |
| 179 012c 240F add r18,r20 |
| 180 012e 351F adc r19,r21 |
| 181 0130 37FF sbrs r19,7 |
| 182 0132 02C0 rjmp .L19 |
| 183 0134 2D5F subi r18,lo8(-(3)) |
| 184 0136 3F4F sbci r19,hi8(-(3)) |
| 185 .L19: |
| 186 0138 E901 movw r28,r18 |
| 187 013a D595 asr r29 |
| 188 013c C795 ror r28 |
| 189 013e D595 asr r29 |
| 190 0140 C795 ror r28 |
| 191 0142 CA01 movw r24,r20 |
| 192 0144 0196 adiw r24,1 |
| 193 0146 8C17 cp r24,r28 |
| 194 0148 9D07 cpc r25,r29 |
| 195 014a 14F4 brge .L20 |
| 196 014c 2197 sbiw r28,1 |
| 197 014e 06C0 rjmp .L21 |
| 198 .L20: |
| 199 0150 4150 subi r20,lo8(-(-1)) |
| 200 0152 5040 sbci r21,hi8(-(-1)) |
| 201 0154 C417 cp r28,r20 |
| 202 0156 D507 cpc r29,r21 |
| 203 0158 0CF4 brge .L21 |
| 204 015a 2196 adiw r28,1 |
| 205 .L21: |
| 206 015c 8091 0000 lds r24,SenderOkay |
| 207 0160 833C cpi r24,lo8(-61) |
| 208 0162 E0F0 brlo .L23 |
| 209 0164 8D01 movw r16,r26 |
| 210 0166 0A0F add r16,r26 |
| 211 0168 1B1F adc r17,r27 |
| 212 016a F801 movw r30,r16 |
| 213 016c E050 subi r30,lo8(-(PPM_in)) |
| 214 016e F040 sbci r31,hi8(-(PPM_in)) |
| 215 0170 8081 ld r24,Z |
| 216 0172 9181 ldd r25,Z+1 |
| 217 0174 9E01 movw r18,r28 |
| 218 0176 281B sub r18,r24 |
| 219 0178 390B sbc r19,r25 |
| 220 017a C901 movw r24,r18 |
| 221 017c 63E0 ldi r22,lo8(3) |
| 222 017e 70E0 ldi r23,hi8(3) |
| 223 0180 0E94 0000 call __divmodhi4 |
| 224 0184 CB01 movw r24,r22 |
| 225 0186 880F lsl r24 |
| 226 0188 991F rol r25 |
| 227 018a 860F add r24,r22 |
| 228 018c 971F adc r25,r23 |
| 229 018e 0050 subi r16,lo8(-(PPM_diff)) |
| 230 0190 1040 sbci r17,hi8(-(PPM_diff)) |
| 231 0192 D801 movw r26,r16 |
| 232 0194 1196 adiw r26,1 |
| 233 0196 9C93 st X,r25 |
| 234 0198 8E93 st -X,r24 |
| 235 019a 07C0 rjmp .L24 |
| 236 .L23: |
| 237 019c AA0F add r26,r26 |
| 238 019e BB1F adc r27,r27 |
| 239 01a0 A050 subi r26,lo8(-(PPM_diff)) |
| 240 01a2 B040 sbci r27,hi8(-(PPM_diff)) |
| 241 01a4 1196 adiw r26,1 |
| 242 01a6 1C92 st X,__zero_reg__ |
| 243 01a8 1E92 st -X,__zero_reg__ |
| 244 .L24: |
| 245 01aa E091 0000 lds r30,index.1 |
| 246 01ae F091 0000 lds r31,(index.1)+1 |
| 247 01b2 EE0F add r30,r30 |
| 248 01b4 FF1F adc r31,r31 |
| 249 01b6 E050 subi r30,lo8(-(PPM_in)) |
| 250 01b8 F040 sbci r31,hi8(-(PPM_in)) |
| 251 01ba D183 std Z+1,r29 |
| 252 01bc C083 st Z,r28 |
| 253 .L14: |
| 254 01be 2091 0000 lds r18,index.1 |
| 255 01c2 3091 0000 lds r19,(index.1)+1 |
| 256 01c6 2F5F subi r18,lo8(-(1)) |
| 257 01c8 3F4F sbci r19,hi8(-(1)) |
| 258 01ca 3093 0000 sts (index.1)+1,r19 |
| 259 01ce 2093 0000 sts index.1,r18 |
| 260 01d2 8091 0000 lds r24,PlatinenVersion |
| 261 01d6 8431 cpi r24,lo8(20) |
| 262 01d8 08F0 brlo .+2 |
| 263 01da 79C1 rjmp .L8 |
| 264 01dc 2530 cpi r18,5 |
| 265 01de 3105 cpc r19,__zero_reg__ |
| 266 01e0 11F4 brne .L26 |
| 267 01e2 5D9A sbi 43-0x20,5 |
| 268 01e4 01C0 rjmp .L27 |
| 269 .L26: |
| 270 01e6 5D98 cbi 43-0x20,5 |
| 271 .L27: |
| 272 01e8 8091 0000 lds r24,index.1 |
| 273 01ec 9091 0000 lds r25,(index.1)+1 |
| 274 01f0 8630 cpi r24,6 |
| 275 01f2 9105 cpc r25,__zero_reg__ |
| 276 01f4 11F4 brne .L28 |
| 277 01f6 5C9A sbi 43-0x20,4 |
| 278 01f8 01C0 rjmp .L29 |
| 279 .L28: |
| 280 01fa 5C98 cbi 43-0x20,4 |
| 281 .L29: |
| 282 01fc 0797 sbiw r24,7 |
| 283 01fe 11F4 brne .L30 |
| 284 0200 5B9A sbi 43-0x20,3 |
| 285 0202 65C1 rjmp .L8 |
| 286 .L30: |
| 287 0204 5B98 cbi 43-0x20,3 |
| 288 0206 63C1 rjmp .L8 |
| 289 .L9: |
| 290 0208 4091 8600 lds r20,134 |
| 291 020c 5091 8700 lds r21,(134)+1 |
| 292 0210 8091 0000 lds r24,AltICR.2 |
| 293 0214 9091 0000 lds r25,(AltICR.2)+1 |
| 294 0218 481B sub r20,r24 |
| 295 021a 590B sbc r21,r25 |
| 296 021c 8091 8600 lds r24,134 |
| 297 0220 9091 8700 lds r25,(134)+1 |
| 298 0224 9093 0000 sts (AltICR.2)+1,r25 |
| 299 0228 8093 0000 sts AltICR.2,r24 |
| 300 022c CA01 movw r24,r20 |
| 301 022e 8D54 subi r24,lo8(-(-1101)) |
| 302 0230 9440 sbci r25,hi8(-(-1101)) |
| 303 0232 6091 0000 lds r22,index.7 |
| 304 0236 835F subi r24,lo8(6899) |
| 305 0238 9A41 sbci r25,hi8(6899) |
| 306 023a 08F0 brlo .+2 |
| 307 023c 7AC0 rjmp .L33 |
| 308 023e 6093 0000 sts tmpChannels,r22 |
| 309 0242 8091 0000 lds r24,tmpChannels |
| 310 0246 8430 cpi r24,lo8(4) |
| 311 0248 08F4 brsh .+2 |
| 312 024a 53C0 rjmp .L34 |
| 313 024c 9091 0000 lds r25,Channels |
| 314 0250 8091 0000 lds r24,tmpChannels |
| 315 0254 9817 cp r25,r24 |
| 316 0256 09F0 breq .+2 |
| 317 0258 4CC0 rjmp .L34 |
| 318 025a 5091 0000 lds r21,okay_cnt.8 |
| 319 025e 5B30 cpi r21,lo8(11) |
| 320 0260 08F4 brsh .+2 |
| 321 0262 3FC0 rjmp .L35 |
| 322 0264 1092 0000 sts NewPpmData,__zero_reg__ |
| 323 0268 1092 0000 sts index.7,__zero_reg__ |
| 324 026c 40E0 ldi r20,lo8(0) |
| 325 .L40: |
| 326 026e 5F31 cpi r21,lo8(31) |
| 327 0270 C0F0 brlo .L39 |
| 328 0272 E42F mov r30,r20 |
| 329 0274 FF27 clr r31 |
| 330 0276 EE0F add r30,r30 |
| 331 0278 FF1F adc r31,r31 |
| 332 027a 9F01 movw r18,r30 |
| 333 027c 2050 subi r18,lo8(-(old_ppm_in.5)) |
| 334 027e 3040 sbci r19,hi8(-(old_ppm_in.5)) |
| 335 0280 DF01 movw r26,r30 |
| 336 0282 A050 subi r26,lo8(-(PPM_in)) |
| 337 0284 B040 sbci r27,hi8(-(PPM_in)) |
| 338 0286 8D91 ld r24,X+ |
| 339 0288 9C91 ld r25,X |
| 340 028a D901 movw r26,r18 |
| 341 028c 8D93 st X+,r24 |
| 342 028e 9C93 st X,r25 |
| 343 0290 DF01 movw r26,r30 |
| 344 0292 A050 subi r26,lo8(-(PPM_diff)) |
| 345 0294 B040 sbci r27,hi8(-(PPM_diff)) |
| 346 0296 8D91 ld r24,X+ |
| 347 0298 9C91 ld r25,X |
| 348 029a E050 subi r30,lo8(-(old_ppm_diff.6)) |
| 349 029c F040 sbci r31,hi8(-(old_ppm_diff.6)) |
| 350 029e 9183 std Z+1,r25 |
| 351 02a0 8083 st Z,r24 |
| 352 .L39: |
| 353 02a2 E42F mov r30,r20 |
| 354 02a4 FF27 clr r31 |
| 355 02a6 EE0F add r30,r30 |
| 356 02a8 FF1F adc r31,r31 |
| 357 02aa 9F01 movw r18,r30 |
| 358 02ac 2050 subi r18,lo8(-(PPM_in)) |
| 359 02ae 3040 sbci r19,hi8(-(PPM_in)) |
| 360 02b0 DF01 movw r26,r30 |
| 361 02b2 A050 subi r26,lo8(-(ppm_in.3)) |
| 362 02b4 B040 sbci r27,hi8(-(ppm_in.3)) |
| 363 02b6 8D91 ld r24,X+ |
| 364 02b8 9C91 ld r25,X |
| 365 02ba D901 movw r26,r18 |
| 366 02bc 1196 adiw r26,1 |
| 367 02be 9C93 st X,r25 |
| 368 02c0 8E93 st -X,r24 |
| 369 02c2 DF01 movw r26,r30 |
| 370 02c4 A050 subi r26,lo8(-(ppm_diff.4)) |
| 371 02c6 B040 sbci r27,hi8(-(ppm_diff.4)) |
| 372 02c8 8D91 ld r24,X+ |
| 373 02ca 9C91 ld r25,X |
| 374 02cc E050 subi r30,lo8(-(PPM_diff)) |
| 375 02ce F040 sbci r31,hi8(-(PPM_diff)) |
| 376 02d0 9183 std Z+1,r25 |
| 377 02d2 8083 st Z,r24 |
| 378 02d4 842F mov r24,r20 |
| 379 02d6 8F5F subi r24,lo8(-(1)) |
| 380 02d8 482F mov r20,r24 |
| 381 02da 8D30 cpi r24,lo8(13) |
| 382 02dc 40F2 brlo .L40 |
| 383 02de 8093 0000 sts index.7,r24 |
| 384 .L35: |
| 385 02e2 8091 0000 lds r24,okay_cnt.8 |
| 386 02e6 8F3F cpi r24,lo8(-1) |
| 387 02e8 B9F0 breq .L42 |
| 388 02ea 8F5F subi r24,lo8(-(1)) |
| 389 02ec 8093 0000 sts okay_cnt.8,r24 |
| 390 02f0 13C0 rjmp .L42 |
| 391 .L34: |
| 392 02f2 8091 0000 lds r24,okay_cnt.8 |
| 393 02f6 8536 cpi r24,lo8(101) |
| 394 02f8 20F0 brlo .L43 |
| 395 02fa 8AE0 ldi r24,lo8(10) |
| 396 02fc 8093 0000 sts okay_cnt.8,r24 |
| 397 0300 02C0 rjmp .L44 |
| 398 .L43: |
| 399 0302 1092 0000 sts okay_cnt.8,__zero_reg__ |
| 400 .L44: |
| 401 0306 8091 0000 lds r24,PlatinenVersion |
| 402 030a 8A30 cpi r24,lo8(10) |
| 403 030c 11F0 breq .L46 |
| 404 030e 8431 cpi r24,lo8(20) |
| 405 0310 10F0 brlo .L45 |
| 406 .L46: |
| 407 0312 289A sbi 37-0x20,0 |
| 408 0314 01C0 rjmp .L42 |
| 409 .L45: |
| 410 0316 2898 cbi 37-0x20,0 |
| 411 .L42: |
| 412 0318 81E0 ldi r24,lo8(1) |
| 413 031a 8093 0000 sts index.7,r24 |
| 414 031e 8091 0000 lds r24,MotorenEin |
| 415 0322 8823 tst r24 |
| 416 0324 09F0 breq .+2 |
| 417 0326 D3C0 rjmp .L8 |
| 418 0328 8091 0000 lds r24,tmpChannels |
| 419 032c 8093 0000 sts Channels,r24 |
| 420 0330 CEC0 rjmp .L8 |
| 421 .L33: |
| 422 0332 6D30 cpi r22,lo8(13) |
| 423 0334 08F0 brlo .+2 |
| 424 0336 A3C0 rjmp .L50 |
| 425 0338 CA01 movw r24,r20 |
| 426 033a 8B5F subi r24,lo8(-(-251)) |
| 427 033c 9040 sbci r25,hi8(-(-251)) |
| 428 033e 845B subi r24,lo8(436) |
| 429 0340 9140 sbci r25,hi8(436) |
| 430 0342 08F0 brlo .+2 |
| 431 0344 7EC0 rjmp .L51 |
| 432 0346 425D subi r20,lo8(-(-466)) |
| 433 0348 5140 sbci r21,hi8(-(-466)) |
| 434 034a E62F mov r30,r22 |
| 435 034c FF27 clr r31 |
| 436 034e EE0F add r30,r30 |
| 437 0350 FF1F adc r31,r31 |
| 438 0352 E050 subi r30,lo8(-(ppm_in.3)) |
| 439 0354 F040 sbci r31,hi8(-(ppm_in.3)) |
| 440 0356 8081 ld r24,Z |
| 441 0358 9181 ldd r25,Z+1 |
| 442 035a FA01 movw r30,r20 |
| 443 035c E81B sub r30,r24 |
| 444 035e F90B sbc r31,r25 |
| 445 0360 CF01 movw r24,r30 |
| 446 0362 0596 adiw r24,5 |
| 447 0364 0B97 sbiw r24,11 |
| 448 0366 B0F4 brsh .L52 |
| 449 0368 8091 0000 lds r24,okay_cnt.8 |
| 450 036c 8A31 cpi r24,lo8(26) |
| 451 036e 20F0 brlo .L53 |
| 452 0370 8091 0000 lds r24,SenderOkay |
| 453 0374 865F subi r24,lo8(-(10)) |
| 454 0376 05C0 rjmp .L88 |
| 455 .L53: |
| 456 0378 8B30 cpi r24,lo8(11) |
| 457 037a 28F0 brlo .L54 |
| 458 037c 8091 0000 lds r24,SenderOkay |
| 459 0380 8E5F subi r24,lo8(-(2)) |
| 460 .L88: |
| 461 0382 8093 0000 sts SenderOkay,r24 |
| 462 .L54: |
| 463 0386 8091 0000 lds r24,SenderOkay |
| 464 038a 893C cpi r24,lo8(-55) |
| 465 038c 18F0 brlo .L52 |
| 466 038e 88EC ldi r24,lo8(-56) |
| 467 0390 8093 0000 sts SenderOkay,r24 |
| 468 .L52: |
| 469 0394 E62F mov r30,r22 |
| 470 0396 FF27 clr r31 |
| 471 0398 EE0F add r30,r30 |
| 472 039a FF1F adc r31,r31 |
| 473 039c E050 subi r30,lo8(-(ppm_in.3)) |
| 474 039e F040 sbci r31,hi8(-(ppm_in.3)) |
| 475 03a0 8081 ld r24,Z |
| 476 03a2 9181 ldd r25,Z+1 |
| 477 03a4 9C01 movw r18,r24 |
| 478 03a6 220F lsl r18 |
| 479 03a8 331F rol r19 |
| 480 03aa 280F add r18,r24 |
| 481 03ac 391F adc r19,r25 |
| 482 03ae 240F add r18,r20 |
| 483 03b0 351F adc r19,r21 |
| 484 03b2 37FF sbrs r19,7 |
| 485 03b4 02C0 rjmp .L57 |
| 486 03b6 2D5F subi r18,lo8(-(3)) |
| 487 03b8 3F4F sbci r19,hi8(-(3)) |
| 488 .L57: |
| 489 03ba E901 movw r28,r18 |
| 490 03bc D595 asr r29 |
| 491 03be C795 ror r28 |
| 492 03c0 D595 asr r29 |
| 493 03c2 C795 ror r28 |
| 494 03c4 CA01 movw r24,r20 |
| 495 03c6 0196 adiw r24,1 |
| 496 03c8 8C17 cp r24,r28 |
| 497 03ca 9D07 cpc r25,r29 |
| 498 03cc 14F4 brge .L58 |
| 499 03ce 2197 sbiw r28,1 |
| 500 03d0 06C0 rjmp .L59 |
| 501 .L58: |
| 502 03d2 4150 subi r20,lo8(-(-1)) |
| 503 03d4 5040 sbci r21,hi8(-(-1)) |
| 504 03d6 C417 cp r28,r20 |
| 505 03d8 D507 cpc r29,r21 |
| 506 03da 0CF4 brge .L59 |
| 507 03dc 2196 adiw r28,1 |
| 508 .L59: |
| 509 03de 8091 0000 lds r24,SenderOkay |
| 510 03e2 8E3B cpi r24,lo8(-66) |
| 511 03e4 D8F0 brlo .L61 |
| 512 03e6 E62F mov r30,r22 |
| 513 03e8 FF27 clr r31 |
| 514 03ea EE0F add r30,r30 |
| 515 03ec FF1F adc r31,r31 |
| 516 03ee DF01 movw r26,r30 |
| 517 03f0 A050 subi r26,lo8(-(ppm_in.3)) |
| 518 03f2 B040 sbci r27,hi8(-(ppm_in.3)) |
| 519 03f4 8D91 ld r24,X+ |
| 520 03f6 9C91 ld r25,X |
| 521 03f8 9E01 movw r18,r28 |
| 522 03fa 281B sub r18,r24 |
| 523 03fc 390B sbc r19,r25 |
| 524 03fe C901 movw r24,r18 |
| 525 0400 63E0 ldi r22,lo8(3) |
| 526 0402 70E0 ldi r23,hi8(3) |
| 527 0404 0E94 0000 call __divmodhi4 |
| 528 0408 CB01 movw r24,r22 |
| 529 040a 880F lsl r24 |
| 530 040c 991F rol r25 |
| 531 040e 860F add r24,r22 |
| 532 0410 971F adc r25,r23 |
| 533 0412 E050 subi r30,lo8(-(ppm_diff.4)) |
| 534 0414 F040 sbci r31,hi8(-(ppm_diff.4)) |
| 535 0416 9183 std Z+1,r25 |
| 536 0418 8083 st Z,r24 |
| 537 041a 08C0 rjmp .L62 |
| 538 .L61: |
| 539 041c E62F mov r30,r22 |
| 540 041e FF27 clr r31 |
| 541 0420 EE0F add r30,r30 |
| 542 0422 FF1F adc r31,r31 |
| 543 0424 E050 subi r30,lo8(-(ppm_diff.4)) |
| 544 0426 F040 sbci r31,hi8(-(ppm_diff.4)) |
| 545 0428 1182 std Z+1,__zero_reg__ |
| 546 042a 1082 st Z,__zero_reg__ |
| 547 .L62: |
| 548 042c 8091 0000 lds r24,index.7 |
| 549 0430 E82F mov r30,r24 |
| 550 0432 FF27 clr r31 |
| 551 0434 EE0F add r30,r30 |
| 552 0436 FF1F adc r31,r31 |
| 553 0438 E050 subi r30,lo8(-(ppm_in.3)) |
| 554 043a F040 sbci r31,hi8(-(ppm_in.3)) |
| 555 043c D183 std Z+1,r29 |
| 556 043e C083 st Z,r28 |
| 557 0440 09C0 rjmp .L63 |
| 558 .L51: |
| 559 0442 8091 0000 lds r24,PlatinenVersion |
| 560 0446 8A30 cpi r24,lo8(10) |
| 561 0448 11F0 breq .L65 |
| 562 044a 8431 cpi r24,lo8(20) |
| 563 044c 10F0 brlo .L64 |
| 564 .L65: |
| 565 044e 289A sbi 37-0x20,0 |
| 566 0450 01C0 rjmp .L63 |
| 567 .L64: |
| 568 0452 2898 cbi 37-0x20,0 |
| 569 .L63: |
| 570 0454 8091 0000 lds r24,PlatinenVersion |
| 571 0458 8431 cpi r24,lo8(20) |
| 572 045a 88F4 brsh .L50 |
| 573 045c 8091 0000 lds r24,index.7 |
| 574 0460 8530 cpi r24,lo8(5) |
| 575 0462 11F4 brne .L68 |
| 576 0464 5D9A sbi 43-0x20,5 |
| 577 0466 05C0 rjmp .L70 |
| 578 .L68: |
| 579 0468 5D98 cbi 43-0x20,5 |
| 580 046a 8630 cpi r24,lo8(6) |
| 581 046c 11F4 brne .L70 |
| 582 046e 5C9A sbi 43-0x20,4 |
| 583 0470 05C0 rjmp .L72 |
| 584 .L70: |
| 585 0472 5C98 cbi 43-0x20,4 |
| 586 0474 8730 cpi r24,lo8(7) |
| 587 0476 11F4 brne .L72 |
| 588 0478 5B9A sbi 43-0x20,3 |
| 589 047a 01C0 rjmp .L50 |
| 590 .L72: |
| 591 047c 5B98 cbi 43-0x20,3 |
| 592 .L50: |
| 593 047e 8091 0000 lds r24,index.7 |
| 594 0482 8431 cpi r24,lo8(20) |
| 595 0484 20F4 brsh .L74 |
| 596 0486 8F5F subi r24,lo8(-(1)) |
| 597 0488 8093 0000 sts index.7,r24 |
| 598 048c 20C0 rjmp .L8 |
| 599 .L74: |
| 600 048e 8431 cpi r24,lo8(20) |
| 601 0490 F1F4 brne .L8 |
| 602 0492 8091 0000 lds r24,PlatinenVersion |
| 603 0496 8A30 cpi r24,lo8(10) |
| 604 0498 11F0 breq .L78 |
| 605 049a 8431 cpi r24,lo8(20) |
| 606 049c 10F0 brlo .L77 |
| 607 .L78: |
| 608 049e 289A sbi 37-0x20,0 |
| 609 04a0 01C0 rjmp .L79 |
| 610 .L77: |
| 611 04a2 2898 cbi 37-0x20,0 |
| 612 .L79: |
| 613 04a4 8EE1 ldi r24,lo8(30) |
| 614 04a6 8093 0000 sts index.7,r24 |
| 615 04aa 2CE0 ldi r18,lo8(12) |
| 616 04ac C0E0 ldi r28,lo8(PPM_diff) |
| 617 04ae D0E0 ldi r29,hi8(PPM_diff) |
| 618 04b0 A0E0 ldi r26,lo8(old_ppm_in.5) |
| 619 04b2 B0E0 ldi r27,hi8(old_ppm_in.5) |
| 620 04b4 E0E0 ldi r30,lo8(PPM_in) |
| 621 04b6 F0E0 ldi r31,hi8(PPM_in) |
| 622 .L83: |
| 623 04b8 8D91 ld r24,X+ |
| 624 04ba 9D91 ld r25,X+ |
| 625 04bc 9183 std Z+1,r25 |
| 626 04be 8083 st Z,r24 |
| 627 04c0 3296 adiw r30,2 |
| 628 04c2 1982 std Y+1,__zero_reg__ |
| 629 04c4 1882 st Y,__zero_reg__ |
| 630 04c6 2296 adiw r28,2 |
| 631 04c8 2150 subi r18,lo8(-(-1)) |
| 632 04ca 27FF sbrs r18,7 |
| 633 04cc F5CF rjmp .L83 |
| 634 .L8: |
| 635 /* epilogue: frame size=0 */ |
| 636 04ce FF91 pop r31 |
| 637 04d0 EF91 pop r30 |
| 638 04d2 DF91 pop r29 |
| 639 04d4 CF91 pop r28 |
| 640 04d6 BF91 pop r27 |
| 641 04d8 AF91 pop r26 |
| 642 04da 9F91 pop r25 |
| 643 04dc 8F91 pop r24 |
| 644 04de 7F91 pop r23 |
| 645 04e0 6F91 pop r22 |
| 646 04e2 5F91 pop r21 |
| 647 04e4 4F91 pop r20 |
| 648 04e6 3F91 pop r19 |
| 649 04e8 2F91 pop r18 |
| 650 04ea 1F91 pop r17 |
| 651 04ec 0F91 pop r16 |
| 652 04ee 0F90 pop __tmp_reg__ |
| 653 04f0 0FBE out __SREG__,__tmp_reg__ |
| 654 04f2 0F90 pop __tmp_reg__ |
| 655 04f4 1F90 pop __zero_reg__ |
| 656 04f6 1895 reti |
| 657 /* epilogue end (size=21) */ |
| 658 /* function __vector_12 size 615 (573) */ |
| 660 .comm PPM_in,52,1 |
| 661 .comm PPM_diff,52,1 |
| 662 .comm Channels,1,1 |
| 663 /* File "rc.c": code 643 = 0x0283 ( 600), prologues 21, epilogues 22 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 rc.c |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:14 .data:00000000 NewPpmData |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:21 .bss:00000000 tmpChannels |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:26 .text:00000000 rc_sum_init |
| *COM*:00000034 PPM_diff |
| *COM*:00000034 PPM_in |
| .bss:00000001 AltICR.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:56 .bss:00000003 index.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:57 .bss:00000005 AltICR.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:58 .bss:00000007 ppm_in.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:59 .bss:00000021 ppm_diff.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:60 .bss:0000003b old_ppm_in.5 |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:61 .bss:00000055 old_ppm_diff.6 |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:62 .bss:0000006f index.7 |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:63 .bss:00000070 okay_cnt.8 |
| C:\Users\Thomas\AppData\Local\Temp/ccMFbaaa.s:67 .text:00000038 __vector_12 |
| *COM*:00000001 Channels |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| AdNeutralGier |
| AdNeutralRoll |
| AdNeutralNick |
| EE_Parameter |
| SenderOkay |
| __divmodhi4 |
| PlatinenVersion |
| MotorenEin |
| /branches/metro/v0.82a metro_Akku+/spi.c |
|---|
| 0,0 → 1,333 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| #include "eeprom.h" |
| //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
| //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| struct str_SPI_VersionInfo NC_Version; |
| struct str_GPSInfo GPSInfo; |
| unsigned char SPI_BufferIndex; |
| unsigned char SPI_RxBufferIndex; |
| signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *SPI_TX_Buffer; |
| unsigned char SPITransferCompleted, SPI_ChkSum; |
| unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
| unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
| unsigned char SPI_CommandCounter = 0; |
| unsigned char NC_ErrorCode = 0; |
| #ifdef USE_SPI_COMMUNICATION |
| //------------------------------------------------------ |
| void SPI_MasterInit(void) |
| { |
| DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SPSR = 0;//(1<<SPI2X); |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPITransferCompleted = 1; |
| //SPDR = 0x00; // dummy write |
| ToNaviCtrl.Sync1 = 0xAA; |
| ToNaviCtrl.Sync2 = 0x83; |
| ToNaviCtrl.Command = SPI_FCCMD_USER; |
| ToNaviCtrl.IntegralNick = 0; |
| ToNaviCtrl.IntegralRoll = 0; |
| FromNaviCtrl_Value.SerialDataOkay = 0; |
| SPI_RxDataValid = 0; |
| } |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(void) |
| { |
| //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| if (!SPITransferCompleted) return; |
| // _delay_us(30); |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
| ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| SPITransferCompleted = 0; |
| UpdateSPI_Buffer(); // update buffer |
| SPI_BufferIndex = 1; |
| //ebugOut.Analog[16]++; |
| // -- Debug-Output --- |
| //---- |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
| SPDR = ToNaviCtrl.Sync1; // Start transmission |
| // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| } |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(void) |
| { |
| static unsigned char SPI_RXState = 0; |
| unsigned char rxdata; |
| static unsigned char rxchksum; |
| if (SPITransferCompleted) return; |
| if (!(SPSR & (1 << SPIF))) return; |
| SendSPI = 4; |
| // _delay_us(30); |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| rxdata = SPDR; |
| switch ( SPI_RXState) |
| { |
| case 0: |
| SPI_RxBufferIndex = 0; |
| rxchksum = rxdata; |
| if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
| break; |
| case 1: |
| if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
| else SPI_RXState = 0; |
| break; |
| case 2: |
| SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| //DebugOut.Analog[19]++; |
| if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| { |
| if (rxdata == rxchksum) |
| { |
| unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| SPI_RxDataValid = 1; |
| } |
| else SPI_RxDataValid = 0; |
| SPI_RXState = 0; |
| } |
| else rxchksum += rxdata; |
| break; |
| } |
| if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
| ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
| // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| } |
| else SPITransferCompleted = 1; |
| SPI_BufferIndex++; |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| signed int tmp; |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
| ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
| NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| // ToNaviCtrl.User8 = Parameter_UserParam8; |
| // ToNaviCtrl.CalState = WinkelOut.CalcState; |
| switch(ToNaviCtrl.Command) // |
| { |
| case SPI_FCCMD_USER: |
| ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
| ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
| ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
| ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
| ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
| ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
| ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
| FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
| ToNaviCtrl.Param.Byte[10] = ControlHeading; |
| break; |
| case SPI_FCCMD_ACCU: |
| ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
| ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
| ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
| break; |
| case SPI_FCCMD_PARAMETER1: |
| ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
| ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
| ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
| ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
| ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
| ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
| ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
| ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
| ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| break; |
| case SPI_FCCMD_STICK: |
| cli(); |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[0] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[1] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[2] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| sei(); |
| ToNaviCtrl.Param.Byte[3] = (char) tmp; |
| ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
| ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
| ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
| ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
| ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
| ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
| ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
| ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
| break; |
| case SPI_FCCMD_MISC: |
| if(WinkelOut.CalcState > 5) |
| { |
| WinkelOut.CalcState = 0; |
| ToNaviCtrl.Param.Byte[0] = 5; |
| } |
| else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
| ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
| ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
| ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
| ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
| ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
| ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
| ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
| ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
| break; |
| case SPI_FCCMD_VERSION: |
| ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
| ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
| ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
| ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
| ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
| ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
| ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
| ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
| ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3]; |
| ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4]; |
| break; |
| case SPI_FCCMD_SERVOS: |
| ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
| ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
| ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
| ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
| ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
| ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
| ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
| ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
| ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
| break; |
| } |
| if(SPI_RxDataValid) |
| { |
| NaviDataOkay = 250; |
| if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
| { |
| GPS_Nick = FromNaviCtrl.GPS_Nick; |
| GPS_Roll = FromNaviCtrl.GPS_Roll; |
| } |
| if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
| switch (FromNaviCtrl.Command) |
| { |
| case SPI_NCCMD_KALMAN: |
| FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
| FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
| FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
| FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
| FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
| break; |
| case SPI_NCCMD_VERSION: |
| NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
| NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
| NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
| NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
| NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
| DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
| NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
| DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
| break; |
| case SPI_NCCMD_GPSINFO: |
| GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
| GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
| GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
| GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
| break; |
| default: |
| break; |
| } |
| } |
| else |
| { |
| // KompassValue = 0; |
| // KompassRichtung = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| } |
| #endif |
| /branches/metro/v0.82a metro_Akku+/spi.d |
|---|
| 0,0 → 1,3 |
| spi.o spi.d : spi.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
| twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
| eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/spi.h |
|---|
| 0,0 → 1,183 |
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| #include <util/delay.h> |
| #define USE_SPI_COMMUNICATION |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #if defined(__AVR_ATmega1284P__) |
| #define DD_SS PORTB4 |
| #define DD_SCK PORTB7 |
| #define DD_MOSI PORTB5 |
| #define DD_MISO PORTB6 |
| #define SPI_SLAVE_SELECT PORTC5 |
| #else |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| #define SPI_SLAVE_SELECT PC5 |
| #endif |
| // for compatibility reasons gcc3.x <-> gcc4.x |
| #ifndef SPCR |
| #define SPCR SPCR0 |
| #endif |
| #ifndef SPE |
| #define SPE SPE0 |
| #endif |
| #ifndef MSTR |
| #define MSTR MSTR0 |
| #endif |
| #ifndef SPR1 |
| #define SPR1 SPR01 |
| #endif |
| #ifndef SPR0 |
| #define SPR0 SPR00 |
| #endif |
| #ifndef SPIE |
| #define SPIE SPIE0 |
| #endif |
| #ifndef SPDR |
| #define SPDR SPDR0 |
| #endif |
| #ifndef SPIF |
| #define SPIF SPIF0 |
| #endif |
| #ifndef SPSR |
| #define SPSR SPSR0 |
| #endif |
| // ------------------------- |
| #define SPI_FCCMD_USER 10 |
| #define SPI_FCCMD_STICK 11 |
| #define SPI_FCCMD_MISC 12 |
| #define SPI_FCCMD_PARAMETER1 13 |
| #define SPI_FCCMD_VERSION 14 |
| #define SPI_FCCMD_SERVOS 15 |
| #define SPI_FCCMD_ACCU 16 |
| struct str_ToNaviCtrl |
| { |
| unsigned char Sync1, Sync2; |
| unsigned char Command; |
| signed int IntegralNick; |
| signed int IntegralRoll; |
| signed int AccNick; |
| signed int AccRoll; |
| signed int GyroCompass; |
| signed int GyroNick; |
| signed int GyroRoll; |
| signed int GyroGier; |
| union |
| { |
| unsigned char Byte[12]; |
| char sByte[12]; |
| unsigned int Int[6]; |
| int sInt[6]; |
| unsigned long Long[3]; |
| long sLong[3]; |
| float Float[3]; |
| } Param; |
| unsigned char Chksum; |
| }; |
| #define SPI_NCCMD_KALMAN 103 |
| #define SPI_NCCMD_VERSION 104 |
| #define SPI_NCCMD_GPSINFO 105 |
| struct str_FromNaviCtrl |
| { |
| unsigned char Command; |
| signed int GPS_Nick; |
| signed int GPS_Roll; |
| signed int GPS_Gier; |
| signed int CompassValue; |
| signed int Status; |
| unsigned int BeepTime; |
| union |
| { |
| unsigned char Byte[12]; |
| char sByte[12]; |
| unsigned int Int[6]; |
| int sInt[6]; |
| unsigned long Long[3]; |
| long sLong[3]; |
| float Float[3]; |
| } Param; |
| unsigned char Chksum; |
| }; |
| struct str_FromNaviCtrl_Value |
| { |
| signed char Kalman_K; |
| signed char Kalman_MaxDrift; |
| signed char Kalman_MaxFusion; |
| unsigned char SerialDataOkay; |
| signed char GpsZ; |
| }; |
| struct str_SPI_VersionInfo |
| { |
| unsigned char Major; |
| unsigned char Minor; |
| unsigned char Patch; |
| unsigned char Compatible; |
| unsigned char Hardware; |
| }; |
| // Satfix types for GPSData.SatFix |
| #define SATFIX_NONE 0x00 |
| #define SATFIX_DEADRECKOING 0x01 |
| #define SATFIX_2D 0x02 |
| #define SATFIX_3D 0x03 |
| #define SATFIX_GPS_DEADRECKOING 0x04 |
| #define SATFIX_TIMEONLY 0x05 |
| // Flags for interpretation of the GPSData.Flags |
| #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
| #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
| #define FLAG_WKNSET 0x04 // (is Week Number valid) |
| #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
| struct str_GPSInfo |
| { |
| unsigned char Flags; // Status Flags |
| unsigned char NumOfSats; // number of satelites |
| unsigned char SatFix; // type of satfix |
| unsigned char Speed; // m/sek |
| unsigned int HomeDistance; // distance to Home in dm |
| int HomeBearing; // bearing to home in deg |
| }; |
| #ifdef USE_SPI_COMMUNICATION |
| extern struct str_GPSInfo GPSInfo; |
| extern struct str_SPI_VersionInfo NC_Version; |
| extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| extern struct str_ToNaviCtrl ToNaviCtrl; |
| extern struct str_FromNaviCtrl FromNaviCtrl; |
| extern unsigned char SPI_CommandCounter,NaviDataOkay; |
| extern signed char FromNC_Rotate_C, FromNC_Rotate_S; |
| extern unsigned char NC_ErrorCode; |
| extern void SPI_MasterInit(void); |
| extern void SPI_StartTransmitPacket(void); |
| extern void UpdateSPI_Buffer(void); |
| extern void SPI_TransmitByte(void); |
| #else |
| // -------------------------------- Dummy ----------------------------------------- |
| #define SPI_MasterInit() ; |
| #define SPI_StartTransmitPacket() ; |
| #define UpdateSPI_Buffer() ; |
| #define SPI_TransmitByte() ; |
| #endif |
| #endif |
| /branches/metro/v0.82a metro_Akku+/spi.lst |
|---|
| 0,0 → 1,992 |
| 1 .file "spi.c" |
| 2 .arch atmega644p |
| 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 .global NC_ErrorCode |
| 11 .global NC_ErrorCode |
| 12 .section .bss |
| 15 NC_ErrorCode: |
| 16 0000 00 .skip 1,0 |
| 17 .global SPI_CommandCounter |
| 18 .global SPI_CommandCounter |
| 21 SPI_CommandCounter: |
| 22 0001 00 .skip 1,0 |
| 23 .global SPI_CommandSequence |
| 24 .data |
| 27 SPI_CommandSequence: |
| 28 0000 0B .byte 11 |
| 29 0001 0A .byte 10 |
| 30 0002 0D .byte 13 |
| 31 0003 0B .byte 11 |
| 32 0004 0C .byte 12 |
| 33 0005 0E .byte 14 |
| 34 0006 0B .byte 11 |
| 35 0007 0F .byte 15 |
| 36 0008 10 .byte 16 |
| 37 .global NaviDataOkay |
| 40 NaviDataOkay: |
| 41 0009 FA .byte -6 |
| 42 .global FromNC_Rotate_S |
| 43 .global FromNC_Rotate_S |
| 44 .section .bss |
| 47 FromNC_Rotate_S: |
| 48 0002 00 .skip 1,0 |
| 49 .global FromNC_Rotate_C |
| 50 .data |
| 53 FromNC_Rotate_C: |
| 54 000a 20 .byte 32 |
| 55 .text |
| 56 .global SPI_MasterInit |
| 58 SPI_MasterInit: |
| 59 /* prologue: frame size=0 */ |
| 60 /* prologue end (size=0) */ |
| 61 0000 84B1 in r24,36-0x20 |
| 62 0002 806A ori r24,lo8(-96) |
| 63 0004 84B9 out 36-0x20,r24 |
| 64 0006 3D9A sbi 39-0x20,5 |
| 65 0008 82E5 ldi r24,lo8(82) |
| 66 000a 8CBD out 76-0x20,r24 |
| 67 000c 1DBC out 77-0x20,__zero_reg__ |
| 68 000e 459A sbi 40-0x20,5 |
| 69 0010 81E0 ldi r24,lo8(1) |
| 70 0012 8093 0000 sts SPITransferCompleted,r24 |
| 71 0016 8AEA ldi r24,lo8(-86) |
| 72 0018 8093 0000 sts ToNaviCtrl,r24 |
| 73 001c 83E8 ldi r24,lo8(-125) |
| 74 001e 8093 0000 sts ToNaviCtrl+1,r24 |
| 75 0022 8AE0 ldi r24,lo8(10) |
| 76 0024 8093 0000 sts ToNaviCtrl+2,r24 |
| 77 0028 1092 0000 sts (ToNaviCtrl+3)+1,__zero_reg__ |
| 78 002c 1092 0000 sts ToNaviCtrl+3,__zero_reg__ |
| 79 0030 1092 0000 sts (ToNaviCtrl+5)+1,__zero_reg__ |
| 80 0034 1092 0000 sts ToNaviCtrl+5,__zero_reg__ |
| 81 0038 1092 0000 sts FromNaviCtrl_Value+3,__zero_reg__ |
| 82 003c 1092 0000 sts SPI_RxDataValid,__zero_reg__ |
| 83 /* epilogue: frame size=0 */ |
| 84 0040 0895 ret |
| 85 /* epilogue end (size=1) */ |
| 86 /* function SPI_MasterInit size 33 (32) */ |
| 88 .lcomm SPI_RXState.0,1 |
| 89 .lcomm rxchksum.1,1 |
| 90 .global SPI_TransmitByte |
| 92 SPI_TransmitByte: |
| 93 /* prologue: frame size=0 */ |
| 94 /* prologue end (size=0) */ |
| 95 0042 3091 0000 lds r19,SPITransferCompleted |
| 96 0046 3323 tst r19 |
| 97 0048 09F0 breq .+2 |
| 98 004a 85C0 rjmp .L2 |
| 99 004c 0DB4 in __tmp_reg__,77-0x20 |
| 100 004e 07FE sbrs __tmp_reg__,7 |
| 101 0050 82C0 rjmp .L2 |
| 102 0052 84E0 ldi r24,lo8(4) |
| 103 0054 8093 0000 sts SendSPI,r24 |
| 104 0058 459A sbi 40-0x20,5 |
| 105 005a 2EB5 in r18,78-0x20 |
| 106 005c 8091 0000 lds r24,SPI_RXState.0 |
| 107 0060 9927 clr r25 |
| 108 0062 8130 cpi r24,1 |
| 109 0064 9105 cpc r25,__zero_reg__ |
| 110 0066 89F0 breq .L8 |
| 111 0068 8230 cpi r24,2 |
| 112 006a 9105 cpc r25,__zero_reg__ |
| 113 006c 1CF4 brge .L16 |
| 114 006e 892B or r24,r25 |
| 115 0070 21F0 breq .L6 |
| 116 0072 3EC0 rjmp .L5 |
| 117 .L16: |
| 118 0074 0297 sbiw r24,2 |
| 119 0076 B9F0 breq .L11 |
| 120 0078 3BC0 rjmp .L5 |
| 121 .L6: |
| 122 007a 3093 0000 sts SPI_RxBufferIndex,r19 |
| 123 007e 2093 0000 sts rxchksum.1,r18 |
| 124 0082 2138 cpi r18,lo8(-127) |
| 125 0084 A9F5 brne .L5 |
| 126 0086 81E0 ldi r24,lo8(1) |
| 127 0088 08C0 rjmp .L19 |
| 128 .L8: |
| 129 008a 2535 cpi r18,lo8(85) |
| 130 008c 49F4 brne .L9 |
| 131 008e 8091 0000 lds r24,rxchksum.1 |
| 132 0092 820F add r24,r18 |
| 133 0094 8093 0000 sts rxchksum.1,r24 |
| 134 0098 82E0 ldi r24,lo8(2) |
| 135 .L19: |
| 136 009a 8093 0000 sts SPI_RXState.0,r24 |
| 137 009e 28C0 rjmp .L5 |
| 138 .L9: |
| 139 00a0 3093 0000 sts SPI_RXState.0,r19 |
| 140 00a4 25C0 rjmp .L5 |
| 141 .L11: |
| 142 00a6 8091 0000 lds r24,SPI_RxBufferIndex |
| 143 00aa E82F mov r30,r24 |
| 144 00ac FF27 clr r31 |
| 145 00ae E050 subi r30,lo8(-(SPI_Buffer)) |
| 146 00b0 F040 sbci r31,hi8(-(SPI_Buffer)) |
| 147 00b2 2083 st Z,r18 |
| 148 00b4 8F5F subi r24,lo8(-(1)) |
| 149 00b6 8093 0000 sts SPI_RxBufferIndex,r24 |
| 150 00ba 9091 0000 lds r25,rxchksum.1 |
| 151 00be 8A31 cpi r24,lo8(26) |
| 152 00c0 A0F0 brlo .L12 |
| 153 00c2 2917 cp r18,r25 |
| 154 00c4 69F4 brne .L13 |
| 155 00c6 8AE1 ldi r24,lo8(26) |
| 156 00c8 A0E0 ldi r26,lo8(SPI_Buffer) |
| 157 00ca B0E0 ldi r27,hi8(SPI_Buffer) |
| 158 00cc E0E0 ldi r30,lo8(FromNaviCtrl) |
| 159 00ce F0E0 ldi r31,hi8(FromNaviCtrl) |
| 160 00d0 0D90 ld __tmp_reg__,X+ |
| 161 00d2 0192 st Z+,__tmp_reg__ |
| 162 00d4 8A95 dec r24 |
| 163 00d6 E1F7 brne .-8 |
| 164 00d8 81E0 ldi r24,lo8(1) |
| 165 00da 8093 0000 sts SPI_RxDataValid,r24 |
| 166 00de 02C0 rjmp .L14 |
| 167 .L13: |
| 168 00e0 3093 0000 sts SPI_RxDataValid,r19 |
| 169 .L14: |
| 170 00e4 1092 0000 sts SPI_RXState.0,__zero_reg__ |
| 171 00e8 03C0 rjmp .L5 |
| 172 .L12: |
| 173 00ea 920F add r25,r18 |
| 174 00ec 9093 0000 sts rxchksum.1,r25 |
| 175 .L5: |
| 176 00f0 2091 0000 lds r18,SPI_BufferIndex |
| 177 00f4 2032 cpi r18,lo8(32) |
| 178 00f6 08F0 brlo .+2 |
| 179 00f8 28C0 rjmp .L17 |
| 180 00fa 4598 cbi 40-0x20,5 |
| 181 /* #APP */ |
| 182 00fc 0000 nop |
| 183 00fe 0000 nop |
| 184 0100 0000 nop |
| 185 0102 0000 nop |
| 186 0104 0000 nop |
| 187 0106 0000 nop |
| 188 0108 0000 nop |
| 189 010a 0000 nop |
| 190 010c 0000 nop |
| 191 010e 0000 nop |
| 192 0110 0000 nop |
| 193 0112 0000 nop |
| 194 0114 0000 nop |
| 195 0116 0000 nop |
| 196 0118 0000 nop |
| 197 011a 0000 nop |
| 198 011c 0000 nop |
| 199 011e 0000 nop |
| 200 0120 0000 nop |
| 201 0122 0000 nop |
| 202 0124 0000 nop |
| 203 0126 0000 nop |
| 204 0128 0000 nop |
| 205 012a 0000 nop |
| 206 /* #NOAPP */ |
| 207 012c E091 0000 lds r30,SPI_TX_Buffer |
| 208 0130 F091 0000 lds r31,(SPI_TX_Buffer)+1 |
| 209 0134 E20F add r30,r18 |
| 210 0136 F11D adc r31,__zero_reg__ |
| 211 0138 8081 ld r24,Z |
| 212 013a 8EBD out 78-0x20,r24 |
| 213 013c 8091 0000 lds r24,ToNaviCtrl+31 |
| 214 0140 9081 ld r25,Z |
| 215 0142 890F add r24,r25 |
| 216 0144 8093 0000 sts ToNaviCtrl+31,r24 |
| 217 0148 03C0 rjmp .L18 |
| 218 .L17: |
| 219 014a 81E0 ldi r24,lo8(1) |
| 220 014c 8093 0000 sts SPITransferCompleted,r24 |
| 221 .L18: |
| 222 0150 2F5F subi r18,lo8(-(1)) |
| 223 0152 2093 0000 sts SPI_BufferIndex,r18 |
| 224 .L2: |
| 225 0156 0895 ret |
| 226 /* epilogue: frame size=0 */ |
| 227 /* epilogue: noreturn */ |
| 228 /* epilogue end (size=0) */ |
| 229 /* function SPI_TransmitByte size 164 (164) */ |
| 231 .global UpdateSPI_Buffer |
| 233 UpdateSPI_Buffer: |
| 234 /* prologue: frame size=0 */ |
| 235 0158 EF92 push r14 |
| 236 015a FF92 push r15 |
| 237 015c 0F93 push r16 |
| 238 015e 1F93 push r17 |
| 239 /* prologue end (size=4) */ |
| 240 0160 8091 0000 lds r24,EE_Parameter+28 |
| 241 0164 9927 clr r25 |
| 242 0166 880F lsl r24 |
| 243 0168 991F rol r25 |
| 244 016a 880F lsl r24 |
| 245 016c 991F rol r25 |
| 246 016e 7C01 movw r14,r24 |
| 247 0170 0027 clr r16 |
| 248 0172 F7FC sbrc r15,7 |
| 249 0174 0095 com r16 |
| 250 0176 102F mov r17,r16 |
| 251 0178 8091 0000 lds r24,IntegralNick |
| 252 017c 9091 0000 lds r25,(IntegralNick)+1 |
| 253 0180 A091 0000 lds r26,(IntegralNick)+2 |
| 254 0184 B091 0000 lds r27,(IntegralNick)+3 |
| 255 0188 BC01 movw r22,r24 |
| 256 018a CD01 movw r24,r26 |
| 257 018c A801 movw r20,r16 |
| 258 018e 9701 movw r18,r14 |
| 259 0190 0E94 0000 call __divmodsi4 |
| 260 0194 3093 0000 sts (ToNaviCtrl+3)+1,r19 |
| 261 0198 2093 0000 sts ToNaviCtrl+3,r18 |
| 262 019c 8091 0000 lds r24,IntegralRoll |
| 263 01a0 9091 0000 lds r25,(IntegralRoll)+1 |
| 264 01a4 A091 0000 lds r26,(IntegralRoll)+2 |
| 265 01a8 B091 0000 lds r27,(IntegralRoll)+3 |
| 266 01ac BC01 movw r22,r24 |
| 267 01ae CD01 movw r24,r26 |
| 268 01b0 A801 movw r20,r16 |
| 269 01b2 9701 movw r18,r14 |
| 270 01b4 0E94 0000 call __divmodsi4 |
| 271 01b8 3093 0000 sts (ToNaviCtrl+5)+1,r19 |
| 272 01bc 2093 0000 sts ToNaviCtrl+5,r18 |
| 273 01c0 2091 0000 lds r18,ErsatzKompass |
| 274 01c4 3091 0000 lds r19,(ErsatzKompass)+1 |
| 275 01c8 4091 0000 lds r20,(ErsatzKompass)+2 |
| 276 01cc 5091 0000 lds r21,(ErsatzKompass)+3 |
| 277 01d0 DA01 movw r26,r20 |
| 278 01d2 C901 movw r24,r18 |
| 279 01d4 E3E0 ldi r30,3 |
| 280 01d6 880F 1: lsl r24 |
| 281 01d8 991F rol r25 |
| 282 01da AA1F rol r26 |
| 283 01dc BB1F rol r27 |
| 284 01de EA95 dec r30 |
| 285 01e0 D1F7 brne 1b |
| 286 01e2 820F add r24,r18 |
| 287 01e4 931F adc r25,r19 |
| 288 01e6 A41F adc r26,r20 |
| 289 01e8 B51F adc r27,r21 |
| 290 01ea 820F add r24,r18 |
| 291 01ec 931F adc r25,r19 |
| 292 01ee A41F adc r26,r20 |
| 293 01f0 B51F adc r27,r21 |
| 294 01f2 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 295 01f6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 296 01fa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 297 01fe 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 298 0202 BC01 movw r22,r24 |
| 299 0204 CD01 movw r24,r26 |
| 300 0206 0E94 0000 call __divmodsi4 |
| 301 020a 3093 0000 sts (ToNaviCtrl+11)+1,r19 |
| 302 020e 2093 0000 sts ToNaviCtrl+11,r18 |
| 303 0212 8091 0000 lds r24,AdNeutralGier |
| 304 0216 9091 0000 lds r25,(AdNeutralGier)+1 |
| 305 021a 2091 0000 lds r18,AdWertGier |
| 306 021e 3091 0000 lds r19,(AdWertGier)+1 |
| 307 0222 821B sub r24,r18 |
| 308 0224 930B sbc r25,r19 |
| 309 0226 9093 0000 sts (ToNaviCtrl+17)+1,r25 |
| 310 022a 8093 0000 sts ToNaviCtrl+17,r24 |
| 311 022e E091 0000 lds r30,NaviCntAcc |
| 312 0232 F091 0000 lds r31,(NaviCntAcc)+1 |
| 313 0236 8091 0000 lds r24,NaviAccNick |
| 314 023a 9091 0000 lds r25,(NaviAccNick)+1 |
| 315 023e BF01 movw r22,r30 |
| 316 0240 0E94 0000 call __divmodhi4 |
| 317 0244 CB01 movw r24,r22 |
| 318 0246 9B01 movw r18,r22 |
| 319 0248 220F lsl r18 |
| 320 024a 331F rol r19 |
| 321 024c 220F lsl r18 |
| 322 024e 331F rol r19 |
| 323 0250 280F add r18,r24 |
| 324 0252 391F adc r19,r25 |
| 325 0254 280F add r18,r24 |
| 326 0256 391F adc r19,r25 |
| 327 0258 37FF sbrs r19,7 |
| 328 025a 02C0 rjmp .L21 |
| 329 025c 2D5F subi r18,lo8(-(3)) |
| 330 025e 3F4F sbci r19,hi8(-(3)) |
| 331 .L21: |
| 332 0260 3595 asr r19 |
| 333 0262 2795 ror r18 |
| 334 0264 3595 asr r19 |
| 335 0266 2795 ror r18 |
| 336 0268 3093 0000 sts (ToNaviCtrl+7)+1,r19 |
| 337 026c 2093 0000 sts ToNaviCtrl+7,r18 |
| 338 0270 8091 0000 lds r24,NaviAccRoll |
| 339 0274 9091 0000 lds r25,(NaviAccRoll)+1 |
| 340 0278 BF01 movw r22,r30 |
| 341 027a 0E94 0000 call __divmodhi4 |
| 342 027e 9B01 movw r18,r22 |
| 343 0280 220F lsl r18 |
| 344 0282 331F rol r19 |
| 345 0284 220F lsl r18 |
| 346 0286 331F rol r19 |
| 347 0288 260F add r18,r22 |
| 348 028a 371F adc r19,r23 |
| 349 028c 260F add r18,r22 |
| 350 028e 371F adc r19,r23 |
| 351 0290 37FF sbrs r19,7 |
| 352 0292 02C0 rjmp .L22 |
| 353 0294 2D5F subi r18,lo8(-(3)) |
| 354 0296 3F4F sbci r19,hi8(-(3)) |
| 355 .L22: |
| 356 0298 3595 asr r19 |
| 357 029a 2795 ror r18 |
| 358 029c 3595 asr r19 |
| 359 029e 2795 ror r18 |
| 360 02a0 3093 0000 sts (ToNaviCtrl+9)+1,r19 |
| 361 02a4 2093 0000 sts ToNaviCtrl+9,r18 |
| 362 02a8 1092 0000 sts (NaviCntAcc)+1,__zero_reg__ |
| 363 02ac 1092 0000 sts NaviCntAcc,__zero_reg__ |
| 364 02b0 1092 0000 sts (NaviAccNick)+1,__zero_reg__ |
| 365 02b4 1092 0000 sts NaviAccNick,__zero_reg__ |
| 366 02b8 1092 0000 sts (NaviAccRoll)+1,__zero_reg__ |
| 367 02bc 1092 0000 sts NaviAccRoll,__zero_reg__ |
| 368 02c0 8091 0000 lds r24,ToNaviCtrl+2 |
| 369 02c4 9927 clr r25 |
| 370 02c6 8D30 cpi r24,13 |
| 371 02c8 9105 cpc r25,__zero_reg__ |
| 372 02ca 09F4 brne .+2 |
| 373 02cc 66C0 rjmp .L26 |
| 374 02ce 8E30 cpi r24,14 |
| 375 02d0 9105 cpc r25,__zero_reg__ |
| 376 02d2 5CF4 brge .L46 |
| 377 02d4 8B30 cpi r24,11 |
| 378 02d6 9105 cpc r25,__zero_reg__ |
| 379 02d8 09F4 brne .+2 |
| 380 02da 8EC0 rjmp .L27 |
| 381 02dc 8C30 cpi r24,12 |
| 382 02de 9105 cpc r25,__zero_reg__ |
| 383 02e0 0CF0 brlt .+2 |
| 384 02e2 0FC1 rjmp .L40 |
| 385 02e4 0A97 sbiw r24,10 |
| 386 02e6 61F0 breq .L24 |
| 387 02e8 ADC1 rjmp .L23 |
| 388 .L46: |
| 389 02ea 8F30 cpi r24,15 |
| 390 02ec 9105 cpc r25,__zero_reg__ |
| 391 02ee 09F4 brne .+2 |
| 392 02f0 81C1 rjmp .L45 |
| 393 02f2 8F30 cpi r24,15 |
| 394 02f4 9105 cpc r25,__zero_reg__ |
| 395 02f6 0CF4 brge .+2 |
| 396 02f8 5CC1 rjmp .L44 |
| 397 02fa 4097 sbiw r24,16 |
| 398 02fc 99F1 breq .L25 |
| 399 02fe A2C1 rjmp .L23 |
| 400 .L24: |
| 401 0300 8091 0000 lds r24,Parameter_UserParam1 |
| 402 0304 8093 0000 sts ToNaviCtrl+19,r24 |
| 403 0308 8091 0000 lds r24,Parameter_UserParam2 |
| 404 030c 8093 0000 sts ToNaviCtrl+20,r24 |
| 405 0310 8091 0000 lds r24,Parameter_UserParam3 |
| 406 0314 8093 0000 sts ToNaviCtrl+21,r24 |
| 407 0318 8091 0000 lds r24,Parameter_UserParam4 |
| 408 031c 8093 0000 sts ToNaviCtrl+22,r24 |
| 409 0320 8091 0000 lds r24,Parameter_UserParam5 |
| 410 0324 8093 0000 sts ToNaviCtrl+23,r24 |
| 411 0328 8091 0000 lds r24,Parameter_UserParam6 |
| 412 032c 8093 0000 sts ToNaviCtrl+24,r24 |
| 413 0330 8091 0000 lds r24,Parameter_UserParam7 |
| 414 0334 8093 0000 sts ToNaviCtrl+25,r24 |
| 415 0338 8091 0000 lds r24,Parameter_UserParam8 |
| 416 033c 8093 0000 sts ToNaviCtrl+26,r24 |
| 417 0340 8091 0000 lds r24,FC_StatusFlags |
| 418 0344 8093 0000 sts ToNaviCtrl+27,r24 |
| 419 0348 8091 0000 lds r24,FC_StatusFlags |
| 420 034c 837F andi r24,lo8(-13) |
| 421 034e 8093 0000 sts FC_StatusFlags,r24 |
| 422 0352 0E94 0000 call GetActiveParamSet |
| 423 0356 8093 0000 sts ToNaviCtrl+28,r24 |
| 424 035a 8091 0000 lds r24,ControlHeading |
| 425 035e 8093 0000 sts ToNaviCtrl+29,r24 |
| 426 0362 70C1 rjmp .L23 |
| 427 .L25: |
| 428 0364 8091 0000 lds r24,Capacity |
| 429 0368 9091 0000 lds r25,(Capacity)+1 |
| 430 036c 9093 0000 sts (ToNaviCtrl+19)+1,r25 |
| 431 0370 8093 0000 sts ToNaviCtrl+19,r24 |
| 432 0374 8091 0000 lds r24,Capacity+4 |
| 433 0378 9091 0000 lds r25,(Capacity+4)+1 |
| 434 037c 9093 0000 sts (ToNaviCtrl+21)+1,r25 |
| 435 0380 8093 0000 sts ToNaviCtrl+21,r24 |
| 436 0384 8091 0000 lds r24,UBat |
| 437 0388 9091 0000 lds r25,(UBat)+1 |
| 438 038c 8093 0000 sts ToNaviCtrl+23,r24 |
| 439 0390 8091 0000 lds r24,BattLowVoltageWarning |
| 440 0394 8093 0000 sts ToNaviCtrl+24,r24 |
| 441 0398 55C1 rjmp .L23 |
| 442 .L26: |
| 443 039a 8091 0000 lds r24,EE_Parameter+80 |
| 444 039e 8093 0000 sts ToNaviCtrl+19,r24 |
| 445 03a2 8091 0000 lds r24,EE_Parameter+81 |
| 446 03a6 8093 0000 sts ToNaviCtrl+20,r24 |
| 447 03aa 8091 0000 lds r24,EE_Parameter+82 |
| 448 03ae 8093 0000 sts ToNaviCtrl+21,r24 |
| 449 03b2 8091 0000 lds r24,EE_Parameter+83 |
| 450 03b6 8093 0000 sts ToNaviCtrl+22,r24 |
| 451 03ba 8091 0000 lds r24,EE_Parameter+84 |
| 452 03be 8093 0000 sts ToNaviCtrl+23,r24 |
| 453 03c2 8091 0000 lds r24,EE_Parameter+88 |
| 454 03c6 8093 0000 sts ToNaviCtrl+24,r24 |
| 455 03ca 8091 0000 lds r24,EE_Parameter+89 |
| 456 03ce 8093 0000 sts ToNaviCtrl+25,r24 |
| 457 03d2 8091 0000 lds r24,EE_Parameter+90 |
| 458 03d6 8093 0000 sts ToNaviCtrl+26,r24 |
| 459 03da 8091 0000 lds r24,EE_Parameter+93 |
| 460 03de 8093 0000 sts ToNaviCtrl+27,r24 |
| 461 03e2 8091 0000 lds r24,EE_Parameter+91 |
| 462 03e6 8093 0000 sts ToNaviCtrl+28,r24 |
| 463 03ea 8091 0000 lds r24,EE_Parameter+92 |
| 464 03ee 8093 0000 sts ToNaviCtrl+29,r24 |
| 465 03f2 8091 0000 lds r24,EE_Parameter+94 |
| 466 03f6 DAC0 rjmp .L59 |
| 467 .L27: |
| 468 /* #APP */ |
| 469 03f8 F894 cli |
| 470 /* #NOAPP */ |
| 471 03fa 8091 0000 lds r24,EE_Parameter+3 |
| 472 03fe E82F mov r30,r24 |
| 473 0400 FF27 clr r31 |
| 474 0402 EE0F add r30,r30 |
| 475 0404 FF1F adc r31,r31 |
| 476 0406 E050 subi r30,lo8(-(PPM_in)) |
| 477 0408 F040 sbci r31,hi8(-(PPM_in)) |
| 478 040a 0190 ld __tmp_reg__,Z+ |
| 479 040c F081 ld r31,Z |
| 480 040e E02D mov r30,__tmp_reg__ |
| 481 0410 E038 cpi r30,128 |
| 482 0412 F105 cpc r31,__zero_reg__ |
| 483 0414 1CF0 brlt .L28 |
| 484 0416 EFE7 ldi r30,lo8(127) |
| 485 0418 F0E0 ldi r31,hi8(127) |
| 486 041a 06C0 rjmp .L29 |
| 487 .L28: |
| 488 041c 2FEF ldi r18,hi8(-127) |
| 489 041e E138 cpi r30,lo8(-127) |
| 490 0420 F207 cpc r31,r18 |
| 491 0422 14F4 brge .L29 |
| 492 0424 E1E8 ldi r30,lo8(-127) |
| 493 0426 FFEF ldi r31,hi8(-127) |
| 494 .L29: |
| 495 0428 E093 0000 sts ToNaviCtrl+19,r30 |
| 496 042c 8091 0000 lds r24,EE_Parameter+4 |
| 497 0430 E82F mov r30,r24 |
| 498 0432 FF27 clr r31 |
| 499 0434 EE0F add r30,r30 |
| 500 0436 FF1F adc r31,r31 |
| 501 0438 E050 subi r30,lo8(-(PPM_in)) |
| 502 043a F040 sbci r31,hi8(-(PPM_in)) |
| 503 043c 0190 ld __tmp_reg__,Z+ |
| 504 043e F081 ld r31,Z |
| 505 0440 E02D mov r30,__tmp_reg__ |
| 506 0442 E038 cpi r30,128 |
| 507 0444 F105 cpc r31,__zero_reg__ |
| 508 0446 1CF0 brlt .L31 |
| 509 0448 EFE7 ldi r30,lo8(127) |
| 510 044a F0E0 ldi r31,hi8(127) |
| 511 044c 06C0 rjmp .L32 |
| 512 .L31: |
| 513 044e 6FEF ldi r22,hi8(-127) |
| 514 0450 E138 cpi r30,lo8(-127) |
| 515 0452 F607 cpc r31,r22 |
| 516 0454 14F4 brge .L32 |
| 517 0456 E1E8 ldi r30,lo8(-127) |
| 518 0458 FFEF ldi r31,hi8(-127) |
| 519 .L32: |
| 520 045a E093 0000 sts ToNaviCtrl+20,r30 |
| 521 045e 8091 0000 lds r24,EE_Parameter+2 |
| 522 0462 E82F mov r30,r24 |
| 523 0464 FF27 clr r31 |
| 524 0466 EE0F add r30,r30 |
| 525 0468 FF1F adc r31,r31 |
| 526 046a E050 subi r30,lo8(-(PPM_in)) |
| 527 046c F040 sbci r31,hi8(-(PPM_in)) |
| 528 046e 0190 ld __tmp_reg__,Z+ |
| 529 0470 F081 ld r31,Z |
| 530 0472 E02D mov r30,__tmp_reg__ |
| 531 0474 E038 cpi r30,128 |
| 532 0476 F105 cpc r31,__zero_reg__ |
| 533 0478 1CF0 brlt .L34 |
| 534 047a EFE7 ldi r30,lo8(127) |
| 535 047c F0E0 ldi r31,hi8(127) |
| 536 047e 06C0 rjmp .L35 |
| 537 .L34: |
| 538 0480 8FEF ldi r24,hi8(-127) |
| 539 0482 E138 cpi r30,lo8(-127) |
| 540 0484 F807 cpc r31,r24 |
| 541 0486 14F4 brge .L35 |
| 542 0488 E1E8 ldi r30,lo8(-127) |
| 543 048a FFEF ldi r31,hi8(-127) |
| 544 .L35: |
| 545 048c E093 0000 sts ToNaviCtrl+21,r30 |
| 546 0490 8091 0000 lds r24,EE_Parameter+1 |
| 547 0494 E82F mov r30,r24 |
| 548 0496 FF27 clr r31 |
| 549 0498 EE0F add r30,r30 |
| 550 049a FF1F adc r31,r31 |
| 551 049c E050 subi r30,lo8(-(PPM_in)) |
| 552 049e F040 sbci r31,hi8(-(PPM_in)) |
| 553 04a0 0190 ld __tmp_reg__,Z+ |
| 554 04a2 F081 ld r31,Z |
| 555 04a4 E02D mov r30,__tmp_reg__ |
| 556 04a6 E038 cpi r30,128 |
| 557 04a8 F105 cpc r31,__zero_reg__ |
| 558 04aa 1CF0 brlt .L37 |
| 559 04ac EFE7 ldi r30,lo8(127) |
| 560 04ae F0E0 ldi r31,hi8(127) |
| 561 04b0 06C0 rjmp .L38 |
| 562 .L37: |
| 563 04b2 2FEF ldi r18,hi8(-127) |
| 564 04b4 E138 cpi r30,lo8(-127) |
| 565 04b6 F207 cpc r31,r18 |
| 566 04b8 14F4 brge .L38 |
| 567 04ba E1E8 ldi r30,lo8(-127) |
| 568 04bc FFEF ldi r31,hi8(-127) |
| 569 .L38: |
| 570 /* #APP */ |
| 571 04be 7894 sei |
| 572 /* #NOAPP */ |
| 573 04c0 E093 0000 sts ToNaviCtrl+22,r30 |
| 574 04c4 8091 0000 lds r24,Poti |
| 575 04c8 8093 0000 sts ToNaviCtrl+23,r24 |
| 576 04cc 8091 0000 lds r24,Poti+1 |
| 577 04d0 8093 0000 sts ToNaviCtrl+24,r24 |
| 578 04d4 8091 0000 lds r24,Poti+2 |
| 579 04d8 8093 0000 sts ToNaviCtrl+25,r24 |
| 580 04dc 8091 0000 lds r24,Poti+3 |
| 581 04e0 8093 0000 sts ToNaviCtrl+26,r24 |
| 582 04e4 8091 0000 lds r24,Poti+4 |
| 583 04e8 8093 0000 sts ToNaviCtrl+27,r24 |
| 584 04ec 8091 0000 lds r24,Poti+5 |
| 585 04f0 8093 0000 sts ToNaviCtrl+28,r24 |
| 586 04f4 8091 0000 lds r24,Poti+6 |
| 587 04f8 8093 0000 sts ToNaviCtrl+29,r24 |
| 588 04fc 8091 0000 lds r24,Poti+7 |
| 589 0500 55C0 rjmp .L59 |
| 590 .L40: |
| 591 0502 8091 0000 lds r24,WinkelOut+6 |
| 592 0506 8630 cpi r24,lo8(6) |
| 593 0508 18F0 brlo .L41 |
| 594 050a 1092 0000 sts WinkelOut+6,__zero_reg__ |
| 595 050e 85E0 ldi r24,lo8(5) |
| 596 .L41: |
| 597 0510 8093 0000 sts ToNaviCtrl+19,r24 |
| 598 0514 8091 0000 lds r24,EE_Parameter+95 |
| 599 0518 8093 0000 sts ToNaviCtrl+20,r24 |
| 600 051c 8091 0000 lds r24,HoehenWert |
| 601 0520 9091 0000 lds r25,(HoehenWert)+1 |
| 602 0524 A091 0000 lds r26,(HoehenWert)+2 |
| 603 0528 B091 0000 lds r27,(HoehenWert)+3 |
| 604 052c BC01 movw r22,r24 |
| 605 052e CD01 movw r24,r26 |
| 606 0530 25E0 ldi r18,lo8(5) |
| 607 0532 30E0 ldi r19,hi8(5) |
| 608 0534 40E0 ldi r20,hlo8(5) |
| 609 0536 50E0 ldi r21,hhi8(5) |
| 610 0538 0E94 0000 call __divmodsi4 |
| 611 053c 3093 0000 sts (ToNaviCtrl+21)+1,r19 |
| 612 0540 2093 0000 sts ToNaviCtrl+21,r18 |
| 613 0544 8091 0000 lds r24,SollHoehe |
| 614 0548 9091 0000 lds r25,(SollHoehe)+1 |
| 615 054c A091 0000 lds r26,(SollHoehe)+2 |
| 616 0550 B091 0000 lds r27,(SollHoehe)+3 |
| 617 0554 BC01 movw r22,r24 |
| 618 0556 CD01 movw r24,r26 |
| 619 0558 25E0 ldi r18,lo8(5) |
| 620 055a 30E0 ldi r19,hi8(5) |
| 621 055c 40E0 ldi r20,hlo8(5) |
| 622 055e 50E0 ldi r21,hhi8(5) |
| 623 0560 0E94 0000 call __divmodsi4 |
| 624 0564 3093 0000 sts (ToNaviCtrl+23)+1,r19 |
| 625 0568 2093 0000 sts ToNaviCtrl+23,r18 |
| 626 056c 8091 0000 lds r24,EE_Parameter+85 |
| 627 0570 8093 0000 sts ToNaviCtrl+25,r24 |
| 628 0574 8091 0000 lds r24,EE_Parameter+86 |
| 629 0578 8093 0000 sts ToNaviCtrl+26,r24 |
| 630 057c 8091 0000 lds r24,EE_Parameter+87 |
| 631 0580 8093 0000 sts ToNaviCtrl+27,r24 |
| 632 0584 8091 0000 lds r24,SenderOkay |
| 633 0588 8093 0000 sts ToNaviCtrl+28,r24 |
| 634 058c 8091 0000 lds r24,PPM_in |
| 635 0590 9091 0000 lds r25,(PPM_in)+1 |
| 636 0594 8093 0000 sts ToNaviCtrl+29,r24 |
| 637 0598 8091 0000 lds r24,DebugOut+16 |
| 638 059c 9091 0000 lds r25,(DebugOut+16)+1 |
| 639 05a0 97FD sbrc r25,7 |
| 640 05a2 0396 adiw r24,3 |
| 641 .L43: |
| 642 05a4 9595 asr r25 |
| 643 05a6 8795 ror r24 |
| 644 05a8 9595 asr r25 |
| 645 05aa 8795 ror r24 |
| 646 .L59: |
| 647 05ac 8093 0000 sts ToNaviCtrl+30,r24 |
| 648 05b0 49C0 rjmp .L23 |
| 649 .L44: |
| 650 05b2 1092 0000 sts ToNaviCtrl+19,__zero_reg__ |
| 651 05b6 82E5 ldi r24,lo8(82) |
| 652 05b8 8093 0000 sts ToNaviCtrl+20,r24 |
| 653 05bc 1092 0000 sts ToNaviCtrl+21,__zero_reg__ |
| 654 05c0 80E1 ldi r24,lo8(16) |
| 655 05c2 8093 0000 sts ToNaviCtrl+22,r24 |
| 656 05c6 8091 0000 lds r24,PlatinenVersion |
| 657 05ca 8093 0000 sts ToNaviCtrl+23,r24 |
| 658 05ce 8091 0000 lds r24,VersionInfo+5 |
| 659 05d2 8093 0000 sts ToNaviCtrl+24,r24 |
| 660 05d6 8091 0000 lds r24,VersionInfo+6 |
| 661 05da 8093 0000 sts ToNaviCtrl+25,r24 |
| 662 05de 8091 0000 lds r24,VersionInfo+7 |
| 663 05e2 8093 0000 sts ToNaviCtrl+26,r24 |
| 664 05e6 8091 0000 lds r24,VersionInfo+8 |
| 665 05ea 8093 0000 sts ToNaviCtrl+27,r24 |
| 666 05ee 8091 0000 lds r24,VersionInfo+9 |
| 667 05f2 26C0 rjmp .L58 |
| 668 .L45: |
| 669 05f4 8091 0000 lds r24,EE_Parameter+53 |
| 670 05f8 8093 0000 sts ToNaviCtrl+19,r24 |
| 671 05fc 8091 0000 lds r24,EE_Parameter+101 |
| 672 0600 8093 0000 sts ToNaviCtrl+20,r24 |
| 673 0604 8091 0000 lds r24,Parameter_ServoNickControl |
| 674 0608 8093 0000 sts ToNaviCtrl+21,r24 |
| 675 060c 8091 0000 lds r24,EE_Parameter+46 |
| 676 0610 8093 0000 sts ToNaviCtrl+22,r24 |
| 677 0614 8091 0000 lds r24,EE_Parameter+47 |
| 678 0618 8093 0000 sts ToNaviCtrl+23,r24 |
| 679 061c 8091 0000 lds r24,EE_Parameter+48 |
| 680 0620 8093 0000 sts ToNaviCtrl+24,r24 |
| 681 0624 8091 0000 lds r24,Parameter_ServoRollControl |
| 682 0628 8093 0000 sts ToNaviCtrl+25,r24 |
| 683 062c 8091 0000 lds r24,EE_Parameter+50 |
| 684 0630 8093 0000 sts ToNaviCtrl+26,r24 |
| 685 0634 8091 0000 lds r24,EE_Parameter+51 |
| 686 0638 8093 0000 sts ToNaviCtrl+27,r24 |
| 687 063c 8091 0000 lds r24,EE_Parameter+52 |
| 688 .L58: |
| 689 0640 8093 0000 sts ToNaviCtrl+28,r24 |
| 690 .L23: |
| 691 0644 8091 0000 lds r24,SPI_RxDataValid |
| 692 0648 8823 tst r24 |
| 693 064a 09F4 brne .+2 |
| 694 064c D8C0 rjmp .L47 |
| 695 064e 8AEF ldi r24,lo8(-6) |
| 696 0650 8093 0000 sts NaviDataOkay,r24 |
| 697 0654 4091 0000 lds r20,FromNaviCtrl+1 |
| 698 0658 5091 0000 lds r21,(FromNaviCtrl+1)+1 |
| 699 065c CA01 movw r24,r20 |
| 700 065e 8150 subi r24,lo8(-(511)) |
| 701 0660 9E4F sbci r25,hi8(-(511)) |
| 702 0662 8F5F subi r24,lo8(1023) |
| 703 0664 9340 sbci r25,hi8(1023) |
| 704 0666 B0F4 brsh .L48 |
| 705 0668 2091 0000 lds r18,FromNaviCtrl+3 |
| 706 066c 3091 0000 lds r19,(FromNaviCtrl+3)+1 |
| 707 0670 C901 movw r24,r18 |
| 708 0672 8150 subi r24,lo8(-(511)) |
| 709 0674 9E4F sbci r25,hi8(-(511)) |
| 710 0676 8F5F subi r24,lo8(1023) |
| 711 0678 9340 sbci r25,hi8(1023) |
| 712 067a 60F4 brsh .L48 |
| 713 067c 8091 0000 lds r24,EE_Parameter+13 |
| 714 0680 85FF sbrs r24,5 |
| 715 0682 08C0 rjmp .L48 |
| 716 0684 5093 0000 sts (GPS_Nick)+1,r21 |
| 717 0688 4093 0000 sts GPS_Nick,r20 |
| 718 068c 3093 0000 sts (GPS_Roll)+1,r19 |
| 719 0690 2093 0000 sts GPS_Roll,r18 |
| 720 .L48: |
| 721 0694 8091 0000 lds r24,FromNaviCtrl+7 |
| 722 0698 9091 0000 lds r25,(FromNaviCtrl+7)+1 |
| 723 069c 21E0 ldi r18,hi8(361) |
| 724 069e 8936 cpi r24,lo8(361) |
| 725 06a0 9207 cpc r25,r18 |
| 726 06a2 24F4 brge .L49 |
| 727 06a4 9093 0000 sts (KompassValue)+1,r25 |
| 728 06a8 8093 0000 sts KompassValue,r24 |
| 729 .L49: |
| 730 06ac 8091 0000 lds r24,KompassValue |
| 731 06b0 9091 0000 lds r25,(KompassValue)+1 |
| 732 06b4 2091 0000 lds r18,KompassStartwert |
| 733 06b8 3091 0000 lds r19,(KompassStartwert)+1 |
| 734 06bc 821B sub r24,r18 |
| 735 06be 930B sbc r25,r19 |
| 736 06c0 845E subi r24,lo8(-(540)) |
| 737 06c2 9D4F sbci r25,hi8(-(540)) |
| 738 06c4 68E6 ldi r22,lo8(360) |
| 739 06c6 71E0 ldi r23,hi8(360) |
| 740 06c8 0E94 0000 call __divmodhi4 |
| 741 06cc 845B subi r24,lo8(-(-180)) |
| 742 06ce 9040 sbci r25,hi8(-(-180)) |
| 743 06d0 9093 0000 sts (KompassRichtung)+1,r25 |
| 744 06d4 8093 0000 sts KompassRichtung,r24 |
| 745 06d8 2091 0000 lds r18,FromNaviCtrl+11 |
| 746 06dc 3091 0000 lds r19,(FromNaviCtrl+11)+1 |
| 747 06e0 8091 0000 lds r24,beeptime |
| 748 06e4 9091 0000 lds r25,(beeptime)+1 |
| 749 06e8 8217 cp r24,r18 |
| 750 06ea 9307 cpc r25,r19 |
| 751 06ec 40F4 brsh .L50 |
| 752 06ee 8091 0000 lds r24,WinkelOut+6 |
| 753 06f2 8823 tst r24 |
| 754 06f4 21F4 brne .L50 |
| 755 06f6 3093 0000 sts (beeptime)+1,r19 |
| 756 06fa 2093 0000 sts beeptime,r18 |
| 757 .L50: |
| 758 06fe 8091 0000 lds r24,FromNaviCtrl |
| 759 0702 9927 clr r25 |
| 760 0704 8836 cpi r24,104 |
| 761 0706 9105 cpc r25,__zero_reg__ |
| 762 0708 49F1 breq .L53 |
| 763 070a 8936 cpi r24,105 |
| 764 070c 9105 cpc r25,__zero_reg__ |
| 765 070e 24F4 brge .L56 |
| 766 0710 8736 cpi r24,103 |
| 767 0712 9105 cpc r25,__zero_reg__ |
| 768 0714 31F0 breq .L52 |
| 769 0716 7BC0 rjmp .L20 |
| 770 .L56: |
| 771 0718 8936 cpi r24,105 |
| 772 071a 9105 cpc r25,__zero_reg__ |
| 773 071c 09F4 brne .+2 |
| 774 071e 45C0 rjmp .L54 |
| 775 0720 76C0 rjmp .L20 |
| 776 .L52: |
| 777 0722 8091 0000 lds r24,FromNaviCtrl+13 |
| 778 0726 8093 0000 sts FromNaviCtrl_Value,r24 |
| 779 072a 8091 0000 lds r24,FromNaviCtrl+14 |
| 780 072e 8093 0000 sts FromNaviCtrl_Value+2,r24 |
| 781 0732 8091 0000 lds r24,FromNaviCtrl+15 |
| 782 0736 8093 0000 sts FromNaviCtrl_Value+1,r24 |
| 783 073a 8091 0000 lds r24,FromNaviCtrl+16 |
| 784 073e 8093 0000 sts FromNaviCtrl_Value+3,r24 |
| 785 0742 8091 0000 lds r24,FromNaviCtrl+17 |
| 786 0746 8093 0000 sts FromNaviCtrl_Value+4,r24 |
| 787 074a 8091 0000 lds r24,FromNaviCtrl+18 |
| 788 074e 8093 0000 sts FromNC_Rotate_C,r24 |
| 789 0752 8091 0000 lds r24,FromNaviCtrl+19 |
| 790 0756 8093 0000 sts FromNC_Rotate_S,r24 |
| 791 075a 59C0 rjmp .L20 |
| 792 .L53: |
| 793 075c 8091 0000 lds r24,FromNaviCtrl+13 |
| 794 0760 8093 0000 sts NC_Version,r24 |
| 795 0764 8091 0000 lds r24,FromNaviCtrl+14 |
| 796 0768 8093 0000 sts NC_Version+1,r24 |
| 797 076c 8091 0000 lds r24,FromNaviCtrl+15 |
| 798 0770 8093 0000 sts NC_Version+2,r24 |
| 799 0774 8091 0000 lds r24,FromNaviCtrl+16 |
| 800 0778 8093 0000 sts NC_Version+3,r24 |
| 801 077c 8091 0000 lds r24,FromNaviCtrl+17 |
| 802 0780 8093 0000 sts NC_Version+4,r24 |
| 803 0784 8091 0000 lds r24,DebugOut |
| 804 0788 9091 0000 lds r25,FromNaviCtrl+18 |
| 805 078c 892B or r24,r25 |
| 806 078e 8093 0000 sts DebugOut,r24 |
| 807 0792 9091 0000 lds r25,FromNaviCtrl+19 |
| 808 0796 9093 0000 sts NC_ErrorCode,r25 |
| 809 079a 8091 0000 lds r24,DebugOut+1 |
| 810 079e 8370 andi r24,lo8(3) |
| 811 07a0 9C70 andi r25,lo8(12) |
| 812 07a2 892B or r24,r25 |
| 813 07a4 8093 0000 sts DebugOut+1,r24 |
| 814 07a8 32C0 rjmp .L20 |
| 815 .L54: |
| 816 07aa 8091 0000 lds r24,FromNaviCtrl+13 |
| 817 07ae 8093 0000 sts GPSInfo,r24 |
| 818 07b2 8091 0000 lds r24,FromNaviCtrl+14 |
| 819 07b6 8093 0000 sts GPSInfo+1,r24 |
| 820 07ba 8091 0000 lds r24,FromNaviCtrl+15 |
| 821 07be 8093 0000 sts GPSInfo+2,r24 |
| 822 07c2 8091 0000 lds r24,FromNaviCtrl+16 |
| 823 07c6 8093 0000 sts GPSInfo+3,r24 |
| 824 07ca 8091 0000 lds r24,FromNaviCtrl+17 |
| 825 07ce 9091 0000 lds r25,(FromNaviCtrl+17)+1 |
| 826 07d2 9093 0000 sts (GPSInfo+4)+1,r25 |
| 827 07d6 8093 0000 sts GPSInfo+4,r24 |
| 828 07da 8091 0000 lds r24,FromNaviCtrl+19 |
| 829 07de 9091 0000 lds r25,(FromNaviCtrl+19)+1 |
| 830 07e2 9093 0000 sts (GPSInfo+6)+1,r25 |
| 831 07e6 8093 0000 sts GPSInfo+6,r24 |
| 832 07ea 8091 0000 lds r24,FromNaviCtrl+21 |
| 833 07ee 9927 clr r25 |
| 834 07f0 87FD sbrc r24,7 |
| 835 07f2 9095 com r25 |
| 836 07f4 9093 0000 sts (PPM_in+50)+1,r25 |
| 837 07f8 8093 0000 sts PPM_in+50,r24 |
| 838 07fc 08C0 rjmp .L20 |
| 839 .L47: |
| 840 07fe 1092 0000 sts (GPS_Nick)+1,__zero_reg__ |
| 841 0802 1092 0000 sts GPS_Nick,__zero_reg__ |
| 842 0806 1092 0000 sts (GPS_Roll)+1,__zero_reg__ |
| 843 080a 1092 0000 sts GPS_Roll,__zero_reg__ |
| 844 .L20: |
| 845 /* epilogue: frame size=0 */ |
| 846 080e 1F91 pop r17 |
| 847 0810 0F91 pop r16 |
| 848 0812 FF90 pop r15 |
| 849 0814 EF90 pop r14 |
| 850 0816 0895 ret |
| 851 /* epilogue end (size=5) */ |
| 852 /* function UpdateSPI_Buffer size 871 (862) */ |
| 854 .global SPI_StartTransmitPacket |
| 856 SPI_StartTransmitPacket: |
| 857 /* prologue: frame size=0 */ |
| 858 /* prologue end (size=0) */ |
| 859 0818 8091 0000 lds r24,SPITransferCompleted |
| 860 081c 8823 tst r24 |
| 861 081e 09F4 brne .+2 |
| 862 0820 3BC0 rjmp .L60 |
| 863 0822 4598 cbi 40-0x20,5 |
| 864 0824 80E0 ldi r24,lo8(ToNaviCtrl) |
| 865 0826 90E0 ldi r25,hi8(ToNaviCtrl) |
| 866 0828 9093 0000 sts (SPI_TX_Buffer)+1,r25 |
| 867 082c 8093 0000 sts SPI_TX_Buffer,r24 |
| 868 0830 9091 0000 lds r25,SPI_CommandCounter |
| 869 0834 E92F mov r30,r25 |
| 870 0836 FF27 clr r31 |
| 871 0838 E050 subi r30,lo8(-(SPI_CommandSequence)) |
| 872 083a F040 sbci r31,hi8(-(SPI_CommandSequence)) |
| 873 083c 9F5F subi r25,lo8(-(1)) |
| 874 083e 9093 0000 sts SPI_CommandCounter,r25 |
| 875 0842 8081 ld r24,Z |
| 876 0844 8093 0000 sts ToNaviCtrl+2,r24 |
| 877 0848 9930 cpi r25,lo8(9) |
| 878 084a 10F0 brlo .L62 |
| 879 084c 1092 0000 sts SPI_CommandCounter,__zero_reg__ |
| 880 .L62: |
| 881 0850 1092 0000 sts SPITransferCompleted,__zero_reg__ |
| 882 0854 0E94 0000 call UpdateSPI_Buffer |
| 883 0858 81E0 ldi r24,lo8(1) |
| 884 085a 8093 0000 sts SPI_BufferIndex,r24 |
| 885 /* #APP */ |
| 886 085e 0000 nop |
| 887 0860 0000 nop |
| 888 0862 0000 nop |
| 889 0864 0000 nop |
| 890 0866 0000 nop |
| 891 0868 0000 nop |
| 892 086a 0000 nop |
| 893 086c 0000 nop |
| 894 086e 0000 nop |
| 895 0870 0000 nop |
| 896 0872 0000 nop |
| 897 0874 0000 nop |
| 898 0876 0000 nop |
| 899 0878 0000 nop |
| 900 087a 0000 nop |
| 901 087c 0000 nop |
| 902 087e 0000 nop |
| 903 0880 0000 nop |
| 904 0882 0000 nop |
| 905 0884 0000 nop |
| 906 0886 0000 nop |
| 907 0888 0000 nop |
| 908 088a 0000 nop |
| 909 088c 0000 nop |
| 910 /* #NOAPP */ |
| 911 088e 8091 0000 lds r24,ToNaviCtrl |
| 912 0892 8093 0000 sts ToNaviCtrl+31,r24 |
| 913 0896 8EBD out 78-0x20,r24 |
| 914 .L60: |
| 915 0898 0895 ret |
| 916 /* epilogue: frame size=0 */ |
| 917 /* epilogue: noreturn */ |
| 918 /* epilogue end (size=0) */ |
| 919 /* function SPI_StartTransmitPacket size 89 (89) */ |
| 921 .comm GPSInfo,8,1 |
| 922 .comm NC_Version,5,1 |
| 923 .comm FromNaviCtrl_Value,5,1 |
| 924 .comm ToNaviCtrl,32,1 |
| 925 .comm FromNaviCtrl,26,1 |
| 926 .comm SPI_BufferIndex,1,1 |
| 927 .comm SPI_RxBufferIndex,1,1 |
| 928 .comm SPI_Buffer,26,1 |
| 929 .comm SPI_TX_Buffer,2,1 |
| 930 .comm SPITransferCompleted,1,1 |
| 931 .comm SPI_ChkSum,1,1 |
| 932 .comm SPI_RxDataValid,1,1 |
| 933 /* File "spi.c": code 1157 = 0x0485 (1147), prologues 4, epilogues 6 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 spi.c |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:15 .bss:00000000 NC_ErrorCode |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:21 .bss:00000001 SPI_CommandCounter |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:27 .data:00000000 SPI_CommandSequence |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:40 .data:00000009 NaviDataOkay |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:47 .bss:00000002 FromNC_Rotate_S |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:53 .data:0000000a FromNC_Rotate_C |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:58 .text:00000000 SPI_MasterInit |
| *COM*:00000001 SPITransferCompleted |
| *COM*:00000020 ToNaviCtrl |
| *COM*:00000005 FromNaviCtrl_Value |
| *COM*:00000001 SPI_RxDataValid |
| .bss:00000003 SPI_RXState.0 |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:88 .bss:00000004 rxchksum.1 |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:92 .text:00000042 SPI_TransmitByte |
| *COM*:00000001 SPI_RxBufferIndex |
| *COM*:0000001a SPI_Buffer |
| *COM*:0000001a FromNaviCtrl |
| *COM*:00000001 SPI_BufferIndex |
| *COM*:00000002 SPI_TX_Buffer |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:233 .text:00000158 UpdateSPI_Buffer |
| *COM*:00000005 NC_Version |
| *COM*:00000008 GPSInfo |
| C:\Users\Thomas\AppData\Local\Temp/cceKbaaa.s:856 .text:00000818 SPI_StartTransmitPacket |
| *COM*:00000001 SPI_ChkSum |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SendSPI |
| EE_Parameter |
| IntegralNick |
| __divmodsi4 |
| IntegralRoll |
| ErsatzKompass |
| GIER_GRAD_FAKTOR |
| AdNeutralGier |
| AdWertGier |
| NaviCntAcc |
| NaviAccNick |
| __divmodhi4 |
| NaviAccRoll |
| Parameter_UserParam1 |
| Parameter_UserParam2 |
| Parameter_UserParam3 |
| Parameter_UserParam4 |
| Parameter_UserParam5 |
| Parameter_UserParam6 |
| Parameter_UserParam7 |
| Parameter_UserParam8 |
| FC_StatusFlags |
| GetActiveParamSet |
| ControlHeading |
| Capacity |
| UBat |
| BattLowVoltageWarning |
| PPM_in |
| Poti |
| WinkelOut |
| HoehenWert |
| SollHoehe |
| SenderOkay |
| DebugOut |
| PlatinenVersion |
| VersionInfo |
| Parameter_ServoNickControl |
| Parameter_ServoRollControl |
| GPS_Nick |
| GPS_Roll |
| KompassValue |
| KompassStartwert |
| KompassRichtung |
| beeptime |
| /branches/metro/v0.82a metro_Akku+/timer0.c |
|---|
| 0,0 → 1,402 |
| #include "main.h" |
| #define MULTIPLYER 4 |
| 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; |
| volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
| uint16_t RemainingPulse = 0; |
| volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| unsigned int BeepMuster = 0xffff; |
| volatile int16_t ServoNickValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| ISR(TIMER0_OVF_vect) // 9,7kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
| unsigned char pieper_ein = 0; |
| if(SendSPI) SendSPI--; |
| if(SpektrumTimer) SpektrumTimer--; |
| if(!cnt--) |
| { |
| cnt = 9; |
| CountMilliseconds++; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| if(!(PINC & 0x10)) compass_active = 1; |
| if(beeptime) |
| { |
| if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| if(pieper_ein) |
| { |
| if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| else PORTC |= (1<<7); // Speaker an PORTC.7 |
| } |
| else |
| { |
| if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| else PORTC &= ~(1<<7); |
| } |
| } |
| if(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| if(++cntKompass > 1000) compass_active = 0; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| } |
| cntKompass = 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)); |
| } |
| void Delay_ms_Mess(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
| } |
| /*****************************************************/ |
| /* Initialize Timer 2 */ |
| /*****************************************************/ |
| // The timer 2 is used to generate the PWM at PD7 (J7) |
| // to control a camera servo for nick compensation. |
| void TIMER2_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| PORTD &= ~(1<<PORTD7); // set PD7 to low |
| DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
| HEF4017R_ON; |
| // Timer/Counter 2 Control Register A |
| // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
| // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
| // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
| TCCR2A |= (1<<WGM21)|(1<<WGM20); |
| // Timer/Counter 2 Control Register B |
| // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
| // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
| // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
| // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
| TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
| TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
| // Initialize the Timer/Counter 2 Register |
| TCNT2 = 0; |
| // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| OCR2A = 255; |
| TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
| // Timer/Counter 2 Interrupt Mask Register |
| // Enable timer output compare match A Interrupt only |
| TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
| TIMSK2 |= (1<<OCIE2A); |
| SREG = sreg; |
| } |
| //---------------------------- |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 180; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TIMSK0 |= _BV(TOIE0); |
| } |
| /*****************************************************/ |
| /* Control Servo Position */ |
| /*****************************************************/ |
| void CalculateServo(void) |
| { |
| signed char cosinus, sinus; |
| signed long nick, roll; |
| cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
| sinus = sintab[EE_Parameter.CamOrientation]; |
| if(CalculateServoSignals == 1) |
| { |
| nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
| nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
| ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
| ServoNickValue = ServoNickOffset / 16; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoNickValue += nick;//(int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * nick) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoNickValue -= nick; |
| } |
| // limit servo value to its parameter range definition |
| if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
| } |
| else |
| if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| } |
| if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
| } |
| else |
| { |
| roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
| roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L; |
| ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
| ServoRollValue = ServoRollOffset/16; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoCompInvert & 0x02) |
| { // inverting movement of servo |
| ServoRollValue += roll; |
| } |
| else |
| { // non inverting movement of servo |
| ServoRollValue -= roll; |
| } |
| // limit servo value to its parameter range definition |
| if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
| } |
| else |
| if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
| } |
| CalculateServoSignals = 0; |
| } |
| } |
| ISR(TIMER2_COMPA_vect) |
| { |
| // frame len 22.5 ms = 14063 * 1.6 us |
| // stop pulse: 0.3 ms = 188 * 1.6 us |
| // min servo pulse: 0.6 ms = 375 * 1.6 us |
| // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| // resolution: 1500 - 375 = 1125 steps |
| #define IRS_RUNTIME 127 |
| #define PPM_STOPPULSE 188 |
| #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
| #define MINSERVOPULSE 375 |
| #define MAXSERVOPULSE 1500 |
| #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
| static uint8_t PulseOutput = 0; |
| static uint16_t ServoFrameTime = 0; |
| static uint8_t ServoIndex = 0; |
| if(PlatinenVersion < 20) |
| { |
| //--------------------------- |
| // Nick servo state machine |
| //--------------------------- |
| if(!PulseOutput) // pulse output complete |
| { |
| if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| { |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| // range servo pulse width |
| if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| // accumulate time for correct update rate |
| ServoFrameTime = RemainingPulse; |
| } |
| else // we had a high pulse |
| { |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
| CalculateServoSignals = 1; |
| } |
| // set pulse output active |
| PulseOutput = 1; |
| } |
| } // EOF Nick servo state machine |
| else |
| { |
| //----------------------------------------------------- |
| // PPM state machine, onboard demultiplexed by HEF4017 |
| //----------------------------------------------------- |
| if(!PulseOutput) // pulse output complete |
| { |
| if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| { |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| if(ServoIndex == 0) // if we are at the sync gap |
| { |
| RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
| ServoFrameTime = 0; // reset servo frame time |
| HEF4017R_ON; // enable HEF4017 reset |
| } |
| else // servo channels |
| { |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| switch(ServoIndex) // map servo channels |
| { |
| case 1: // Nick Compensation Servo |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| break; |
| case 2: // Roll Compensation Servo |
| RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| break; |
| case 3: |
| RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| case 4: |
| RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| case 5: |
| RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| default: // other servo channels |
| RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| break; |
| } |
| // range servo pulse width |
| if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| // substract stop pulse width |
| RemainingPulse -= PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += RemainingPulse; |
| } |
| } |
| else // we had a high pulse |
| { |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| // set pulsewidth to stop pulse width |
| RemainingPulse = PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += RemainingPulse; |
| if((ServoActive && SenderOkay > 50) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
| else HEF4017R_ON; |
| ServoIndex++; // change to next servo channel |
| if(ServoIndex > EE_Parameter.ServoNickRefresh) |
| { |
| CalculateServoSignals = 1; |
| ServoIndex = 0; // reset to the sync gap |
| } |
| } |
| // set pulse output active |
| PulseOutput = 1; |
| } |
| } // EOF PPM state machine |
| // General pulse output generator |
| if(RemainingPulse > (255 + IRS_RUNTIME)) |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| else |
| { |
| if(RemainingPulse > 255) // this is the 2nd last part |
| { |
| if((RemainingPulse - 255) < IRS_RUNTIME) |
| { |
| OCR2A = 255 - IRS_RUNTIME; |
| RemainingPulse -= 255 - IRS_RUNTIME; |
| } |
| else // last part > ISR_RUNTIME |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| } |
| else // this is the last part |
| { |
| OCR2A = RemainingPulse; |
| RemainingPulse = 0; |
| PulseOutput = 0; // trigger to stop pulse |
| } |
| } // EOF general pulse output generator |
| } |
| /branches/metro/v0.82a metro_Akku+/timer0.d |
|---|
| 0,0 → 1,3 |
| timer0.o timer0.d : timer0.c main.h old_macros.h printf_P.h timer0.h uart.h \ |
| analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h \ |
| capacity.h eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/timer0.h |
|---|
| 0,0 → 1,22 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| #define HEF4017R_ON PORTC |= (1<<PORTC6) |
| #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
| void Timer_Init(void); |
| void TIMER2_Init(void); |
| void Delay_ms(unsigned int); |
| void Delay_ms_Mess(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| void CalculateServo(void); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern unsigned int BeepMuster; |
| extern volatile unsigned char SendSPI, ServoActive, CalculateServoSignals; |
| extern volatile int16_t ServoNickValue; |
| extern volatile int16_t ServoRollValue; |
| /branches/metro/v0.82a metro_Akku+/timer0.lst |
|---|
| 0,0 → 1,1182 |
| 1 .file "timer0.c" |
| 2 .arch atmega644p |
| 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 .global ServoRollValue |
| 11 .global ServoRollValue |
| 12 .section .bss |
| 15 ServoRollValue: |
| 16 0000 0000 .skip 2,0 |
| 17 .global ServoNickValue |
| 18 .global ServoNickValue |
| 21 ServoNickValue: |
| 22 0002 0000 .skip 2,0 |
| 23 .global BeepMuster |
| 24 .data |
| 27 BeepMuster: |
| 28 0000 FFFF .word -1 |
| 29 .global ServoRollOffset |
| 32 ServoRollOffset: |
| 33 0002 C01F .word 8128 |
| 34 .global ServoNickOffset |
| 37 ServoNickOffset: |
| 38 0004 C01F .word 8128 |
| 39 .global RemainingPulse |
| 40 .global RemainingPulse |
| 41 .section .bss |
| 44 RemainingPulse: |
| 45 0004 0000 .skip 2,0 |
| 46 .global CalculateServoSignals |
| 47 .data |
| 50 CalculateServoSignals: |
| 51 0006 01 .byte 1 |
| 52 .global ServoActive |
| 53 .global ServoActive |
| 54 .section .bss |
| 57 ServoActive: |
| 58 0006 00 .skip 1,0 |
| 59 .global SendSPI |
| 60 .global SendSPI |
| 63 SendSPI: |
| 64 0007 00 .skip 1,0 |
| 65 .global beeptime |
| 66 .global beeptime |
| 69 beeptime: |
| 70 0008 0000 .skip 2,0 |
| 71 .global cntKompass |
| 72 .global cntKompass |
| 75 cntKompass: |
| 76 000a 0000 .skip 2,0 |
| 77 .global UpdateMotor |
| 78 .global UpdateMotor |
| 81 UpdateMotor: |
| 82 000c 00 .skip 1,0 |
| 83 .global CountMilliseconds |
| 84 .global CountMilliseconds |
| 87 CountMilliseconds: |
| 88 000d 0000 .skip 2,0 |
| 89 .data |
| 92 cnt_1ms.3: |
| 93 0007 01 .byte 1 |
| 94 .lcomm cnt.4,1 |
| 95 .lcomm compass_active.5,1 |
| 96 .text |
| 97 .global __vector_18 |
| 99 __vector_18: |
| 100 /* prologue: frame size=0 */ |
| 101 0000 1F92 push __zero_reg__ |
| 102 0002 0F92 push __tmp_reg__ |
| 103 0004 0FB6 in __tmp_reg__,__SREG__ |
| 104 0006 0F92 push __tmp_reg__ |
| 105 0008 1124 clr __zero_reg__ |
| 106 000a 2F93 push r18 |
| 107 000c 3F93 push r19 |
| 108 000e 5F93 push r21 |
| 109 0010 6F93 push r22 |
| 110 0012 7F93 push r23 |
| 111 0014 8F93 push r24 |
| 112 0016 9F93 push r25 |
| 113 0018 AF93 push r26 |
| 114 001a BF93 push r27 |
| 115 001c EF93 push r30 |
| 116 001e FF93 push r31 |
| 117 /* prologue end (size=16) */ |
| 118 0020 20E0 ldi r18,lo8(0) |
| 119 0022 8091 0000 lds r24,SendSPI |
| 120 0026 8823 tst r24 |
| 121 0028 29F0 breq .L2 |
| 122 002a 8091 0000 lds r24,SendSPI |
| 123 002e 8150 subi r24,lo8(-(-1)) |
| 124 0030 8093 0000 sts SendSPI,r24 |
| 125 .L2: |
| 126 0034 8091 0000 lds r24,SpektrumTimer |
| 127 0038 8823 tst r24 |
| 128 003a 19F0 breq .L3 |
| 129 003c 8150 subi r24,lo8(-(-1)) |
| 130 003e 8093 0000 sts SpektrumTimer,r24 |
| 131 .L3: |
| 132 0042 8091 0000 lds r24,cnt.4 |
| 133 0046 8150 subi r24,lo8(-(-1)) |
| 134 0048 8093 0000 sts cnt.4,r24 |
| 135 004c 8F3F cpi r24,lo8(-1) |
| 136 004e 09F0 breq .+2 |
| 137 0050 5BC0 rjmp .L4 |
| 138 0052 89E0 ldi r24,lo8(9) |
| 139 0054 8093 0000 sts cnt.4,r24 |
| 140 0058 8091 0000 lds r24,CountMilliseconds |
| 141 005c 9091 0000 lds r25,(CountMilliseconds)+1 |
| 142 0060 0196 adiw r24,1 |
| 143 0062 9093 0000 sts (CountMilliseconds)+1,r25 |
| 144 0066 8093 0000 sts CountMilliseconds,r24 |
| 145 006a 8091 0000 lds r24,cnt_1ms.3 |
| 146 006e 8F5F subi r24,lo8(-(1)) |
| 147 0070 8170 andi r24,lo8(1) |
| 148 0072 8093 0000 sts cnt_1ms.3,r24 |
| 149 0076 8823 tst r24 |
| 150 0078 19F4 brne .L5 |
| 151 007a 81E0 ldi r24,lo8(1) |
| 152 007c 8093 0000 sts UpdateMotor,r24 |
| 153 .L5: |
| 154 0080 3499 sbic 38-0x20,4 |
| 155 0082 03C0 rjmp .L6 |
| 156 0084 81E0 ldi r24,lo8(1) |
| 157 0086 8093 0000 sts compass_active.5,r24 |
| 158 .L6: |
| 159 008a 8091 0000 lds r24,beeptime |
| 160 008e 9091 0000 lds r25,(beeptime)+1 |
| 161 0092 892B or r24,r25 |
| 162 0094 21F1 breq .L7 |
| 163 0096 8091 0000 lds r24,beeptime |
| 164 009a 9091 0000 lds r25,(beeptime)+1 |
| 165 009e 0B97 sbiw r24,11 |
| 166 00a0 50F0 brlo .L8 |
| 167 00a2 8091 0000 lds r24,beeptime |
| 168 00a6 9091 0000 lds r25,(beeptime)+1 |
| 169 00aa 0A97 sbiw r24,10 |
| 170 00ac 9093 0000 sts (beeptime)+1,r25 |
| 171 00b0 8093 0000 sts beeptime,r24 |
| 172 00b4 04C0 rjmp .L9 |
| 173 .L8: |
| 174 00b6 1092 0000 sts (beeptime)+1,__zero_reg__ |
| 175 00ba 1092 0000 sts beeptime,__zero_reg__ |
| 176 .L9: |
| 177 00be 8091 0000 lds r24,beeptime |
| 178 00c2 9091 0000 lds r25,(beeptime)+1 |
| 179 00c6 2091 0000 lds r18,BeepMuster |
| 180 00ca 3091 0000 lds r19,(BeepMuster)+1 |
| 181 00ce 8223 and r24,r18 |
| 182 00d0 9323 and r25,r19 |
| 183 00d2 892B or r24,r25 |
| 184 00d4 11F0 breq .L10 |
| 185 00d6 21E0 ldi r18,lo8(1) |
| 186 00d8 08C0 rjmp .L12 |
| 187 .L10: |
| 188 00da 20E0 ldi r18,lo8(0) |
| 189 00dc 06C0 rjmp .L12 |
| 190 .L7: |
| 191 00de 8FEF ldi r24,lo8(-1) |
| 192 00e0 9FEF ldi r25,hi8(-1) |
| 193 00e2 9093 0000 sts (BeepMuster)+1,r25 |
| 194 00e6 8093 0000 sts BeepMuster,r24 |
| 195 .L12: |
| 196 00ea 8091 0000 lds r24,PlatinenVersion |
| 197 00ee 2223 tst r18 |
| 198 00f0 31F0 breq .L13 |
| 199 00f2 8A30 cpi r24,lo8(10) |
| 200 00f4 11F4 brne .L14 |
| 201 00f6 5A9A sbi 43-0x20,2 |
| 202 00f8 07C0 rjmp .L4 |
| 203 .L14: |
| 204 00fa 479A sbi 40-0x20,7 |
| 205 00fc 05C0 rjmp .L4 |
| 206 .L13: |
| 207 00fe 8A30 cpi r24,lo8(10) |
| 208 0100 11F4 brne .L17 |
| 209 0102 5A98 cbi 43-0x20,2 |
| 210 0104 01C0 rjmp .L4 |
| 211 .L17: |
| 212 0106 4798 cbi 40-0x20,7 |
| 213 .L4: |
| 214 0108 8091 0000 lds r24,compass_active.5 |
| 215 010c 8823 tst r24 |
| 216 010e 09F4 brne .+2 |
| 217 0110 72C0 rjmp .L1 |
| 218 0112 2091 0000 lds r18,NaviDataOkay |
| 219 0116 2223 tst r18 |
| 220 0118 09F0 breq .+2 |
| 221 011a 6DC0 rjmp .L1 |
| 222 011c 8091 0000 lds r24,EE_Parameter+13 |
| 223 0120 83FF sbrs r24,3 |
| 224 0122 69C0 rjmp .L1 |
| 225 0124 86B1 in r24,38-0x20 |
| 226 0126 9927 clr r25 |
| 227 0128 FC01 movw r30,r24 |
| 228 012a E071 andi r30,lo8(16) |
| 229 012c F070 andi r31,hi8(16) |
| 230 012e 84FF sbrs r24,4 |
| 231 0130 14C0 rjmp .L20 |
| 232 0132 8091 0000 lds r24,cntKompass |
| 233 0136 9091 0000 lds r25,(cntKompass)+1 |
| 234 013a 0196 adiw r24,1 |
| 235 013c 9093 0000 sts (cntKompass)+1,r25 |
| 236 0140 8093 0000 sts cntKompass,r24 |
| 237 0144 8091 0000 lds r24,cntKompass |
| 238 0148 9091 0000 lds r25,(cntKompass)+1 |
| 239 014c 895E subi r24,lo8(1001) |
| 240 014e 9340 sbci r25,hi8(1001) |
| 241 0150 08F4 brsh .+2 |
| 242 0152 51C0 rjmp .L1 |
| 243 0154 2093 0000 sts compass_active.5,r18 |
| 244 0158 4EC0 rjmp .L1 |
| 245 .L20: |
| 246 015a 8091 0000 lds r24,cntKompass |
| 247 015e 9091 0000 lds r25,(cntKompass)+1 |
| 248 0162 892B or r24,r25 |
| 249 0164 09F4 brne .+2 |
| 250 0166 43C0 rjmp .L23 |
| 251 0168 8091 0000 lds r24,cntKompass |
| 252 016c 9091 0000 lds r25,(cntKompass)+1 |
| 253 0170 8A56 subi r24,lo8(362) |
| 254 0172 9140 sbci r25,hi8(362) |
| 255 0174 E0F5 brsh .L23 |
| 256 0176 8091 0000 lds r24,cntKompass |
| 257 017a 9091 0000 lds r25,(cntKompass)+1 |
| 258 017e 69E2 ldi r22,lo8(41) |
| 259 0180 70E0 ldi r23,hi8(41) |
| 260 0182 0E94 0000 call __udivmodhi4 |
| 261 0186 8091 0000 lds r24,cntKompass |
| 262 018a 9091 0000 lds r25,(cntKompass)+1 |
| 263 018e 860F add r24,r22 |
| 264 0190 971F adc r25,r23 |
| 265 0192 9093 0000 sts (cntKompass)+1,r25 |
| 266 0196 8093 0000 sts cntKompass,r24 |
| 267 019a 8091 0000 lds r24,cntKompass |
| 268 019e 9091 0000 lds r25,(cntKompass)+1 |
| 269 01a2 0B97 sbiw r24,11 |
| 270 01a4 50F0 brlo .L24 |
| 271 01a6 8091 0000 lds r24,cntKompass |
| 272 01aa 9091 0000 lds r25,(cntKompass)+1 |
| 273 01ae 0A97 sbiw r24,10 |
| 274 01b0 9093 0000 sts (KompassValue)+1,r25 |
| 275 01b4 8093 0000 sts KompassValue,r24 |
| 276 01b8 04C0 rjmp .L25 |
| 277 .L24: |
| 278 01ba F093 0000 sts (KompassValue)+1,r31 |
| 279 01be E093 0000 sts KompassValue,r30 |
| 280 .L25: |
| 281 01c2 8091 0000 lds r24,KompassValue |
| 282 01c6 9091 0000 lds r25,(KompassValue)+1 |
| 283 01ca 2091 0000 lds r18,KompassStartwert |
| 284 01ce 3091 0000 lds r19,(KompassStartwert)+1 |
| 285 01d2 821B sub r24,r18 |
| 286 01d4 930B sbc r25,r19 |
| 287 01d6 845E subi r24,lo8(-(540)) |
| 288 01d8 9D4F sbci r25,hi8(-(540)) |
| 289 01da 68E6 ldi r22,lo8(360) |
| 290 01dc 71E0 ldi r23,hi8(360) |
| 291 01de 0E94 0000 call __divmodhi4 |
| 292 01e2 845B subi r24,lo8(-(-180)) |
| 293 01e4 9040 sbci r25,hi8(-(-180)) |
| 294 01e6 9093 0000 sts (KompassRichtung)+1,r25 |
| 295 01ea 8093 0000 sts KompassRichtung,r24 |
| 296 .L23: |
| 297 01ee 1092 0000 sts (cntKompass)+1,__zero_reg__ |
| 298 01f2 1092 0000 sts cntKompass,__zero_reg__ |
| 299 .L1: |
| 300 /* epilogue: frame size=0 */ |
| 301 01f6 FF91 pop r31 |
| 302 01f8 EF91 pop r30 |
| 303 01fa BF91 pop r27 |
| 304 01fc AF91 pop r26 |
| 305 01fe 9F91 pop r25 |
| 306 0200 8F91 pop r24 |
| 307 0202 7F91 pop r23 |
| 308 0204 6F91 pop r22 |
| 309 0206 5F91 pop r21 |
| 310 0208 3F91 pop r19 |
| 311 020a 2F91 pop r18 |
| 312 020c 0F90 pop __tmp_reg__ |
| 313 020e 0FBE out __SREG__,__tmp_reg__ |
| 314 0210 0F90 pop __tmp_reg__ |
| 315 0212 1F90 pop __zero_reg__ |
| 316 0214 1895 reti |
| 317 /* epilogue end (size=16) */ |
| 318 /* function __vector_18 size 271 (239) */ |
| 320 .global SetDelay |
| 322 SetDelay: |
| 323 /* prologue: frame size=0 */ |
| 324 /* prologue end (size=0) */ |
| 325 0216 2091 0000 lds r18,CountMilliseconds |
| 326 021a 3091 0000 lds r19,(CountMilliseconds)+1 |
| 327 021e 280F add r18,r24 |
| 328 0220 391F adc r19,r25 |
| 329 0222 C901 movw r24,r18 |
| 330 0224 0196 adiw r24,1 |
| 331 /* epilogue: frame size=0 */ |
| 332 0226 0895 ret |
| 333 /* epilogue end (size=1) */ |
| 334 /* function SetDelay size 9 (8) */ |
| 336 .global CheckDelay |
| 338 CheckDelay: |
| 339 /* prologue: frame size=0 */ |
| 340 /* prologue end (size=0) */ |
| 341 0228 2091 0000 lds r18,CountMilliseconds |
| 342 022c 3091 0000 lds r19,(CountMilliseconds)+1 |
| 343 0230 821B sub r24,r18 |
| 344 0232 930B sbc r25,r19 |
| 345 0234 892F mov r24,r25 |
| 346 0236 9927 clr r25 |
| 347 0238 8695 lsr r24 |
| 348 023a 8074 andi r24,lo8(64) |
| 349 023c 9070 andi r25,hi8(64) |
| 350 /* epilogue: frame size=0 */ |
| 351 023e 0895 ret |
| 352 /* epilogue end (size=1) */ |
| 353 /* function CheckDelay size 12 (11) */ |
| 355 .global Delay_ms |
| 357 Delay_ms: |
| 358 /* prologue: frame size=0 */ |
| 359 0240 CF93 push r28 |
| 360 0242 DF93 push r29 |
| 361 /* prologue end (size=2) */ |
| 362 0244 0E94 0000 call SetDelay |
| 363 0248 EC01 movw r28,r24 |
| 364 .L29: |
| 365 024a CE01 movw r24,r28 |
| 366 024c 0E94 0000 call CheckDelay |
| 367 0250 8823 tst r24 |
| 368 0252 D9F3 breq .L29 |
| 369 /* epilogue: frame size=0 */ |
| 370 0254 DF91 pop r29 |
| 371 0256 CF91 pop r28 |
| 372 0258 0895 ret |
| 373 /* epilogue end (size=3) */ |
| 374 /* function Delay_ms size 13 (8) */ |
| 376 .global Delay_ms_Mess |
| 378 Delay_ms_Mess: |
| 379 /* prologue: frame size=0 */ |
| 380 025a CF93 push r28 |
| 381 025c DF93 push r29 |
| 382 /* prologue end (size=2) */ |
| 383 025e 0E94 0000 call SetDelay |
| 384 0262 EC01 movw r28,r24 |
| 385 0264 09C0 rjmp .L40 |
| 386 .L36: |
| 387 0266 8091 0000 lds r24,AdReady |
| 388 026a 8823 tst r24 |
| 389 026c 29F0 breq .L40 |
| 390 026e 9093 0000 sts AdReady,r25 |
| 391 0272 8FEC ldi r24,lo8(-49) |
| 392 0274 8093 7A00 sts 122,r24 |
| 393 .L40: |
| 394 0278 CE01 movw r24,r28 |
| 395 027a 0E94 0000 call CheckDelay |
| 396 027e 982F mov r25,r24 |
| 397 0280 8823 tst r24 |
| 398 0282 89F3 breq .L36 |
| 399 /* epilogue: frame size=0 */ |
| 400 0284 DF91 pop r29 |
| 401 0286 CF91 pop r28 |
| 402 0288 0895 ret |
| 403 /* epilogue end (size=3) */ |
| 404 /* function Delay_ms_Mess size 24 (19) */ |
| 406 .global TIMER2_Init |
| 408 TIMER2_Init: |
| 409 /* prologue: frame size=0 */ |
| 410 /* prologue end (size=0) */ |
| 411 028a 9FB7 in r25,95-0x20 |
| 412 /* #APP */ |
| 413 028c F894 cli |
| 414 /* #NOAPP */ |
| 415 028e 5F98 cbi 43-0x20,7 |
| 416 0290 3E9A sbi 39-0x20,6 |
| 417 0292 469A sbi 40-0x20,6 |
| 418 0294 8091 B000 lds r24,176 |
| 419 0298 8F70 andi r24,lo8(15) |
| 420 029a 8093 B000 sts 176,r24 |
| 421 029e 8091 B000 lds r24,176 |
| 422 02a2 8360 ori r24,lo8(3) |
| 423 02a4 8093 B000 sts 176,r24 |
| 424 02a8 8091 B100 lds r24,177 |
| 425 02ac 8B73 andi r24,lo8(59) |
| 426 02ae 8093 B100 sts 177,r24 |
| 427 02b2 8091 B100 lds r24,177 |
| 428 02b6 8B60 ori r24,lo8(11) |
| 429 02b8 8093 B100 sts 177,r24 |
| 430 02bc 1092 B200 sts 178,__zero_reg__ |
| 431 02c0 8FEF ldi r24,lo8(-1) |
| 432 02c2 8093 B300 sts 179,r24 |
| 433 02c6 8091 B000 lds r24,176 |
| 434 02ca 8068 ori r24,lo8(-128) |
| 435 02cc 8093 B000 sts 176,r24 |
| 436 02d0 8091 7000 lds r24,112 |
| 437 02d4 8A7F andi r24,lo8(-6) |
| 438 02d6 8093 7000 sts 112,r24 |
| 439 02da 8091 7000 lds r24,112 |
| 440 02de 8260 ori r24,lo8(2) |
| 441 02e0 8093 7000 sts 112,r24 |
| 442 02e4 9FBF out 95-0x20,r25 |
| 443 /* epilogue: frame size=0 */ |
| 444 02e6 0895 ret |
| 445 /* epilogue end (size=1) */ |
| 446 /* function TIMER2_Init size 48 (47) */ |
| 448 .global Timer_Init |
| 450 Timer_Init: |
| 451 /* prologue: frame size=0 */ |
| 452 /* prologue end (size=0) */ |
| 453 02e8 8AE0 ldi r24,lo8(10) |
| 454 02ea 90E0 ldi r25,hi8(10) |
| 455 02ec 0E94 0000 call SetDelay |
| 456 02f0 9093 0000 sts (tim_main)+1,r25 |
| 457 02f4 8093 0000 sts tim_main,r24 |
| 458 02f8 82E0 ldi r24,lo8(2) |
| 459 02fa 85BD out 69-0x20,r24 |
| 460 02fc 83EA ldi r24,lo8(-93) |
| 461 02fe 84BD out 68-0x20,r24 |
| 462 0300 17BC out 71-0x20,__zero_reg__ |
| 463 0302 84EB ldi r24,lo8(-76) |
| 464 0304 88BD out 72-0x20,r24 |
| 465 0306 86E0 ldi r24,lo8(6) |
| 466 0308 86BD out 70-0x20,r24 |
| 467 030a 8091 6E00 lds r24,110 |
| 468 030e 8160 ori r24,lo8(1) |
| 469 0310 8093 6E00 sts 110,r24 |
| 470 /* epilogue: frame size=0 */ |
| 471 0314 0895 ret |
| 472 /* epilogue end (size=1) */ |
| 473 /* function Timer_Init size 23 (22) */ |
| 475 .global CalculateServo |
| 477 CalculateServo: |
| 478 /* prologue: frame size=0 */ |
| 479 0316 A0E0 ldi r26,lo8(0) |
| 480 0318 B0E0 ldi r27,hi8(0) |
| 481 031a E0E0 ldi r30,pm_lo8(1f) |
| 482 031c F0E0 ldi r31,pm_hi8(1f) |
| 483 031e 0C94 0000 jmp __prologue_saves__+22 |
| 484 1: |
| 485 /* prologue end (size=6) */ |
| 486 0322 8091 0000 lds r24,EE_Parameter+55 |
| 487 0326 E82F mov r30,r24 |
| 488 0328 FF27 clr r31 |
| 489 032a E050 subi r30,lo8(-(sintab)) |
| 490 032c F040 sbci r31,hi8(-(sintab)) |
| 491 032e 9681 ldd r25,Z+6 |
| 492 0330 D080 ld r13,Z |
| 493 0332 8091 0000 lds r24,CalculateServoSignals |
| 494 0336 A92F mov r26,r25 |
| 495 0338 BB27 clr r27 |
| 496 033a A7FD sbrc r26,7 |
| 497 033c B095 com r27 |
| 498 033e CB2F mov r28,r27 |
| 499 0340 DB2F mov r29,r27 |
| 500 0342 8130 cpi r24,lo8(1) |
| 501 0344 09F0 breq .+2 |
| 502 0346 C9C0 rjmp .L44 |
| 503 0348 2091 0000 lds r18,IntegralNick |
| 504 034c 3091 0000 lds r19,(IntegralNick)+1 |
| 505 0350 4091 0000 lds r20,(IntegralNick)+2 |
| 506 0354 5091 0000 lds r21,(IntegralNick)+3 |
| 507 0358 BD01 movw r22,r26 |
| 508 035a CE01 movw r24,r28 |
| 509 035c 0E94 0000 call __mulsi3 |
| 510 0360 97FF sbrs r25,7 |
| 511 0362 04C0 rjmp .L45 |
| 512 0364 6158 subi r22,lo8(-(127)) |
| 513 0366 7F4F sbci r23,hi8(-(127)) |
| 514 0368 8F4F sbci r24,hlo8(-(127)) |
| 515 036a 9F4F sbci r25,hhi8(-(127)) |
| 516 .L45: |
| 517 036c 7B01 movw r14,r22 |
| 518 036e 8C01 movw r16,r24 |
| 519 0370 67E0 ldi r22,7 |
| 520 0372 1595 1: asr r17 |
| 521 0374 0795 ror r16 |
| 522 0376 F794 ror r15 |
| 523 0378 E794 ror r14 |
| 524 037a 6A95 dec r22 |
| 525 037c D1F7 brne 1b |
| 526 037e 8D2D mov r24,r13 |
| 527 0380 9927 clr r25 |
| 528 0382 87FD sbrc r24,7 |
| 529 0384 9095 com r25 |
| 530 0386 A92F mov r26,r25 |
| 531 0388 B92F mov r27,r25 |
| 532 038a 2091 0000 lds r18,IntegralRoll |
| 533 038e 3091 0000 lds r19,(IntegralRoll)+1 |
| 534 0392 4091 0000 lds r20,(IntegralRoll)+2 |
| 535 0396 5091 0000 lds r21,(IntegralRoll)+3 |
| 536 039a BC01 movw r22,r24 |
| 537 039c CD01 movw r24,r26 |
| 538 039e 0E94 0000 call __mulsi3 |
| 539 03a2 97FF sbrs r25,7 |
| 540 03a4 04C0 rjmp .L46 |
| 541 03a6 6158 subi r22,lo8(-(127)) |
| 542 03a8 7F4F sbci r23,hi8(-(127)) |
| 543 03aa 8F4F sbci r24,hlo8(-(127)) |
| 544 03ac 9F4F sbci r25,hhi8(-(127)) |
| 545 .L46: |
| 546 03ae 57E0 ldi r21,7 |
| 547 03b0 9595 1: asr r25 |
| 548 03b2 8795 ror r24 |
| 549 03b4 7795 ror r23 |
| 550 03b6 6795 ror r22 |
| 551 03b8 5A95 dec r21 |
| 552 03ba D1F7 brne 1b |
| 553 03bc F801 movw r30,r16 |
| 554 03be E701 movw r28,r14 |
| 555 03c0 C61B sub r28,r22 |
| 556 03c2 D70B sbc r29,r23 |
| 557 03c4 E80B sbc r30,r24 |
| 558 03c6 F90B sbc r31,r25 |
| 559 03c8 8091 0000 lds r24,EE_Parameter+46 |
| 560 03cc 9927 clr r25 |
| 561 03ce AA27 clr r26 |
| 562 03d0 BB27 clr r27 |
| 563 03d2 BC01 movw r22,r24 |
| 564 03d4 CD01 movw r24,r26 |
| 565 03d6 9E01 movw r18,r28 |
| 566 03d8 AF01 movw r20,r30 |
| 567 03da 0E94 0000 call __mulsi3 |
| 568 03de 97FF sbrs r25,7 |
| 569 03e0 04C0 rjmp .L47 |
| 570 03e2 6150 subi r22,lo8(-(511)) |
| 571 03e4 7E4F sbci r23,hi8(-(511)) |
| 572 03e6 8F4F sbci r24,hlo8(-(511)) |
| 573 03e8 9F4F sbci r25,hhi8(-(511)) |
| 574 .L47: |
| 575 03ea FC01 movw r30,r24 |
| 576 03ec EB01 movw r28,r22 |
| 577 03ee 49E0 ldi r20,9 |
| 578 03f0 F595 1: asr r31 |
| 579 03f2 E795 ror r30 |
| 580 03f4 D795 ror r29 |
| 581 03f6 C795 ror r28 |
| 582 03f8 4A95 dec r20 |
| 583 03fa D1F7 brne 1b |
| 584 03fc 8091 0000 lds r24,Parameter_ServoNickControl |
| 585 0400 9927 clr r25 |
| 586 0402 36E0 ldi r19,6 |
| 587 0404 880F 1: lsl r24 |
| 588 0406 991F rol r25 |
| 589 0408 3A95 dec r19 |
| 590 040a E1F7 brne 1b |
| 591 040c 4091 0000 lds r20,ServoNickOffset |
| 592 0410 5091 0000 lds r21,(ServoNickOffset)+1 |
| 593 0414 2091 0000 lds r18,EE_Parameter+54 |
| 594 0418 3327 clr r19 |
| 595 041a 841B sub r24,r20 |
| 596 041c 950B sbc r25,r21 |
| 597 041e B901 movw r22,r18 |
| 598 0420 0E94 0000 call __divmodhi4 |
| 599 0424 8091 0000 lds r24,ServoNickOffset |
| 600 0428 9091 0000 lds r25,(ServoNickOffset)+1 |
| 601 042c 860F add r24,r22 |
| 602 042e 971F adc r25,r23 |
| 603 0430 9093 0000 sts (ServoNickOffset)+1,r25 |
| 604 0434 8093 0000 sts ServoNickOffset,r24 |
| 605 0438 8091 0000 lds r24,ServoNickOffset |
| 606 043c 9091 0000 lds r25,(ServoNickOffset)+1 |
| 607 0440 97FD sbrc r25,7 |
| 608 0442 0F96 adiw r24,15 |
| 609 .L48: |
| 610 0444 24E0 ldi r18,4 |
| 611 0446 9595 1: asr r25 |
| 612 0448 8795 ror r24 |
| 613 044a 2A95 dec r18 |
| 614 044c E1F7 brne 1b |
| 615 044e 9093 0000 sts (ServoNickValue)+1,r25 |
| 616 0452 8093 0000 sts ServoNickValue,r24 |
| 617 0456 8091 0000 lds r24,EE_Parameter+101 |
| 618 045a 80FF sbrs r24,0 |
| 619 045c 07C0 rjmp .L49 |
| 620 045e 8091 0000 lds r24,ServoNickValue |
| 621 0462 9091 0000 lds r25,(ServoNickValue)+1 |
| 622 0466 8C0F add r24,r28 |
| 623 0468 9D1F adc r25,r29 |
| 624 046a 06C0 rjmp .L66 |
| 625 .L49: |
| 626 046c 8091 0000 lds r24,ServoNickValue |
| 627 0470 9091 0000 lds r25,(ServoNickValue)+1 |
| 628 0474 8C1B sub r24,r28 |
| 629 0476 9D0B sbc r25,r29 |
| 630 .L66: |
| 631 0478 9093 0000 sts (ServoNickValue)+1,r25 |
| 632 047c 8093 0000 sts ServoNickValue,r24 |
| 633 0480 8091 0000 lds r24,EE_Parameter+47 |
| 634 0484 282F mov r18,r24 |
| 635 0486 3327 clr r19 |
| 636 0488 220F lsl r18 |
| 637 048a 331F rol r19 |
| 638 048c 220F lsl r18 |
| 639 048e 331F rol r19 |
| 640 0490 8091 0000 lds r24,ServoNickValue |
| 641 0494 9091 0000 lds r25,(ServoNickValue)+1 |
| 642 0498 8217 cp r24,r18 |
| 643 049a 9307 cpc r25,r19 |
| 644 049c 7CF0 brlt .L67 |
| 645 049e 8091 0000 lds r24,EE_Parameter+48 |
| 646 04a2 282F mov r18,r24 |
| 647 04a4 3327 clr r19 |
| 648 04a6 220F lsl r18 |
| 649 04a8 331F rol r19 |
| 650 04aa 220F lsl r18 |
| 651 04ac 331F rol r19 |
| 652 04ae 8091 0000 lds r24,ServoNickValue |
| 653 04b2 9091 0000 lds r25,(ServoNickValue)+1 |
| 654 04b6 2817 cp r18,r24 |
| 655 04b8 3907 cpc r19,r25 |
| 656 04ba 24F4 brge .L52 |
| 657 .L67: |
| 658 04bc 3093 0000 sts (ServoNickValue)+1,r19 |
| 659 04c0 2093 0000 sts ServoNickValue,r18 |
| 660 .L52: |
| 661 04c4 8091 0000 lds r24,PlatinenVersion |
| 662 04c8 8431 cpi r24,lo8(20) |
| 663 04ca 08F4 brsh .+2 |
| 664 04cc C2C0 rjmp .L64 |
| 665 04ce 8091 0000 lds r24,CalculateServoSignals |
| 666 04d2 8F5F subi r24,lo8(-(1)) |
| 667 04d4 8093 0000 sts CalculateServoSignals,r24 |
| 668 04d8 BEC0 rjmp .L43 |
| 669 .L44: |
| 670 04da 2091 0000 lds r18,IntegralRoll |
| 671 04de 3091 0000 lds r19,(IntegralRoll)+1 |
| 672 04e2 4091 0000 lds r20,(IntegralRoll)+2 |
| 673 04e6 5091 0000 lds r21,(IntegralRoll)+3 |
| 674 04ea BD01 movw r22,r26 |
| 675 04ec CE01 movw r24,r28 |
| 676 04ee 0E94 0000 call __mulsi3 |
| 677 04f2 97FF sbrs r25,7 |
| 678 04f4 04C0 rjmp .L57 |
| 679 04f6 6158 subi r22,lo8(-(127)) |
| 680 04f8 7F4F sbci r23,hi8(-(127)) |
| 681 04fa 8F4F sbci r24,hlo8(-(127)) |
| 682 04fc 9F4F sbci r25,hhi8(-(127)) |
| 683 .L57: |
| 684 04fe 7B01 movw r14,r22 |
| 685 0500 8C01 movw r16,r24 |
| 686 0502 C7E0 ldi r28,7 |
| 687 0504 1595 1: asr r17 |
| 688 0506 0795 ror r16 |
| 689 0508 F794 ror r15 |
| 690 050a E794 ror r14 |
| 691 050c CA95 dec r28 |
| 692 050e D1F7 brne 1b |
| 693 0510 8D2D mov r24,r13 |
| 694 0512 9927 clr r25 |
| 695 0514 87FD sbrc r24,7 |
| 696 0516 9095 com r25 |
| 697 0518 A92F mov r26,r25 |
| 698 051a B92F mov r27,r25 |
| 699 051c 2091 0000 lds r18,IntegralNick |
| 700 0520 3091 0000 lds r19,(IntegralNick)+1 |
| 701 0524 4091 0000 lds r20,(IntegralNick)+2 |
| 702 0528 5091 0000 lds r21,(IntegralNick)+3 |
| 703 052c BC01 movw r22,r24 |
| 704 052e CD01 movw r24,r26 |
| 705 0530 0E94 0000 call __mulsi3 |
| 706 0534 9B01 movw r18,r22 |
| 707 0536 AC01 movw r20,r24 |
| 708 0538 97FF sbrs r25,7 |
| 709 053a 04C0 rjmp .L58 |
| 710 053c 2158 subi r18,lo8(-(127)) |
| 711 053e 3F4F sbci r19,hi8(-(127)) |
| 712 0540 4F4F sbci r20,hlo8(-(127)) |
| 713 0542 5F4F sbci r21,hhi8(-(127)) |
| 714 .L58: |
| 715 0544 B7E0 ldi r27,7 |
| 716 0546 5595 1: asr r21 |
| 717 0548 4795 ror r20 |
| 718 054a 3795 ror r19 |
| 719 054c 2795 ror r18 |
| 720 054e BA95 dec r27 |
| 721 0550 D1F7 brne 1b |
| 722 0552 2E0D add r18,r14 |
| 723 0554 3F1D adc r19,r15 |
| 724 0556 401F adc r20,r16 |
| 725 0558 511F adc r21,r17 |
| 726 055a 8091 0000 lds r24,EE_Parameter+50 |
| 727 055e 9927 clr r25 |
| 728 0560 AA27 clr r26 |
| 729 0562 BB27 clr r27 |
| 730 0564 BC01 movw r22,r24 |
| 731 0566 CD01 movw r24,r26 |
| 732 0568 0E94 0000 call __mulsi3 |
| 733 056c 97FF sbrs r25,7 |
| 734 056e 04C0 rjmp .L59 |
| 735 0570 6150 subi r22,lo8(-(511)) |
| 736 0572 7E4F sbci r23,hi8(-(511)) |
| 737 0574 8F4F sbci r24,hlo8(-(511)) |
| 738 0576 9F4F sbci r25,hhi8(-(511)) |
| 739 .L59: |
| 740 0578 FC01 movw r30,r24 |
| 741 057a EB01 movw r28,r22 |
| 742 057c A9E0 ldi r26,9 |
| 743 057e F595 1: asr r31 |
| 744 0580 E795 ror r30 |
| 745 0582 D795 ror r29 |
| 746 0584 C795 ror r28 |
| 747 0586 AA95 dec r26 |
| 748 0588 D1F7 brne 1b |
| 749 058a 8091 0000 lds r24,Parameter_ServoRollControl |
| 750 058e 9927 clr r25 |
| 751 0590 76E0 ldi r23,6 |
| 752 0592 880F 1: lsl r24 |
| 753 0594 991F rol r25 |
| 754 0596 7A95 dec r23 |
| 755 0598 E1F7 brne 1b |
| 756 059a 4091 0000 lds r20,ServoRollOffset |
| 757 059e 5091 0000 lds r21,(ServoRollOffset)+1 |
| 758 05a2 2091 0000 lds r18,EE_Parameter+54 |
| 759 05a6 3327 clr r19 |
| 760 05a8 841B sub r24,r20 |
| 761 05aa 950B sbc r25,r21 |
| 762 05ac B901 movw r22,r18 |
| 763 05ae 0E94 0000 call __divmodhi4 |
| 764 05b2 8091 0000 lds r24,ServoRollOffset |
| 765 05b6 9091 0000 lds r25,(ServoRollOffset)+1 |
| 766 05ba 860F add r24,r22 |
| 767 05bc 971F adc r25,r23 |
| 768 05be 9093 0000 sts (ServoRollOffset)+1,r25 |
| 769 05c2 8093 0000 sts ServoRollOffset,r24 |
| 770 05c6 8091 0000 lds r24,ServoRollOffset |
| 771 05ca 9091 0000 lds r25,(ServoRollOffset)+1 |
| 772 05ce 97FD sbrc r25,7 |
| 773 05d0 0F96 adiw r24,15 |
| 774 .L60: |
| 775 05d2 64E0 ldi r22,4 |
| 776 05d4 9595 1: asr r25 |
| 777 05d6 8795 ror r24 |
| 778 05d8 6A95 dec r22 |
| 779 05da E1F7 brne 1b |
| 780 05dc 9093 0000 sts (ServoRollValue)+1,r25 |
| 781 05e0 8093 0000 sts ServoRollValue,r24 |
| 782 05e4 8091 0000 lds r24,EE_Parameter+101 |
| 783 05e8 81FF sbrs r24,1 |
| 784 05ea 07C0 rjmp .L61 |
| 785 05ec 8091 0000 lds r24,ServoRollValue |
| 786 05f0 9091 0000 lds r25,(ServoRollValue)+1 |
| 787 05f4 8C0F add r24,r28 |
| 788 05f6 9D1F adc r25,r29 |
| 789 05f8 06C0 rjmp .L68 |
| 790 .L61: |
| 791 05fa 8091 0000 lds r24,ServoRollValue |
| 792 05fe 9091 0000 lds r25,(ServoRollValue)+1 |
| 793 0602 8C1B sub r24,r28 |
| 794 0604 9D0B sbc r25,r29 |
| 795 .L68: |
| 796 0606 9093 0000 sts (ServoRollValue)+1,r25 |
| 797 060a 8093 0000 sts ServoRollValue,r24 |
| 798 060e 8091 0000 lds r24,EE_Parameter+51 |
| 799 0612 282F mov r18,r24 |
| 800 0614 3327 clr r19 |
| 801 0616 220F lsl r18 |
| 802 0618 331F rol r19 |
| 803 061a 220F lsl r18 |
| 804 061c 331F rol r19 |
| 805 061e 8091 0000 lds r24,ServoRollValue |
| 806 0622 9091 0000 lds r25,(ServoRollValue)+1 |
| 807 0626 8217 cp r24,r18 |
| 808 0628 9307 cpc r25,r19 |
| 809 062a 7CF0 brlt .L69 |
| 810 062c 8091 0000 lds r24,EE_Parameter+52 |
| 811 0630 282F mov r18,r24 |
| 812 0632 3327 clr r19 |
| 813 0634 220F lsl r18 |
| 814 0636 331F rol r19 |
| 815 0638 220F lsl r18 |
| 816 063a 331F rol r19 |
| 817 063c 8091 0000 lds r24,ServoRollValue |
| 818 0640 9091 0000 lds r25,(ServoRollValue)+1 |
| 819 0644 2817 cp r18,r24 |
| 820 0646 3907 cpc r19,r25 |
| 821 0648 24F4 brge .L64 |
| 822 .L69: |
| 823 064a 3093 0000 sts (ServoRollValue)+1,r19 |
| 824 064e 2093 0000 sts ServoRollValue,r18 |
| 825 .L64: |
| 826 0652 1092 0000 sts CalculateServoSignals,__zero_reg__ |
| 827 .L43: |
| 828 /* epilogue: frame size=0 */ |
| 829 0656 E7E0 ldi r30,7 |
| 830 0658 CDB7 in r28,__SP_L__ |
| 831 065a DEB7 in r29,__SP_H__ |
| 832 065c 0C94 0000 jmp __epilogue_restores__+22 |
| 833 /* epilogue end (size=5) */ |
| 834 /* function CalculateServo size 423 (412) */ |
| 836 .lcomm PulseOutput.0,1 |
| 837 .lcomm ServoFrameTime.1,2 |
| 838 .lcomm ServoIndex.2,1 |
| 839 .global __vector_9 |
| 841 __vector_9: |
| 842 /* prologue: frame size=0 */ |
| 843 0660 1F92 push __zero_reg__ |
| 844 0662 0F92 push __tmp_reg__ |
| 845 0664 0FB6 in __tmp_reg__,__SREG__ |
| 846 0666 0F92 push __tmp_reg__ |
| 847 0668 1124 clr __zero_reg__ |
| 848 066a 2F93 push r18 |
| 849 066c 3F93 push r19 |
| 850 066e 4F93 push r20 |
| 851 0670 5F93 push r21 |
| 852 0672 8F93 push r24 |
| 853 0674 9F93 push r25 |
| 854 0676 EF93 push r30 |
| 855 0678 FF93 push r31 |
| 856 /* prologue end (size=13) */ |
| 857 067a 8091 0000 lds r24,PlatinenVersion |
| 858 067e 9091 0000 lds r25,PulseOutput.0 |
| 859 0682 8431 cpi r24,lo8(20) |
| 860 0684 08F0 brlo .+2 |
| 861 0686 4CC0 rjmp .L71 |
| 862 0688 9923 tst r25 |
| 863 068a 09F0 breq .+2 |
| 864 068c 1CC1 rjmp .L78 |
| 865 068e 8091 B000 lds r24,176 |
| 866 0692 86FF sbrs r24,6 |
| 867 0694 24C0 rjmp .L73 |
| 868 0696 8091 B000 lds r24,176 |
| 869 069a 8F7B andi r24,lo8(-65) |
| 870 069c 8093 B000 sts 176,r24 |
| 871 06a0 8091 0000 lds r24,ServoNickValue |
| 872 06a4 9091 0000 lds r25,(ServoNickValue)+1 |
| 873 06a8 8755 subi r24,lo8(-(425)) |
| 874 06aa 9E4F sbci r25,hi8(-(425)) |
| 875 06ac 9093 0000 sts (RemainingPulse)+1,r25 |
| 876 06b0 8093 0000 sts RemainingPulse,r24 |
| 877 06b4 25E0 ldi r18,hi8(1501) |
| 878 06b6 8D3D cpi r24,lo8(1501) |
| 879 06b8 9207 cpc r25,r18 |
| 880 06ba 18F0 brlo .L74 |
| 881 06bc 8CED ldi r24,lo8(1500) |
| 882 06be 95E0 ldi r25,hi8(1500) |
| 883 06c0 05C0 rjmp .L106 |
| 884 .L74: |
| 885 06c2 8757 subi r24,lo8(375) |
| 886 06c4 9140 sbci r25,hi8(375) |
| 887 06c6 30F4 brsh .L75 |
| 888 06c8 87E7 ldi r24,lo8(375) |
| 889 06ca 91E0 ldi r25,hi8(375) |
| 890 .L106: |
| 891 06cc 9093 0000 sts (RemainingPulse)+1,r25 |
| 892 06d0 8093 0000 sts RemainingPulse,r24 |
| 893 .L75: |
| 894 06d4 8091 0000 lds r24,RemainingPulse |
| 895 06d8 9091 0000 lds r25,(RemainingPulse)+1 |
| 896 06dc BAC0 rjmp .L111 |
| 897 .L73: |
| 898 06de 8091 B000 lds r24,176 |
| 899 06e2 8064 ori r24,lo8(64) |
| 900 06e4 8093 B000 sts 176,r24 |
| 901 06e8 8091 0000 lds r24,EE_Parameter+53 |
| 902 06ec 282F mov r18,r24 |
| 903 06ee 3327 clr r19 |
| 904 06f0 8DED ldi r24,lo8(1757) |
| 905 06f2 96E0 ldi r25,hi8(1757) |
| 906 06f4 289F mul r18,r24 |
| 907 06f6 A001 movw r20,r0 |
| 908 06f8 299F mul r18,r25 |
| 909 06fa 500D add r21,r0 |
| 910 06fc 389F mul r19,r24 |
| 911 06fe 500D add r21,r0 |
| 912 0700 1124 clr r1 |
| 913 0702 CA01 movw r24,r20 |
| 914 0704 2091 0000 lds r18,ServoFrameTime.1 |
| 915 0708 3091 0000 lds r19,(ServoFrameTime.1)+1 |
| 916 070c 821B sub r24,r18 |
| 917 070e 930B sbc r25,r19 |
| 918 0710 9093 0000 sts (RemainingPulse)+1,r25 |
| 919 0714 8093 0000 sts RemainingPulse,r24 |
| 920 0718 81E0 ldi r24,lo8(1) |
| 921 071a 8093 0000 sts CalculateServoSignals,r24 |
| 922 071e D0C0 rjmp .L94 |
| 923 .L71: |
| 924 0720 9923 tst r25 |
| 925 0722 09F0 breq .+2 |
| 926 0724 D0C0 rjmp .L78 |
| 927 0726 8091 B000 lds r24,176 |
| 928 072a 86FF sbrs r24,6 |
| 929 072c 97C0 rjmp .L80 |
| 930 072e 8091 B000 lds r24,176 |
| 931 0732 8F7B andi r24,lo8(-65) |
| 932 0734 8093 B000 sts 176,r24 |
| 933 0738 E091 0000 lds r30,ServoIndex.2 |
| 934 073c EE23 tst r30 |
| 935 073e F1F4 brne .L81 |
| 936 0740 8091 0000 lds r24,EE_Parameter+53 |
| 937 0744 282F mov r18,r24 |
| 938 0746 3327 clr r19 |
| 939 0748 8DED ldi r24,lo8(1757) |
| 940 074a 96E0 ldi r25,hi8(1757) |
| 941 074c 289F mul r18,r24 |
| 942 074e A001 movw r20,r0 |
| 943 0750 299F mul r18,r25 |
| 944 0752 500D add r21,r0 |
| 945 0754 389F mul r19,r24 |
| 946 0756 500D add r21,r0 |
| 947 0758 1124 clr r1 |
| 948 075a CA01 movw r24,r20 |
| 949 075c 2091 0000 lds r18,ServoFrameTime.1 |
| 950 0760 3091 0000 lds r19,(ServoFrameTime.1)+1 |
| 951 0764 821B sub r24,r18 |
| 952 0766 930B sbc r25,r19 |
| 953 0768 9093 0000 sts (RemainingPulse)+1,r25 |
| 954 076c 8093 0000 sts RemainingPulse,r24 |
| 955 0770 1092 0000 sts (ServoFrameTime.1)+1,__zero_reg__ |
| 956 0774 1092 0000 sts ServoFrameTime.1,__zero_reg__ |
| 957 0778 469A sbi 40-0x20,6 |
| 958 077a A2C0 rjmp .L94 |
| 959 .L81: |
| 960 077c 89EA ldi r24,lo8(937) |
| 961 077e 93E0 ldi r25,hi8(937) |
| 962 0780 9093 0000 sts (RemainingPulse)+1,r25 |
| 963 0784 8093 0000 sts RemainingPulse,r24 |
| 964 0788 8E2F mov r24,r30 |
| 965 078a 9927 clr r25 |
| 966 078c 8330 cpi r24,3 |
| 967 078e 9105 cpc r25,__zero_reg__ |
| 968 0790 D9F0 breq .L86 |
| 969 0792 8430 cpi r24,4 |
| 970 0794 9105 cpc r25,__zero_reg__ |
| 971 0796 34F4 brge .L90 |
| 972 0798 8130 cpi r24,1 |
| 973 079a 9105 cpc r25,__zero_reg__ |
| 974 079c 49F0 breq .L84 |
| 975 079e 0297 sbiw r24,2 |
| 976 07a0 61F0 breq .L85 |
| 977 07a2 20C0 rjmp .L89 |
| 978 .L90: |
| 979 07a4 8430 cpi r24,4 |
| 980 07a6 9105 cpc r25,__zero_reg__ |
| 981 07a8 91F0 breq .L87 |
| 982 07aa 0597 sbiw r24,5 |
| 983 07ac 99F0 breq .L88 |
| 984 07ae 1AC0 rjmp .L89 |
| 985 .L84: |
| 986 07b0 8091 0000 lds r24,ServoNickValue |
| 987 07b4 9091 0000 lds r25,(ServoNickValue)+1 |
| 988 07b8 04C0 rjmp .L110 |
| 989 .L85: |
| 990 07ba 8091 0000 lds r24,ServoRollValue |
| 991 07be 9091 0000 lds r25,(ServoRollValue)+1 |
| 992 .L110: |
| 993 07c2 8755 subi r24,lo8(-(425)) |
| 994 07c4 9E4F sbci r25,hi8(-(425)) |
| 995 07c6 1DC0 rjmp .L107 |
| 996 .L86: |
| 997 07c8 8091 0000 lds r24,Parameter_Servo3 |
| 998 07cc 05C0 rjmp .L112 |
| 999 .L87: |
| 1000 07ce 8091 0000 lds r24,Parameter_Servo4 |
| 1001 07d2 02C0 rjmp .L112 |
| 1002 .L88: |
| 1003 07d4 8091 0000 lds r24,Parameter_Servo5 |
| 1004 .L112: |
| 1005 07d8 9927 clr r25 |
| 1006 07da 880F lsl r24 |
| 1007 07dc 991F rol r25 |
| 1008 07de 880F lsl r24 |
| 1009 07e0 991F rol r25 |
| 1010 07e2 EFCF rjmp .L110 |
| 1011 .L89: |
| 1012 07e4 FF27 clr r31 |
| 1013 07e6 EE0F add r30,r30 |
| 1014 07e8 FF1F adc r31,r31 |
| 1015 07ea E050 subi r30,lo8(-(PPM_in)) |
| 1016 07ec F040 sbci r31,hi8(-(PPM_in)) |
| 1017 07ee 2081 ld r18,Z |
| 1018 07f0 3181 ldd r19,Z+1 |
| 1019 07f2 220F add r18,r18 |
| 1020 07f4 331F adc r19,r19 |
| 1021 07f6 8091 0000 lds r24,RemainingPulse |
| 1022 07fa 9091 0000 lds r25,(RemainingPulse)+1 |
| 1023 07fe 820F add r24,r18 |
| 1024 0800 931F adc r25,r19 |
| 1025 .L107: |
| 1026 0802 9093 0000 sts (RemainingPulse)+1,r25 |
| 1027 0806 8093 0000 sts RemainingPulse,r24 |
| 1028 080a 8091 0000 lds r24,RemainingPulse |
| 1029 080e 9091 0000 lds r25,(RemainingPulse)+1 |
| 1030 0812 55E0 ldi r21,hi8(1501) |
| 1031 0814 8D3D cpi r24,lo8(1501) |
| 1032 0816 9507 cpc r25,r21 |
| 1033 0818 18F0 brlo .L91 |
| 1034 081a 8CED ldi r24,lo8(1500) |
| 1035 081c 95E0 ldi r25,hi8(1500) |
| 1036 081e 05C0 rjmp .L108 |
| 1037 .L91: |
| 1038 0820 8757 subi r24,lo8(375) |
| 1039 0822 9140 sbci r25,hi8(375) |
| 1040 0824 30F4 brsh .L92 |
| 1041 0826 87E7 ldi r24,lo8(375) |
| 1042 0828 91E0 ldi r25,hi8(375) |
| 1043 .L108: |
| 1044 082a 9093 0000 sts (RemainingPulse)+1,r25 |
| 1045 082e 8093 0000 sts RemainingPulse,r24 |
| 1046 .L92: |
| 1047 0832 2091 0000 lds r18,RemainingPulse |
| 1048 0836 3091 0000 lds r19,(RemainingPulse)+1 |
| 1049 083a 2C5B subi r18,lo8(-(-188)) |
| 1050 083c 3040 sbci r19,hi8(-(-188)) |
| 1051 083e 3093 0000 sts (RemainingPulse)+1,r19 |
| 1052 0842 2093 0000 sts RemainingPulse,r18 |
| 1053 0846 8091 0000 lds r24,ServoFrameTime.1 |
| 1054 084a 9091 0000 lds r25,(ServoFrameTime.1)+1 |
| 1055 084e 820F add r24,r18 |
| 1056 0850 931F adc r25,r19 |
| 1057 .L111: |
| 1058 0852 9093 0000 sts (ServoFrameTime.1)+1,r25 |
| 1059 0856 8093 0000 sts ServoFrameTime.1,r24 |
| 1060 085a 32C0 rjmp .L94 |
| 1061 .L80: |
| 1062 085c 8091 B000 lds r24,176 |
| 1063 0860 8064 ori r24,lo8(64) |
| 1064 0862 8093 B000 sts 176,r24 |
| 1065 0866 8CEB ldi r24,lo8(188) |
| 1066 0868 90E0 ldi r25,hi8(188) |
| 1067 086a 9093 0000 sts (RemainingPulse)+1,r25 |
| 1068 086e 8093 0000 sts RemainingPulse,r24 |
| 1069 0872 8091 0000 lds r24,ServoFrameTime.1 |
| 1070 0876 9091 0000 lds r25,(ServoFrameTime.1)+1 |
| 1071 087a 8454 subi r24,lo8(-(188)) |
| 1072 087c 9F4F sbci r25,hi8(-(188)) |
| 1073 087e 9093 0000 sts (ServoFrameTime.1)+1,r25 |
| 1074 0882 8093 0000 sts ServoFrameTime.1,r24 |
| 1075 0886 8091 0000 lds r24,ServoActive |
| 1076 088a 8823 tst r24 |
| 1077 088c 21F0 breq .L97 |
| 1078 088e 8091 0000 lds r24,SenderOkay |
| 1079 0892 8333 cpi r24,lo8(51) |
| 1080 0894 20F4 brsh .L96 |
| 1081 .L97: |
| 1082 0896 8091 0000 lds r24,ServoActive |
| 1083 089a 8230 cpi r24,lo8(2) |
| 1084 089c 11F4 brne .L95 |
| 1085 .L96: |
| 1086 089e 4698 cbi 40-0x20,6 |
| 1087 08a0 01C0 rjmp .L98 |
| 1088 .L95: |
| 1089 08a2 469A sbi 40-0x20,6 |
| 1090 .L98: |
| 1091 08a4 8091 0000 lds r24,ServoIndex.2 |
| 1092 08a8 8F5F subi r24,lo8(-(1)) |
| 1093 08aa 8093 0000 sts ServoIndex.2,r24 |
| 1094 08ae 9091 0000 lds r25,EE_Parameter+53 |
| 1095 08b2 9817 cp r25,r24 |
| 1096 08b4 28F4 brsh .L94 |
| 1097 08b6 81E0 ldi r24,lo8(1) |
| 1098 08b8 8093 0000 sts CalculateServoSignals,r24 |
| 1099 08bc 1092 0000 sts ServoIndex.2,__zero_reg__ |
| 1100 .L94: |
| 1101 08c0 81E0 ldi r24,lo8(1) |
| 1102 08c2 8093 0000 sts PulseOutput.0,r24 |
| 1103 .L78: |
| 1104 08c6 2091 0000 lds r18,RemainingPulse |
| 1105 08ca 3091 0000 lds r19,(RemainingPulse)+1 |
| 1106 08ce 41E0 ldi r20,hi8(383) |
| 1107 08d0 2F37 cpi r18,lo8(383) |
| 1108 08d2 3407 cpc r19,r20 |
| 1109 08d4 30F0 brlo .L100 |
| 1110 08d6 8FEF ldi r24,lo8(-1) |
| 1111 08d8 8093 B300 sts 179,r24 |
| 1112 08dc 2F5F subi r18,lo8(-(-255)) |
| 1113 08de 3040 sbci r19,hi8(-(-255)) |
| 1114 08e0 0FC0 rjmp .L109 |
| 1115 .L100: |
| 1116 08e2 2F3F cpi r18,255 |
| 1117 08e4 3105 cpc r19,__zero_reg__ |
| 1118 08e6 C9F0 breq .L102 |
| 1119 08e8 C0F0 brlo .L102 |
| 1120 08ea A901 movw r20,r18 |
| 1121 08ec 4F5F subi r20,lo8(-(-255)) |
| 1122 08ee 5040 sbci r21,hi8(-(-255)) |
| 1123 08f0 4F37 cpi r20,127 |
| 1124 08f2 5105 cpc r21,__zero_reg__ |
| 1125 08f4 50F4 brsh .L103 |
| 1126 08f6 80E8 ldi r24,lo8(-128) |
| 1127 08f8 8093 B300 sts 179,r24 |
| 1128 08fc 2058 subi r18,lo8(-(-128)) |
| 1129 08fe 3040 sbci r19,hi8(-(-128)) |
| 1130 .L109: |
| 1131 0900 3093 0000 sts (RemainingPulse)+1,r19 |
| 1132 0904 2093 0000 sts RemainingPulse,r18 |
| 1133 0908 12C0 rjmp .L70 |
| 1134 .L103: |
| 1135 090a 8FEF ldi r24,lo8(-1) |
| 1136 090c 8093 B300 sts 179,r24 |
| 1137 0910 5093 0000 sts (RemainingPulse)+1,r21 |
| 1138 0914 4093 0000 sts RemainingPulse,r20 |
| 1139 0918 0AC0 rjmp .L70 |
| 1140 .L102: |
| 1141 091a 8091 0000 lds r24,RemainingPulse |
| 1142 091e 8093 B300 sts 179,r24 |
| 1143 0922 1092 0000 sts (RemainingPulse)+1,__zero_reg__ |
| 1144 0926 1092 0000 sts RemainingPulse,__zero_reg__ |
| 1145 092a 1092 0000 sts PulseOutput.0,__zero_reg__ |
| 1146 .L70: |
| 1147 /* epilogue: frame size=0 */ |
| 1148 092e FF91 pop r31 |
| 1149 0930 EF91 pop r30 |
| 1150 0932 9F91 pop r25 |
| 1151 0934 8F91 pop r24 |
| 1152 0936 5F91 pop r21 |
| 1153 0938 4F91 pop r20 |
| 1154 093a 3F91 pop r19 |
| 1155 093c 2F91 pop r18 |
| 1156 093e 0F90 pop __tmp_reg__ |
| 1157 0940 0FBE out __SREG__,__tmp_reg__ |
| 1158 0942 0F90 pop __tmp_reg__ |
| 1159 0944 1F90 pop __zero_reg__ |
| 1160 0946 1895 reti |
| 1161 /* epilogue end (size=13) */ |
| 1162 /* function __vector_9 size 376 (350) */ |
| 1164 .lcomm tim_main,2 |
| 1165 /* File "timer0.c": code 1199 = 0x04af (1116), prologues 39, epilogues 44 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 timer0.c |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:15 .bss:00000000 ServoRollValue |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:21 .bss:00000002 ServoNickValue |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:27 .data:00000000 BeepMuster |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:32 .data:00000002 ServoRollOffset |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:37 .data:00000004 ServoNickOffset |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:44 .bss:00000004 RemainingPulse |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:50 .data:00000006 CalculateServoSignals |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:57 .bss:00000006 ServoActive |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:63 .bss:00000007 SendSPI |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:69 .bss:00000008 beeptime |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:75 .bss:0000000a cntKompass |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:81 .bss:0000000c UpdateMotor |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:87 .bss:0000000d CountMilliseconds |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:92 .data:00000007 cnt_1ms.3 |
| .bss:0000000f cnt.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:94 .bss:00000010 compass_active.5 |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:99 .text:00000000 __vector_18 |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:322 .text:00000216 SetDelay |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:338 .text:00000228 CheckDelay |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:357 .text:00000240 Delay_ms |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:378 .text:0000025a Delay_ms_Mess |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:408 .text:0000028a TIMER2_Init |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:450 .text:000002e8 Timer_Init |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:838 .bss:00000015 tim_main |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:477 .text:00000316 CalculateServo |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:95 .bss:00000011 PulseOutput.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:836 .bss:00000012 ServoFrameTime.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:837 .bss:00000014 ServoIndex.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccmAbaaa.s:841 .text:00000660 __vector_9 |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| SpektrumTimer |
| PlatinenVersion |
| NaviDataOkay |
| EE_Parameter |
| __udivmodhi4 |
| KompassValue |
| KompassStartwert |
| __divmodhi4 |
| KompassRichtung |
| AdReady |
| __prologue_saves__ |
| sintab |
| IntegralNick |
| __mulsi3 |
| IntegralRoll |
| Parameter_ServoNickControl |
| Parameter_ServoRollControl |
| __epilogue_restores__ |
| Parameter_Servo3 |
| Parameter_Servo4 |
| Parameter_Servo5 |
| PPM_in |
| SenderOkay |
| /branches/metro/v0.82a metro_Akku+/twimaster.c |
|---|
| 0,0 → 1,468 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <util/twi.h> |
| #include "eeprom.h" |
| #include "twimaster.h" |
| #include "fc.h" |
| #include "analog.h" |
| #include "uart.h" |
| #include "timer0.h" |
| volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
| volatile uint8_t dac_channel = 0; |
| volatile uint8_t motor_write = 0; |
| volatile uint8_t motor_read = 0; |
| volatile uint8_t I2C_TransferActive = 0; |
| volatile uint16_t I2CTimeout = 100; |
| uint8_t MissingMotor = 0; |
| volatile uint8_t BLFlags = 0; |
| MotorData_t Motor[MAX_MOTORS]; |
| // bit mask for witch BL the configuration should be sent |
| volatile uint16_t BLConfig_WriteMask = 0; |
| // bit mask for witch BL the configuration should be read |
| volatile uint16_t BLConfig_ReadMask = 0; |
| // buffer for BL Configuration |
| BLConfig_t BLConfig; |
| #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
| #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define TWI_BASE_ADDRESS 0x52 |
| /**************************************************/ |
| /* Initialize I2C (TWI) */ |
| /**************************************************/ |
| void I2C_Init(char clear) |
| { |
| uint8_t i; |
| uint8_t sreg = SREG; |
| cli(); |
| // SDA is INPUT |
| DDRC &= ~(1<<DDC1); |
| // SCL is output |
| DDRC |= (1<<DDC0); |
| // pull up SDA |
| PORTC |= (1<<PORTC0)|(1<<PORTC1); |
| // TWI Status Register |
| // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
| TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
| // set TWI Bit Rate Register |
| TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
| twi_state = TWI_STATE_MOTOR_TX; |
| motor_write = 0; |
| motor_read = 0; |
| if(clear) for(i=0; i < MAX_MOTORS; i++) |
| { |
| Motor[i].Version = 0; |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| Motor[i].State = 0; |
| Motor[i].ReadMode = BL_READMODE_STATUS; |
| Motor[i].Current = 0; |
| Motor[i].MaxPWM = 0; |
| Motor[i].Temperature = 0; |
| } |
| sei(); |
| SREG = sreg; |
| } |
| void I2C_Reset(void) |
| { |
| // stop i2c bus |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| I2C_TransferActive = 0; |
| I2C_Init(0); |
| I2C_WriteByte(0); |
| BLFlags |= BLFLAG_READ_VERSION; |
| } |
| /****************************************/ |
| /* I2C ISR */ |
| /****************************************/ |
| ISR (TWI_vect) |
| { |
| static uint8_t missing_motor = 0, motor_read_temperature = 0; |
| static uint8_t *pBuff = 0; |
| static uint8_t BuffLen = 0; |
| switch (twi_state++) |
| { |
| // Master Transmit |
| case 0: // TWI_STATE_MOTOR_TX |
| I2C_TransferActive = 1; |
| // skip motor if not used in mixer |
| while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
| if(motor_write >= MAX_MOTORS) // writing finished, read now |
| { |
| BLConfig_WriteMask = 0; // reset configuration bitmask |
| motor_write = 0; // reset motor write counter for next cycle |
| twi_state = TWI_STATE_MOTOR_RX; |
| I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
| } |
| else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
| break; |
| case 1: // Send Data to Slave |
| I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
| // if old version has been detected |
| if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
| { |
| twi_state = 4; //jump over sending more data |
| } |
| // the new version has been detected |
| else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
| { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
| twi_state = 4; //jump over sending more data |
| } |
| break; |
| case 2: // lower bits of setpoint (higher resolution) |
| if ((0x0001<<motor_write) & BLConfig_ReadMask) |
| { |
| Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
| } |
| else |
| { |
| Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
| } |
| // send read mode and the lower bits of setpoint |
| I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
| // configuration tranmission request? |
| if((0x0001<<motor_write) & BLConfig_WriteMask) |
| { // redirect tx pointer to configuration data |
| pBuff = (uint8_t*)&BLConfig; // select config for motor |
| BuffLen = sizeof(BLConfig_t); |
| } |
| else |
| { // jump to end of transmission for that motor |
| twi_state = 4; |
| } |
| break; |
| case 3: // send configuration |
| I2C_WriteByte(*pBuff); |
| pBuff++; |
| if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
| break; |
| case 4: // repeat case 0-4 for all motors |
| if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
| { |
| if(!missing_motor) missing_motor = motor_write + 1; |
| if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| motor_write++; // next motor |
| I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
| break; |
| // Master Receive Data |
| case 5: // TWI_STATE_MOTOR_RX |
| if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
| { // no response from the addressed slave received |
| Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
| if(++motor_read >= MAX_MOTORS) |
| { // all motors read |
| motor_read = 0; // restart from beginning |
| BLConfig_ReadMask = 0; // reset read configuration bitmask |
| if(++motor_read_temperature >= MAX_MOTORS) |
| { |
| motor_read_temperature = 0; |
| BLFlags &= ~BLFLAG_READ_VERSION; |
| } |
| } |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2C_TransferActive = 0; |
| } |
| else |
| { // motor successfully addressed |
| Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
| if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
| { |
| // new BL found |
| switch(Motor[motor_read].ReadMode) |
| { |
| case BL_READMODE_CONFIG: |
| pBuff = (uint8_t*)&BLConfig; |
| BuffLen = sizeof(BLConfig_t); |
| break; |
| case BL_READMODE_STATUS: |
| pBuff = (uint8_t*)&(Motor[motor_read].Current); |
| if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
| else BuffLen = 1;// read Current only |
| break; |
| } |
| } |
| else // old BL version |
| { |
| pBuff = (uint8_t*)&(Motor[motor_read].Current); |
| if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
| else BuffLen = 1; // read Current only |
| } |
| if(BuffLen == 1) |
| { |
| I2C_ReceiveLastByte(); // read last byte |
| } |
| else |
| { |
| I2C_ReceiveByte(); // read next byte |
| } |
| } |
| MissingMotor = missing_motor; |
| missing_motor = 0; |
| break; |
| case 6: // receive bytes |
| *pBuff = TWDR; |
| pBuff++; |
| BuffLen--; |
| if(BuffLen>1) |
| { |
| I2C_ReceiveByte(); // read next byte |
| } |
| else if (BuffLen == 1) |
| { |
| I2C_ReceiveLastByte(); // read last byte |
| } |
| else // nothing left |
| { |
| if(BLFlags & BLFLAG_READ_VERSION) |
| { |
| if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| else Motor[motor_read].Version = 0; |
| } |
| if(++motor_read >= MAX_MOTORS) |
| { |
| motor_read = 0; // restart from beginning |
| BLConfig_ReadMask = 0; // reset read configuration bitmask |
| if(++motor_read_temperature >= MAX_MOTORS) |
| { |
| motor_read_temperature = 0; |
| BLFlags &= ~BLFLAG_READ_VERSION; |
| } |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2C_TransferActive = 0; |
| return; |
| } |
| twi_state = 6; // if there are some bytes left |
| break; |
| // writing Gyro-Offsets |
| case 18: |
| I2C_WriteByte(0x98); // Address the DAC |
| break; |
| case 19: |
| I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
| break; |
| case 20: |
| switch(dac_channel) |
| { |
| case 0: |
| I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
| break; |
| case 1: |
| I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
| break; |
| case 2: |
| I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
| break; |
| } |
| break; |
| case 21: |
| I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
| break; |
| case 22: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2C_TransferActive = 0; |
| I2CTimeout = 10; |
| // repeat case 18...22 until all DAC Channels are updated |
| if(dac_channel < 2) |
| { |
| dac_channel ++; // jump to next channel |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
| } |
| else |
| { |
| dac_channel = 0; // reset dac channel counter |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| } |
| break; |
| default: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2CTimeout = 10; |
| motor_write = 0; |
| motor_read = 0; |
| I2C_TransferActive = 0; |
| break; |
| } |
| } |
| uint8_t I2C_WriteBLConfig(uint8_t motor) |
| { |
| uint8_t i; |
| uint16_t timer; |
| if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(motor) |
| { |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| } |
| // check BL configuration to send |
| if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| timer = SetDelay(2000); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| // prepare the bitmask |
| if(!motor) // 0 means all |
| { |
| BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
| } |
| else //only one specific motor |
| { |
| BLConfig_WriteMask = 0x0001<<(motor-1); |
| } |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if((0x0001<<i) & BLConfig_WriteMask) |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| motor_write = 0; |
| // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| do |
| { |
| I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| }while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
| if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
| return(BLCONFIG_SUCCESS); |
| } |
| uint8_t I2C_ReadBLConfig(uint8_t motor) |
| { |
| uint8_t i; |
| uint16_t timer; |
| if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| timer = SetDelay(2000); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| // prepare the bitmask |
| BLConfig_ReadMask = 0x0001<<(motor-1); |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if((0x0001<<i) & BLConfig_ReadMask) |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| motor_read = 0; |
| BLConfig.Revision = 0; // bad revision |
| BLConfig.crc = 0; // bad checksum |
| // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| do |
| { |
| I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
| // validate result |
| if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| return(BLCONFIG_SUCCESS); |
| } |
| /branches/metro/v0.82a metro_Akku+/twimaster.d |
|---|
| 0,0 → 1,2 |
| twimaster.o twimaster.d : twimaster.c eeprom.h twimaster.h fc.h analog.h uart.h \ |
| timer0.h |
| /branches/metro/v0.82a metro_Akku+/twimaster.h |
|---|
| 0,0 → 1,100 |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| + |
| +#include <inttypes.h> |
| + |
| +#define TWI_STATE_MOTOR_TX 0 |
| +#define TWI_STATE_MOTOR_RX 5 |
| +#define TWI_STATE_GYRO_OFFSET_TX 18 |
| + |
| +extern volatile uint8_t twi_state; |
| +extern volatile uint8_t motor_write; |
| +extern volatile uint8_t motor_read; |
| +extern volatile uint8_t I2C_TransferActive; |
| + |
| +extern uint8_t MissingMotor; |
| + |
| +#define MAX_MOTORS 12 |
| +#define MOTOR_STATE_PRESENT_MASK 0x80 |
| +#define MOTOR_STATE_ERROR_MASK 0x7F |
| + |
| +#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
| + |
| +#define BLFLAG_TX_COMPLETE 0x01 |
| +#define BLFLAG_READ_VERSION 0x02 |
| + |
| +extern volatile uint8_t BLFlags; |
| + |
| + |
| +#define BL_READMODE_STATUS 0 |
| +#define BL_READMODE_CONFIG 16 |
| + |
| +typedef struct |
| +{ |
| + uint8_t Version; // the version of the BL (0 = old) |
| + uint8_t SetPoint; // written by attitude controller |
| + uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
| + uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
| + uint8_t ReadMode; // select data to read |
| + // the following bytes must be exactly in that order! |
| + uint8_t Current; // in 0.1 A steps, read back from BL |
| + uint8_t MaxPWM; // read back from BL is less than 255 if BL is in current limit |
| + int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
| +} __attribute__((packed)) MotorData_t; |
| + |
| +extern MotorData_t Motor[MAX_MOTORS]; |
| + |
| +#define BLCONFIG_REVISION 2 |
| + |
| +#define MASK_SET_PWM_SCALING 0x01 |
| +#define MASK_SET_CURRENT_LIMIT 0x02 |
| +#define MASK_SET_TEMP_LIMIT 0x04 |
| +#define MASK_SET_CURRENT_SCALING 0x08 |
| +#define MASK_SET_BITCONFIG 0x10 |
| +#define MASK_RESET_CAPCOUNTER 0x20 |
| +#define MASK_SET_DEFAULT_PARAMS 0x40 |
| +#define MASK_SET_SAVE_EEPROM 0x80 |
| + |
| +#define BITCONF_REVERSE_ROTATION 0x01 |
| +#define BITCONF_RES1 0x02 |
| +#define BITCONF_RES2 0x04 |
| +#define BITCONF_RES3 0x08 |
| +#define BITCONF_RES4 0x10 |
| +#define BITCONF_RES5 0x20 |
| +#define BITCONF_RES6 0x40 |
| +#define BITCONF_RES7 0x80 |
| + |
| +typedef struct |
| +{ |
| + uint8_t Revision; // must be BL_REVISION |
| + uint8_t SetMask; // settings mask |
| + uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
| + uint8_t CurrentLimit; // current limit in A |
| + uint8_t TempLimit; // in °C |
| + uint8_t CurrentScaling; // scaling factor for current measurement |
| + uint8_t BitConfig; // see defines above |
| + uint8_t crc; // checksum |
| +} __attribute__((packed)) BLConfig_t; |
| + |
| +extern BLConfig_t BLConfig; |
| + |
| +extern volatile uint16_t I2CTimeout; |
| + |
| +void I2C_Init(char); // Initialize I2C |
| +#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);} |
| +#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
| +void I2C_Reset(void); // Reset I2C |
| + |
| +#define BLCONFIG_SUCCESS 0 |
| +#define BLCONFIG_ERR_MOTOR_RUNNING 1 |
| +#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
| +#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
| +#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
| +#define BLCONFIG_ERR_CHECKSUM 5 |
| +#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
| + |
| +uint8_t I2C_WriteBLConfig(uint8_t motor); |
| +uint8_t I2C_ReadBLConfig(uint8_t motor); |
| + |
| +#endif |
| /branches/metro/v0.82a metro_Akku+/twimaster.lst |
|---|
| 0,0 → 1,1208 |
| 1 .file "twimaster.c" |
| 2 .arch atmega644p |
| 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 .global BLConfig_ReadMask |
| 11 .global BLConfig_ReadMask |
| 12 .section .bss |
| 15 BLConfig_ReadMask: |
| 16 0000 0000 .skip 2,0 |
| 17 .global BLConfig_WriteMask |
| 18 .global BLConfig_WriteMask |
| 21 BLConfig_WriteMask: |
| 22 0002 0000 .skip 2,0 |
| 23 .global BLFlags |
| 24 .global BLFlags |
| 27 BLFlags: |
| 28 0004 00 .skip 1,0 |
| 29 .global MissingMotor |
| 30 .global MissingMotor |
| 33 MissingMotor: |
| 34 0005 00 .skip 1,0 |
| 35 .global I2CTimeout |
| 36 .data |
| 39 I2CTimeout: |
| 40 0000 6400 .word 100 |
| 41 .global I2C_TransferActive |
| 42 .global I2C_TransferActive |
| 43 .section .bss |
| 46 I2C_TransferActive: |
| 47 0006 00 .skip 1,0 |
| 48 .global motor_read |
| 49 .global motor_read |
| 52 motor_read: |
| 53 0007 00 .skip 1,0 |
| 54 .global motor_write |
| 55 .global motor_write |
| 58 motor_write: |
| 59 0008 00 .skip 1,0 |
| 60 .global dac_channel |
| 61 .global dac_channel |
| 64 dac_channel: |
| 65 0009 00 .skip 1,0 |
| 66 .global twi_state |
| 67 .global twi_state |
| 70 twi_state: |
| 71 000a 00 .skip 1,0 |
| 72 .text |
| 73 .global I2C_Init |
| 75 I2C_Init: |
| 76 /* prologue: frame size=0 */ |
| 77 /* prologue end (size=0) */ |
| 78 0000 982F mov r25,r24 |
| 79 0002 2FB7 in r18,95-0x20 |
| 80 /* #APP */ |
| 81 0004 F894 cli |
| 82 /* #NOAPP */ |
| 83 0006 3998 cbi 39-0x20,1 |
| 84 0008 389A sbi 39-0x20,0 |
| 85 000a 88B1 in r24,40-0x20 |
| 86 000c 8360 ori r24,lo8(3) |
| 87 000e 88B9 out 40-0x20,r24 |
| 88 0010 8091 B900 lds r24,185 |
| 89 0014 8C7F andi r24,lo8(-4) |
| 90 0016 8093 B900 sts 185,r24 |
| 91 001a 8AE2 ldi r24,lo8(42) |
| 92 001c 8093 B800 sts 184,r24 |
| 93 0020 1092 0000 sts twi_state,__zero_reg__ |
| 94 0024 1092 0000 sts motor_write,__zero_reg__ |
| 95 0028 1092 0000 sts motor_read,__zero_reg__ |
| 96 002c 9923 tst r25 |
| 97 002e 79F0 breq .L2 |
| 98 0030 E0E0 ldi r30,lo8(Motor) |
| 99 0032 F0E0 ldi r31,hi8(Motor) |
| 100 0034 8BE0 ldi r24,lo8(11) |
| 101 .L6: |
| 102 0036 1082 st Z,__zero_reg__ |
| 103 0038 1182 std Z+1,__zero_reg__ |
| 104 003a 1282 std Z+2,__zero_reg__ |
| 105 003c 1382 std Z+3,__zero_reg__ |
| 106 003e 1482 std Z+4,__zero_reg__ |
| 107 0040 1582 std Z+5,__zero_reg__ |
| 108 0042 1682 std Z+6,__zero_reg__ |
| 109 0044 1782 std Z+7,__zero_reg__ |
| 110 0046 8150 subi r24,lo8(-(-1)) |
| 111 0048 3896 adiw r30,8 |
| 112 004a 87FF sbrs r24,7 |
| 113 004c F4CF rjmp .L6 |
| 114 .L2: |
| 115 /* #APP */ |
| 116 004e 7894 sei |
| 117 /* #NOAPP */ |
| 118 0050 2FBF out 95-0x20,r18 |
| 119 /* epilogue: frame size=0 */ |
| 120 0052 0895 ret |
| 121 /* epilogue end (size=1) */ |
| 122 /* function I2C_Init size 44 (43) */ |
| 124 .global I2C_Reset |
| 126 I2C_Reset: |
| 127 /* prologue: frame size=0 */ |
| 128 /* prologue end (size=0) */ |
| 129 0054 1092 0000 sts twi_state,__zero_reg__ |
| 130 0058 84E9 ldi r24,lo8(-108) |
| 131 005a 8093 BC00 sts 188,r24 |
| 132 005e 80E8 ldi r24,lo8(-128) |
| 133 0060 8093 BC00 sts 188,r24 |
| 134 0064 1092 BD00 sts 189,__zero_reg__ |
| 135 0068 1092 BA00 sts 186,__zero_reg__ |
| 136 006c 1092 BB00 sts 187,__zero_reg__ |
| 137 0070 1092 B900 sts 185,__zero_reg__ |
| 138 0074 1092 B800 sts 184,__zero_reg__ |
| 139 0078 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 140 007c 80E0 ldi r24,lo8(0) |
| 141 007e 0E94 0000 call I2C_Init |
| 142 0082 1092 BB00 sts 187,__zero_reg__ |
| 143 0086 85E8 ldi r24,lo8(-123) |
| 144 0088 8093 BC00 sts 188,r24 |
| 145 008c 8091 0000 lds r24,BLFlags |
| 146 0090 8260 ori r24,lo8(2) |
| 147 0092 8093 0000 sts BLFlags,r24 |
| 148 /* epilogue: frame size=0 */ |
| 149 0096 0895 ret |
| 150 /* epilogue end (size=1) */ |
| 151 /* function I2C_Reset size 34 (33) */ |
| 153 .lcomm missing_motor.0,1 |
| 154 .lcomm motor_read_temperature.1,1 |
| 155 .lcomm pBuff.2,2 |
| 156 .lcomm BuffLen.3,1 |
| 157 .global __vector_26 |
| 159 __vector_26: |
| 160 /* prologue: frame size=0 */ |
| 161 0098 1F92 push __zero_reg__ |
| 162 009a 0F92 push __tmp_reg__ |
| 163 009c 0FB6 in __tmp_reg__,__SREG__ |
| 164 009e 0F92 push __tmp_reg__ |
| 165 00a0 1124 clr __zero_reg__ |
| 166 00a2 2F93 push r18 |
| 167 00a4 3F93 push r19 |
| 168 00a6 4F93 push r20 |
| 169 00a8 5F93 push r21 |
| 170 00aa 8F93 push r24 |
| 171 00ac 9F93 push r25 |
| 172 00ae EF93 push r30 |
| 173 00b0 FF93 push r31 |
| 174 /* prologue end (size=13) */ |
| 175 00b2 8091 0000 lds r24,twi_state |
| 176 00b6 282F mov r18,r24 |
| 177 00b8 3327 clr r19 |
| 178 00ba 4427 clr r20 |
| 179 00bc 5527 clr r21 |
| 180 00be 8F5F subi r24,lo8(-(1)) |
| 181 00c0 8093 0000 sts twi_state,r24 |
| 182 00c4 F901 movw r30,r18 |
| 183 00c6 2731 cpi r18,23 |
| 184 00c8 3105 cpc r19,__zero_reg__ |
| 185 00ca 08F0 brlo .+2 |
| 186 00cc C2C2 rjmp .L72 |
| 187 00ce E050 subi r30,lo8(-(pm(.L73))) |
| 188 00d0 F040 sbci r31,hi8(-(pm(.L73))) |
| 189 00d2 0C94 0000 jmp __tablejump2__ |
| 190 .data |
| 191 .section .progmem.gcc_sw_table, "a", @progbits |
| 192 .p2align 1 |
| 193 .L73: |
| 194 0000 0000 .word pm(.L11) |
| 195 0002 0000 .word pm(.L17) |
| 196 0004 0000 .word pm(.L22) |
| 197 0006 0000 .word pm(.L27) |
| 198 0008 0000 .word pm(.L29) |
| 199 000a 0000 .word pm(.L33) |
| 200 000c 0000 .word pm(.L50) |
| 201 000e 0000 .word pm(.L72) |
| 202 0010 0000 .word pm(.L72) |
| 203 0012 0000 .word pm(.L72) |
| 204 0014 0000 .word pm(.L72) |
| 205 0016 0000 .word pm(.L72) |
| 206 0018 0000 .word pm(.L72) |
| 207 001a 0000 .word pm(.L72) |
| 208 001c 0000 .word pm(.L72) |
| 209 001e 0000 .word pm(.L72) |
| 210 0020 0000 .word pm(.L72) |
| 211 0022 0000 .word pm(.L72) |
| 212 0024 0000 .word pm(.L60) |
| 213 0026 0000 .word pm(.L61) |
| 214 0028 0000 .word pm(.L62) |
| 215 002a 0000 .word pm(.L68) |
| 216 002c 0000 .word pm(.L69) |
| 217 .text |
| 218 .L11: |
| 219 00d6 81E0 ldi r24,lo8(1) |
| 220 00d8 8093 0000 sts I2C_TransferActive,r24 |
| 221 00dc 09C0 rjmp .L76 |
| 222 .L75: |
| 223 00de 8091 0000 lds r24,motor_write |
| 224 00e2 8C30 cpi r24,lo8(12) |
| 225 00e4 90F4 brsh .L13 |
| 226 00e6 8091 0000 lds r24,motor_write |
| 227 00ea 8F5F subi r24,lo8(-(1)) |
| 228 00ec 8093 0000 sts motor_write,r24 |
| 229 .L76: |
| 230 00f0 8091 0000 lds r24,motor_write |
| 231 00f4 E82F mov r30,r24 |
| 232 00f6 FF27 clr r31 |
| 233 00f8 EE0F lsl r30 |
| 234 00fa FF1F rol r31 |
| 235 00fc EE0F lsl r30 |
| 236 00fe FF1F rol r31 |
| 237 0100 E050 subi r30,lo8(-(Mixer)) |
| 238 0102 F040 sbci r31,hi8(-(Mixer)) |
| 239 0104 8585 ldd r24,Z+13 |
| 240 0106 1816 cp __zero_reg__,r24 |
| 241 0108 54F7 brge .L75 |
| 242 .L13: |
| 243 010a 8091 0000 lds r24,motor_write |
| 244 010e 8C30 cpi r24,lo8(12) |
| 245 0110 70F0 brlo .L15 |
| 246 0112 1092 0000 sts (BLConfig_WriteMask)+1,__zero_reg__ |
| 247 0116 1092 0000 sts BLConfig_WriteMask,__zero_reg__ |
| 248 011a 1092 0000 sts motor_write,__zero_reg__ |
| 249 011e 85E0 ldi r24,lo8(5) |
| 250 0120 8093 0000 sts twi_state,r24 |
| 251 0124 8091 0000 lds r24,motor_read |
| 252 0128 880F lsl r24 |
| 253 012a 8D5A subi r24,lo8(-(83)) |
| 254 012c 04C0 rjmp .L84 |
| 255 .L15: |
| 256 012e 8091 0000 lds r24,motor_write |
| 257 0132 880F lsl r24 |
| 258 0134 8E5A subi r24,lo8(-(82)) |
| 259 .L84: |
| 260 0136 8093 BB00 sts 187,r24 |
| 261 013a 85E8 ldi r24,lo8(-123) |
| 262 013c 7FC2 rjmp .L80 |
| 263 .L17: |
| 264 013e 8091 0000 lds r24,motor_write |
| 265 0142 E82F mov r30,r24 |
| 266 0144 FF27 clr r31 |
| 267 0146 83E0 ldi r24,3 |
| 268 0148 EE0F 1: lsl r30 |
| 269 014a FF1F rol r31 |
| 270 014c 8A95 dec r24 |
| 271 014e E1F7 brne 1b |
| 272 0150 E050 subi r30,lo8(-(Motor)) |
| 273 0152 F040 sbci r31,hi8(-(Motor)) |
| 274 0154 8181 ldd r24,Z+1 |
| 275 0156 8093 BB00 sts 187,r24 |
| 276 015a 85E8 ldi r24,lo8(-123) |
| 277 015c 8093 BC00 sts 188,r24 |
| 278 0160 8091 0000 lds r24,motor_write |
| 279 0164 E82F mov r30,r24 |
| 280 0166 FF27 clr r31 |
| 281 0168 EE0F lsl r30 |
| 282 016a FF1F rol r31 |
| 283 016c EE0F lsl r30 |
| 284 016e FF1F rol r31 |
| 285 0170 EE0F lsl r30 |
| 286 0172 FF1F rol r31 |
| 287 0174 E050 subi r30,lo8(-(Motor)) |
| 288 0176 F040 sbci r31,hi8(-(Motor)) |
| 289 0178 8081 ld r24,Z |
| 290 017a 80FF sbrs r24,0 |
| 291 017c 91C0 rjmp .L25 |
| 292 017e 8091 0000 lds r24,motor_write |
| 293 0182 E82F mov r30,r24 |
| 294 0184 FF27 clr r31 |
| 295 0186 EE0F lsl r30 |
| 296 0188 FF1F rol r31 |
| 297 018a EE0F lsl r30 |
| 298 018c FF1F rol r31 |
| 299 018e EE0F lsl r30 |
| 300 0190 FF1F rol r31 |
| 301 0192 E050 subi r30,lo8(-(Motor)) |
| 302 0194 F040 sbci r31,hi8(-(Motor)) |
| 303 0196 8281 ldd r24,Z+2 |
| 304 0198 8823 tst r24 |
| 305 019a 29F0 breq .L21 |
| 306 019c 8091 0000 lds r24,RequiredMotors |
| 307 01a0 8730 cpi r24,lo8(7) |
| 308 01a2 08F4 brsh .+2 |
| 309 01a4 6CC2 rjmp .L9 |
| 310 .L21: |
| 311 01a6 8091 0000 lds r24,BLConfig_WriteMask |
| 312 01aa 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
| 313 01ae 892B or r24,r25 |
| 314 01b0 09F0 breq .+2 |
| 315 01b2 65C2 rjmp .L9 |
| 316 01b4 8091 0000 lds r24,BLConfig_ReadMask |
| 317 01b8 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
| 318 01bc 892B or r24,r25 |
| 319 01be 09F0 breq .+2 |
| 320 01c0 5EC2 rjmp .L9 |
| 321 01c2 6EC0 rjmp .L25 |
| 322 .L22: |
| 323 01c4 8091 0000 lds r24,motor_write |
| 324 01c8 21E0 ldi r18,lo8(1) |
| 325 01ca 30E0 ldi r19,hi8(1) |
| 326 01cc 02C0 rjmp 2f |
| 327 01ce 220F 1: lsl r18 |
| 328 01d0 331F rol r19 |
| 329 01d2 8A95 2: dec r24 |
| 330 01d4 E2F7 brpl 1b |
| 331 01d6 8091 0000 lds r24,BLConfig_ReadMask |
| 332 01da 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
| 333 01de 2823 and r18,r24 |
| 334 01e0 3923 and r19,r25 |
| 335 01e2 232B or r18,r19 |
| 336 01e4 79F0 breq .L23 |
| 337 01e6 8091 0000 lds r24,motor_write |
| 338 01ea E82F mov r30,r24 |
| 339 01ec FF27 clr r31 |
| 340 01ee EE0F lsl r30 |
| 341 01f0 FF1F rol r31 |
| 342 01f2 EE0F lsl r30 |
| 343 01f4 FF1F rol r31 |
| 344 01f6 EE0F lsl r30 |
| 345 01f8 FF1F rol r31 |
| 346 01fa E050 subi r30,lo8(-(Motor)) |
| 347 01fc F040 sbci r31,hi8(-(Motor)) |
| 348 01fe 80E1 ldi r24,lo8(16) |
| 349 0200 8483 std Z+4,r24 |
| 350 0202 0DC0 rjmp .L24 |
| 351 .L23: |
| 352 0204 8091 0000 lds r24,motor_write |
| 353 0208 E82F mov r30,r24 |
| 354 020a FF27 clr r31 |
| 355 020c EE0F lsl r30 |
| 356 020e FF1F rol r31 |
| 357 0210 EE0F lsl r30 |
| 358 0212 FF1F rol r31 |
| 359 0214 EE0F lsl r30 |
| 360 0216 FF1F rol r31 |
| 361 0218 E050 subi r30,lo8(-(Motor)) |
| 362 021a F040 sbci r31,hi8(-(Motor)) |
| 363 021c 1482 std Z+4,__zero_reg__ |
| 364 .L24: |
| 365 021e 8091 0000 lds r24,motor_write |
| 366 0222 E82F mov r30,r24 |
| 367 0224 FF27 clr r31 |
| 368 0226 53E0 ldi r21,3 |
| 369 0228 EE0F 1: lsl r30 |
| 370 022a FF1F rol r31 |
| 371 022c 5A95 dec r21 |
| 372 022e E1F7 brne 1b |
| 373 0230 E050 subi r30,lo8(-(Motor)) |
| 374 0232 F040 sbci r31,hi8(-(Motor)) |
| 375 0234 8481 ldd r24,Z+4 |
| 376 0236 282F mov r18,r24 |
| 377 0238 3327 clr r19 |
| 378 023a 43E0 ldi r20,3 |
| 379 023c 220F 1: lsl r18 |
| 380 023e 331F rol r19 |
| 381 0240 4A95 dec r20 |
| 382 0242 E1F7 brne 1b |
| 383 0244 8091 0000 lds r24,motor_write |
| 384 0248 E82F mov r30,r24 |
| 385 024a FF27 clr r31 |
| 386 024c 93E0 ldi r25,3 |
| 387 024e EE0F 1: lsl r30 |
| 388 0250 FF1F rol r31 |
| 389 0252 9A95 dec r25 |
| 390 0254 E1F7 brne 1b |
| 391 0256 E050 subi r30,lo8(-(Motor)) |
| 392 0258 F040 sbci r31,hi8(-(Motor)) |
| 393 025a 8281 ldd r24,Z+2 |
| 394 025c 8770 andi r24,lo8(7) |
| 395 025e 822B or r24,r18 |
| 396 0260 8093 BB00 sts 187,r24 |
| 397 0264 85E8 ldi r24,lo8(-123) |
| 398 0266 8093 BC00 sts 188,r24 |
| 399 026a 2091 0000 lds r18,motor_write |
| 400 026e 81E0 ldi r24,lo8(1) |
| 401 0270 90E0 ldi r25,hi8(1) |
| 402 0272 02C0 rjmp 2f |
| 403 0274 880F 1: lsl r24 |
| 404 0276 991F rol r25 |
| 405 0278 2A95 2: dec r18 |
| 406 027a E2F7 brpl 1b |
| 407 027c 2091 0000 lds r18,BLConfig_WriteMask |
| 408 0280 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
| 409 0284 8223 and r24,r18 |
| 410 0286 9323 and r25,r19 |
| 411 0288 892B or r24,r25 |
| 412 028a 51F0 breq .L25 |
| 413 028c 80E0 ldi r24,lo8(BLConfig) |
| 414 028e 90E0 ldi r25,hi8(BLConfig) |
| 415 0290 9093 0000 sts (pBuff.2)+1,r25 |
| 416 0294 8093 0000 sts pBuff.2,r24 |
| 417 0298 88E0 ldi r24,lo8(8) |
| 418 029a 8093 0000 sts BuffLen.3,r24 |
| 419 029e EFC1 rjmp .L9 |
| 420 .L25: |
| 421 02a0 84E0 ldi r24,lo8(4) |
| 422 02a2 89C1 rjmp .L82 |
| 423 .L27: |
| 424 02a4 E091 0000 lds r30,pBuff.2 |
| 425 02a8 F091 0000 lds r31,(pBuff.2)+1 |
| 426 02ac 8191 ld r24,Z+ |
| 427 02ae 8093 BB00 sts 187,r24 |
| 428 02b2 85E8 ldi r24,lo8(-123) |
| 429 02b4 8093 BC00 sts 188,r24 |
| 430 02b8 F093 0000 sts (pBuff.2)+1,r31 |
| 431 02bc E093 0000 sts pBuff.2,r30 |
| 432 02c0 8091 0000 lds r24,BuffLen.3 |
| 433 02c4 8150 subi r24,lo8(-(-1)) |
| 434 02c6 8093 0000 sts BuffLen.3,r24 |
| 435 02ca 8823 tst r24 |
| 436 02cc 09F4 brne .+2 |
| 437 02ce D7C1 rjmp .L9 |
| 438 02d0 83E0 ldi r24,lo8(3) |
| 439 02d2 71C1 rjmp .L82 |
| 440 .L29: |
| 441 02d4 8091 B900 lds r24,185 |
| 442 02d8 8033 cpi r24,lo8(48) |
| 443 02da 51F5 brne .L30 |
| 444 02dc 8091 0000 lds r24,missing_motor.0 |
| 445 02e0 8823 tst r24 |
| 446 02e2 29F4 brne .L31 |
| 447 02e4 8091 0000 lds r24,motor_write |
| 448 02e8 8F5F subi r24,lo8(-(1)) |
| 449 02ea 8093 0000 sts missing_motor.0,r24 |
| 450 .L31: |
| 451 02ee 8091 0000 lds r24,motor_write |
| 452 02f2 E82F mov r30,r24 |
| 453 02f4 FF27 clr r31 |
| 454 02f6 83E0 ldi r24,3 |
| 455 02f8 EE0F 1: lsl r30 |
| 456 02fa FF1F rol r31 |
| 457 02fc 8A95 dec r24 |
| 458 02fe E1F7 brne 1b |
| 459 0300 E050 subi r30,lo8(-(Motor)) |
| 460 0302 F040 sbci r31,hi8(-(Motor)) |
| 461 0304 8381 ldd r24,Z+3 |
| 462 0306 9927 clr r25 |
| 463 0308 8F77 andi r24,lo8(127) |
| 464 030a 9070 andi r25,hi8(127) |
| 465 030c 8F37 cpi r24,127 |
| 466 030e 9105 cpc r25,__zero_reg__ |
| 467 0310 7CF4 brge .L30 |
| 468 0312 8091 0000 lds r24,motor_write |
| 469 0316 E82F mov r30,r24 |
| 470 0318 FF27 clr r31 |
| 471 031a EE0F lsl r30 |
| 472 031c FF1F rol r31 |
| 473 031e EE0F lsl r30 |
| 474 0320 FF1F rol r31 |
| 475 0322 EE0F lsl r30 |
| 476 0324 FF1F rol r31 |
| 477 0326 E050 subi r30,lo8(-(Motor)) |
| 478 0328 F040 sbci r31,hi8(-(Motor)) |
| 479 032a 8381 ldd r24,Z+3 |
| 480 032c 8F5F subi r24,lo8(-(1)) |
| 481 032e 8383 std Z+3,r24 |
| 482 .L30: |
| 483 0330 1092 0000 sts twi_state,__zero_reg__ |
| 484 0334 84E9 ldi r24,lo8(-108) |
| 485 0336 8093 BC00 sts 188,r24 |
| 486 033a 8AE0 ldi r24,lo8(10) |
| 487 033c 90E0 ldi r25,hi8(10) |
| 488 033e 9093 0000 sts (I2CTimeout)+1,r25 |
| 489 0342 8093 0000 sts I2CTimeout,r24 |
| 490 0346 8091 0000 lds r24,motor_write |
| 491 034a 8F5F subi r24,lo8(-(1)) |
| 492 034c 8093 0000 sts motor_write,r24 |
| 493 0350 1092 0000 sts twi_state,__zero_reg__ |
| 494 0354 6DC1 rjmp .L85 |
| 495 .L33: |
| 496 0356 8091 B900 lds r24,185 |
| 497 035a 8034 cpi r24,lo8(64) |
| 498 035c C9F1 breq .L34 |
| 499 035e 8091 0000 lds r24,motor_read |
| 500 0362 E82F mov r30,r24 |
| 501 0364 FF27 clr r31 |
| 502 0366 EE0F lsl r30 |
| 503 0368 FF1F rol r31 |
| 504 036a EE0F lsl r30 |
| 505 036c FF1F rol r31 |
| 506 036e EE0F lsl r30 |
| 507 0370 FF1F rol r31 |
| 508 0372 E050 subi r30,lo8(-(Motor)) |
| 509 0374 F040 sbci r31,hi8(-(Motor)) |
| 510 0376 8381 ldd r24,Z+3 |
| 511 0378 8F77 andi r24,lo8(127) |
| 512 037a 8383 std Z+3,r24 |
| 513 037c 8091 0000 lds r24,motor_read |
| 514 0380 8F5F subi r24,lo8(-(1)) |
| 515 0382 8093 0000 sts motor_read,r24 |
| 516 0386 8091 0000 lds r24,motor_read |
| 517 038a 8C30 cpi r24,lo8(12) |
| 518 038c A0F0 brlo .L35 |
| 519 038e 1092 0000 sts motor_read,__zero_reg__ |
| 520 0392 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
| 521 0396 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
| 522 039a 8091 0000 lds r24,motor_read_temperature.1 |
| 523 039e 8F5F subi r24,lo8(-(1)) |
| 524 03a0 8093 0000 sts motor_read_temperature.1,r24 |
| 525 03a4 8C30 cpi r24,lo8(12) |
| 526 03a6 38F0 brlo .L35 |
| 527 03a8 1092 0000 sts motor_read_temperature.1,__zero_reg__ |
| 528 03ac 8091 0000 lds r24,BLFlags |
| 529 03b0 8D7F andi r24,lo8(-3) |
| 530 03b2 8093 0000 sts BLFlags,r24 |
| 531 .L35: |
| 532 03b6 8091 0000 lds r24,BLFlags |
| 533 03ba 8160 ori r24,lo8(1) |
| 534 03bc 8093 0000 sts BLFlags,r24 |
| 535 03c0 1092 0000 sts twi_state,__zero_reg__ |
| 536 03c4 84E9 ldi r24,lo8(-108) |
| 537 03c6 8093 BC00 sts 188,r24 |
| 538 03ca 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 539 03ce 73C0 rjmp .L37 |
| 540 .L34: |
| 541 03d0 8091 0000 lds r24,motor_read |
| 542 03d4 E82F mov r30,r24 |
| 543 03d6 FF27 clr r31 |
| 544 03d8 EE0F lsl r30 |
| 545 03da FF1F rol r31 |
| 546 03dc EE0F lsl r30 |
| 547 03de FF1F rol r31 |
| 548 03e0 EE0F lsl r30 |
| 549 03e2 FF1F rol r31 |
| 550 03e4 E050 subi r30,lo8(-(Motor)) |
| 551 03e6 F040 sbci r31,hi8(-(Motor)) |
| 552 03e8 8381 ldd r24,Z+3 |
| 553 03ea 8068 ori r24,lo8(-128) |
| 554 03ec 8383 std Z+3,r24 |
| 555 03ee 8091 0000 lds r24,motor_read |
| 556 03f2 E82F mov r30,r24 |
| 557 03f4 FF27 clr r31 |
| 558 03f6 EE0F lsl r30 |
| 559 03f8 FF1F rol r31 |
| 560 03fa EE0F lsl r30 |
| 561 03fc FF1F rol r31 |
| 562 03fe EE0F lsl r30 |
| 563 0400 FF1F rol r31 |
| 564 0402 E050 subi r30,lo8(-(Motor)) |
| 565 0404 F040 sbci r31,hi8(-(Motor)) |
| 566 0406 8081 ld r24,Z |
| 567 0408 80FF sbrs r24,0 |
| 568 040a 2FC0 rjmp .L38 |
| 569 040c 8091 0000 lds r24,motor_read |
| 570 0410 E82F mov r30,r24 |
| 571 0412 FF27 clr r31 |
| 572 0414 53E0 ldi r21,3 |
| 573 0416 EE0F 1: lsl r30 |
| 574 0418 FF1F rol r31 |
| 575 041a 5A95 dec r21 |
| 576 041c E1F7 brne 1b |
| 577 041e E050 subi r30,lo8(-(Motor)) |
| 578 0420 F040 sbci r31,hi8(-(Motor)) |
| 579 0422 8481 ldd r24,Z+4 |
| 580 0424 9927 clr r25 |
| 581 0426 0097 sbiw r24,0 |
| 582 0428 51F0 breq .L41 |
| 583 042a 4097 sbiw r24,16 |
| 584 042c D9F5 brne .L44 |
| 585 042e 80E0 ldi r24,lo8(BLConfig) |
| 586 0430 90E0 ldi r25,hi8(BLConfig) |
| 587 0432 9093 0000 sts (pBuff.2)+1,r25 |
| 588 0436 8093 0000 sts pBuff.2,r24 |
| 589 043a 88E0 ldi r24,lo8(8) |
| 590 043c 31C0 rjmp .L77 |
| 591 .L41: |
| 592 043e 8091 0000 lds r24,motor_read |
| 593 0442 9927 clr r25 |
| 594 0444 43E0 ldi r20,3 |
| 595 0446 880F 1: lsl r24 |
| 596 0448 991F rol r25 |
| 597 044a 4A95 dec r20 |
| 598 044c E1F7 brne 1b |
| 599 044e 8050 subi r24,lo8(-(Motor+5)) |
| 600 0450 9040 sbci r25,hi8(-(Motor+5)) |
| 601 0452 9093 0000 sts (pBuff.2)+1,r25 |
| 602 0456 8093 0000 sts pBuff.2,r24 |
| 603 045a 9091 0000 lds r25,motor_read |
| 604 045e 8091 0000 lds r24,motor_read_temperature.1 |
| 605 0462 9817 cp r25,r24 |
| 606 0464 E1F4 brne .L45 |
| 607 0466 83E0 ldi r24,lo8(3) |
| 608 0468 1BC0 rjmp .L77 |
| 609 .L38: |
| 610 046a 8091 0000 lds r24,motor_read |
| 611 046e 9927 clr r25 |
| 612 0470 33E0 ldi r19,3 |
| 613 0472 880F 1: lsl r24 |
| 614 0474 991F rol r25 |
| 615 0476 3A95 dec r19 |
| 616 0478 E1F7 brne 1b |
| 617 047a 8050 subi r24,lo8(-(Motor+5)) |
| 618 047c 9040 sbci r25,hi8(-(Motor+5)) |
| 619 047e 9093 0000 sts (pBuff.2)+1,r25 |
| 620 0482 8093 0000 sts pBuff.2,r24 |
| 621 0486 8091 0000 lds r24,BLFlags |
| 622 048a 81FD sbrc r24,1 |
| 623 048c 06C0 rjmp .L46 |
| 624 048e 9091 0000 lds r25,motor_read |
| 625 0492 8091 0000 lds r24,motor_read_temperature.1 |
| 626 0496 9817 cp r25,r24 |
| 627 0498 11F4 brne .L45 |
| 628 .L46: |
| 629 049a 82E0 ldi r24,lo8(2) |
| 630 049c 01C0 rjmp .L77 |
| 631 .L45: |
| 632 049e 81E0 ldi r24,lo8(1) |
| 633 .L77: |
| 634 04a0 8093 0000 sts BuffLen.3,r24 |
| 635 .L44: |
| 636 04a4 8091 0000 lds r24,BuffLen.3 |
| 637 04a8 8130 cpi r24,lo8(1) |
| 638 04aa 11F4 brne .L48 |
| 639 04ac 85E8 ldi r24,lo8(-123) |
| 640 04ae 01C0 rjmp .L78 |
| 641 .L48: |
| 642 04b0 85EC ldi r24,lo8(-59) |
| 643 .L78: |
| 644 04b2 8093 BC00 sts 188,r24 |
| 645 .L37: |
| 646 04b6 8091 0000 lds r24,missing_motor.0 |
| 647 04ba 8093 0000 sts MissingMotor,r24 |
| 648 04be 1092 0000 sts missing_motor.0,__zero_reg__ |
| 649 04c2 DDC0 rjmp .L9 |
| 650 .L50: |
| 651 04c4 E091 0000 lds r30,pBuff.2 |
| 652 04c8 F091 0000 lds r31,(pBuff.2)+1 |
| 653 04cc 8091 BB00 lds r24,187 |
| 654 04d0 8083 st Z,r24 |
| 655 04d2 8091 0000 lds r24,pBuff.2 |
| 656 04d6 9091 0000 lds r25,(pBuff.2)+1 |
| 657 04da 0196 adiw r24,1 |
| 658 04dc 9093 0000 sts (pBuff.2)+1,r25 |
| 659 04e0 8093 0000 sts pBuff.2,r24 |
| 660 04e4 8091 0000 lds r24,BuffLen.3 |
| 661 04e8 8150 subi r24,lo8(-(-1)) |
| 662 04ea 8093 0000 sts BuffLen.3,r24 |
| 663 04ee 8230 cpi r24,lo8(2) |
| 664 04f0 10F0 brlo .L51 |
| 665 04f2 85EC ldi r24,lo8(-59) |
| 666 04f4 5DC0 rjmp .L79 |
| 667 .L51: |
| 668 04f6 8130 cpi r24,lo8(1) |
| 669 04f8 11F4 brne .L53 |
| 670 04fa 85E8 ldi r24,lo8(-123) |
| 671 04fc 59C0 rjmp .L79 |
| 672 .L53: |
| 673 04fe 8091 0000 lds r24,BLFlags |
| 674 0502 81FF sbrs r24,1 |
| 675 0504 2DC0 rjmp .L55 |
| 676 0506 8091 0000 lds r24,FC_StatusFlags |
| 677 050a 80FD sbrc r24,0 |
| 678 050c 1DC0 rjmp .L56 |
| 679 050e 8091 0000 lds r24,motor_read |
| 680 0512 E82F mov r30,r24 |
| 681 0514 FF27 clr r31 |
| 682 0516 23E0 ldi r18,3 |
| 683 0518 EE0F 1: lsl r30 |
| 684 051a FF1F rol r31 |
| 685 051c 2A95 dec r18 |
| 686 051e E1F7 brne 1b |
| 687 0520 E050 subi r30,lo8(-(Motor)) |
| 688 0522 F040 sbci r31,hi8(-(Motor)) |
| 689 0524 8681 ldd r24,Z+6 |
| 690 0526 8A3F cpi r24,lo8(-6) |
| 691 0528 79F4 brne .L56 |
| 692 052a 8091 0000 lds r24,motor_read |
| 693 052e E82F mov r30,r24 |
| 694 0530 FF27 clr r31 |
| 695 0532 93E0 ldi r25,3 |
| 696 0534 EE0F 1: lsl r30 |
| 697 0536 FF1F rol r31 |
| 698 0538 9A95 dec r25 |
| 699 053a E1F7 brne 1b |
| 700 053c E050 subi r30,lo8(-(Motor)) |
| 701 053e F040 sbci r31,hi8(-(Motor)) |
| 702 0540 8081 ld r24,Z |
| 703 0542 8160 ori r24,lo8(1) |
| 704 0544 8083 st Z,r24 |
| 705 0546 0CC0 rjmp .L55 |
| 706 .L56: |
| 707 0548 8091 0000 lds r24,motor_read |
| 708 054c E82F mov r30,r24 |
| 709 054e FF27 clr r31 |
| 710 0550 83E0 ldi r24,3 |
| 711 0552 EE0F 1: lsl r30 |
| 712 0554 FF1F rol r31 |
| 713 0556 8A95 dec r24 |
| 714 0558 E1F7 brne 1b |
| 715 055a E050 subi r30,lo8(-(Motor)) |
| 716 055c F040 sbci r31,hi8(-(Motor)) |
| 717 055e 1082 st Z,__zero_reg__ |
| 718 .L55: |
| 719 0560 8091 0000 lds r24,motor_read |
| 720 0564 8F5F subi r24,lo8(-(1)) |
| 721 0566 8093 0000 sts motor_read,r24 |
| 722 056a 8091 0000 lds r24,motor_read |
| 723 056e 8C30 cpi r24,lo8(12) |
| 724 0570 A0F0 brlo .L58 |
| 725 0572 1092 0000 sts motor_read,__zero_reg__ |
| 726 0576 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
| 727 057a 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
| 728 057e 8091 0000 lds r24,motor_read_temperature.1 |
| 729 0582 8F5F subi r24,lo8(-(1)) |
| 730 0584 8093 0000 sts motor_read_temperature.1,r24 |
| 731 0588 8C30 cpi r24,lo8(12) |
| 732 058a 38F0 brlo .L58 |
| 733 058c 1092 0000 sts motor_read_temperature.1,__zero_reg__ |
| 734 0590 8091 0000 lds r24,BLFlags |
| 735 0594 8D7F andi r24,lo8(-3) |
| 736 0596 8093 0000 sts BLFlags,r24 |
| 737 .L58: |
| 738 059a 1092 0000 sts twi_state,__zero_reg__ |
| 739 059e 84E9 ldi r24,lo8(-108) |
| 740 05a0 8093 BC00 sts 188,r24 |
| 741 05a4 8091 0000 lds r24,BLFlags |
| 742 05a8 8160 ori r24,lo8(1) |
| 743 05aa 8093 0000 sts BLFlags,r24 |
| 744 05ae 65C0 rjmp .L81 |
| 745 .L79: |
| 746 05b0 8093 BC00 sts 188,r24 |
| 747 05b4 86E0 ldi r24,lo8(6) |
| 748 .L82: |
| 749 05b6 8093 0000 sts twi_state,r24 |
| 750 05ba 61C0 rjmp .L9 |
| 751 .L60: |
| 752 05bc 88E9 ldi r24,lo8(-104) |
| 753 05be BBCD rjmp .L84 |
| 754 .L61: |
| 755 05c0 8091 0000 lds r24,dac_channel |
| 756 05c4 880F lsl r24 |
| 757 05c6 805F subi r24,lo8(-(16)) |
| 758 05c8 B6CD rjmp .L84 |
| 759 .L62: |
| 760 05ca 8091 0000 lds r24,dac_channel |
| 761 05ce 9927 clr r25 |
| 762 05d0 8130 cpi r24,1 |
| 763 05d2 9105 cpc r25,__zero_reg__ |
| 764 05d4 61F0 breq .L65 |
| 765 05d6 8230 cpi r24,2 |
| 766 05d8 9105 cpc r25,__zero_reg__ |
| 767 05da 1CF4 brge .L67 |
| 768 05dc 892B or r24,r25 |
| 769 05de 21F0 breq .L64 |
| 770 05e0 4EC0 rjmp .L9 |
| 771 .L67: |
| 772 05e2 0297 sbiw r24,2 |
| 773 05e4 39F0 breq .L66 |
| 774 05e6 4BC0 rjmp .L9 |
| 775 .L64: |
| 776 05e8 8091 0000 lds r24,AnalogOffsetNick |
| 777 05ec A4CD rjmp .L84 |
| 778 .L65: |
| 779 05ee 8091 0000 lds r24,AnalogOffsetRoll |
| 780 05f2 A1CD rjmp .L84 |
| 781 .L66: |
| 782 05f4 8091 0000 lds r24,AnalogOffsetGier |
| 783 05f8 9ECD rjmp .L84 |
| 784 .L68: |
| 785 05fa 80E8 ldi r24,lo8(-128) |
| 786 05fc 9CCD rjmp .L84 |
| 787 .L69: |
| 788 05fe 1092 0000 sts twi_state,__zero_reg__ |
| 789 0602 84E9 ldi r24,lo8(-108) |
| 790 0604 8093 BC00 sts 188,r24 |
| 791 0608 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 792 060c 8AE0 ldi r24,lo8(10) |
| 793 060e 90E0 ldi r25,hi8(10) |
| 794 0610 9093 0000 sts (I2CTimeout)+1,r25 |
| 795 0614 8093 0000 sts I2CTimeout,r24 |
| 796 0618 8091 0000 lds r24,dac_channel |
| 797 061c 8230 cpi r24,lo8(2) |
| 798 061e 88F4 brsh .L70 |
| 799 0620 8091 0000 lds r24,dac_channel |
| 800 0624 8F5F subi r24,lo8(-(1)) |
| 801 0626 8093 0000 sts dac_channel,r24 |
| 802 062a 82E1 ldi r24,lo8(18) |
| 803 062c 8093 0000 sts twi_state,r24 |
| 804 .L85: |
| 805 0630 8091 0000 lds r24,BLFlags |
| 806 0634 8E7F andi r24,lo8(-2) |
| 807 0636 8093 0000 sts BLFlags,r24 |
| 808 063a 85EA ldi r24,lo8(-91) |
| 809 .L80: |
| 810 063c 8093 BC00 sts 188,r24 |
| 811 0640 1EC0 rjmp .L9 |
| 812 .L70: |
| 813 0642 1092 0000 sts dac_channel,__zero_reg__ |
| 814 0646 8091 0000 lds r24,BLFlags |
| 815 064a 8160 ori r24,lo8(1) |
| 816 064c 8093 0000 sts BLFlags,r24 |
| 817 0650 16C0 rjmp .L9 |
| 818 .L72: |
| 819 0652 1092 0000 sts twi_state,__zero_reg__ |
| 820 0656 84E9 ldi r24,lo8(-108) |
| 821 0658 8093 BC00 sts 188,r24 |
| 822 065c 8091 0000 lds r24,BLFlags |
| 823 0660 8160 ori r24,lo8(1) |
| 824 0662 8093 0000 sts BLFlags,r24 |
| 825 0666 8AE0 ldi r24,lo8(10) |
| 826 0668 90E0 ldi r25,hi8(10) |
| 827 066a 9093 0000 sts (I2CTimeout)+1,r25 |
| 828 066e 8093 0000 sts I2CTimeout,r24 |
| 829 0672 1092 0000 sts motor_write,__zero_reg__ |
| 830 0676 1092 0000 sts motor_read,__zero_reg__ |
| 831 .L81: |
| 832 067a 1092 0000 sts I2C_TransferActive,__zero_reg__ |
| 833 .L9: |
| 834 /* epilogue: frame size=0 */ |
| 835 067e FF91 pop r31 |
| 836 0680 EF91 pop r30 |
| 837 0682 9F91 pop r25 |
| 838 0684 8F91 pop r24 |
| 839 0686 5F91 pop r21 |
| 840 0688 4F91 pop r20 |
| 841 068a 3F91 pop r19 |
| 842 068c 2F91 pop r18 |
| 843 068e 0F90 pop __tmp_reg__ |
| 844 0690 0FBE out __SREG__,__tmp_reg__ |
| 845 0692 0F90 pop __tmp_reg__ |
| 846 0694 1F90 pop __zero_reg__ |
| 847 0696 1895 reti |
| 848 /* epilogue end (size=13) */ |
| 849 /* function __vector_26 size 796 (770) */ |
| 851 .global I2C_WriteBLConfig |
| 853 I2C_WriteBLConfig: |
| 854 /* prologue: frame size=0 */ |
| 855 0698 1F93 push r17 |
| 856 069a CF93 push r28 |
| 857 069c DF93 push r29 |
| 858 /* prologue end (size=3) */ |
| 859 069e 182F mov r17,r24 |
| 860 06a0 8091 0000 lds r24,MotorenEin |
| 861 06a4 8823 tst r24 |
| 862 06a6 21F4 brne .L88 |
| 863 06a8 8091 0000 lds r24,PC_MotortestActive |
| 864 06ac 8823 tst r24 |
| 865 06ae 19F0 breq .L87 |
| 866 .L88: |
| 867 06b0 81E0 ldi r24,lo8(1) |
| 868 06b2 90E0 ldi r25,hi8(1) |
| 869 06b4 97C0 rjmp .L86 |
| 870 .L87: |
| 871 06b6 1D30 cpi r17,lo8(13) |
| 872 06b8 08F0 brlo .+2 |
| 873 06ba 92C0 rjmp .L115 |
| 874 06bc 1123 tst r17 |
| 875 06be B1F0 breq .L90 |
| 876 06c0 E12F mov r30,r17 |
| 877 06c2 FF27 clr r31 |
| 878 06c4 23E0 ldi r18,3 |
| 879 06c6 EE0F 1: lsl r30 |
| 880 06c8 FF1F rol r31 |
| 881 06ca 2A95 dec r18 |
| 882 06cc E1F7 brne 1b |
| 883 06ce E050 subi r30,lo8(-(Motor)) |
| 884 06d0 F040 sbci r31,hi8(-(Motor)) |
| 885 06d2 3597 sbiw r30,5 |
| 886 06d4 8081 ld r24,Z |
| 887 06d6 3596 adiw r30,5 |
| 888 06d8 8823 tst r24 |
| 889 06da 0CF0 brlt .+2 |
| 890 06dc 81C0 rjmp .L115 |
| 891 06de 3897 sbiw r30,8 |
| 892 06e0 8081 ld r24,Z |
| 893 06e2 80FD sbrc r24,0 |
| 894 06e4 03C0 rjmp .L90 |
| 895 06e6 83E0 ldi r24,lo8(3) |
| 896 06e8 90E0 ldi r25,hi8(3) |
| 897 06ea 7CC0 rjmp .L86 |
| 898 .L90: |
| 899 06ec 8091 0000 lds r24,BLConfig |
| 900 06f0 8230 cpi r24,lo8(2) |
| 901 06f2 19F0 breq .L93 |
| 902 06f4 84E0 ldi r24,lo8(4) |
| 903 06f6 90E0 ldi r25,hi8(4) |
| 904 06f8 75C0 rjmp .L86 |
| 905 .L93: |
| 906 06fa 67E0 ldi r22,lo8(7) |
| 907 06fc 70E0 ldi r23,hi8(7) |
| 908 06fe 80E0 ldi r24,lo8(BLConfig) |
| 909 0700 90E0 ldi r25,hi8(BLConfig) |
| 910 0702 0E94 0000 call RAM_Checksum |
| 911 0706 9091 0000 lds r25,BLConfig+7 |
| 912 070a 8917 cp r24,r25 |
| 913 070c 19F0 breq .L94 |
| 914 070e 85E0 ldi r24,lo8(5) |
| 915 0710 90E0 ldi r25,hi8(5) |
| 916 0712 68C0 rjmp .L86 |
| 917 .L94: |
| 918 0714 80ED ldi r24,lo8(2000) |
| 919 0716 97E0 ldi r25,hi8(2000) |
| 920 0718 0E94 0000 call SetDelay |
| 921 071c EC01 movw r28,r24 |
| 922 .L95: |
| 923 071e 8091 0000 lds r24,BLFlags |
| 924 0722 80FD sbrc r24,0 |
| 925 0724 05C0 rjmp .L96 |
| 926 0726 CE01 movw r24,r28 |
| 927 0728 0E94 0000 call CheckDelay |
| 928 072c 8823 tst r24 |
| 929 072e B9F3 breq .L95 |
| 930 .L96: |
| 931 0730 1123 tst r17 |
| 932 0732 19F4 brne .L98 |
| 933 0734 8FEF ldi r24,lo8(255) |
| 934 0736 90E0 ldi r25,hi8(255) |
| 935 0738 0BC0 rjmp .L114 |
| 936 .L98: |
| 937 073a 212F mov r18,r17 |
| 938 073c 3327 clr r19 |
| 939 073e 2150 subi r18,lo8(-(-1)) |
| 940 0740 3040 sbci r19,hi8(-(-1)) |
| 941 0742 81E0 ldi r24,lo8(1) |
| 942 0744 90E0 ldi r25,hi8(1) |
| 943 0746 02C0 rjmp 2f |
| 944 0748 880F 1: lsl r24 |
| 945 074a 991F rol r25 |
| 946 074c 2A95 2: dec r18 |
| 947 074e E2F7 brpl 1b |
| 948 .L114: |
| 949 0750 9093 0000 sts (BLConfig_WriteMask)+1,r25 |
| 950 0754 8093 0000 sts BLConfig_WriteMask,r24 |
| 951 0758 A1E0 ldi r26,lo8(1) |
| 952 075a B0E0 ldi r27,hi8(1) |
| 953 075c E0E0 ldi r30,lo8(Motor) |
| 954 075e F0E0 ldi r31,hi8(Motor) |
| 955 0760 40E0 ldi r20,lo8(0) |
| 956 0762 50E0 ldi r21,hi8(0) |
| 957 0764 6BE0 ldi r22,lo8(11) |
| 958 .L104: |
| 959 0766 CD01 movw r24,r26 |
| 960 0768 042E mov r0,r20 |
| 961 076a 02C0 rjmp 2f |
| 962 076c 880F 1: lsl r24 |
| 963 076e 991F rol r25 |
| 964 0770 0A94 2: dec r0 |
| 965 0772 E2F7 brpl 1b |
| 966 0774 2091 0000 lds r18,BLConfig_WriteMask |
| 967 0778 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
| 968 077c 8223 and r24,r18 |
| 969 077e 9323 and r25,r19 |
| 970 0780 892B or r24,r25 |
| 971 0782 11F0 breq .L102 |
| 972 0784 1182 std Z+1,__zero_reg__ |
| 973 0786 1282 std Z+2,__zero_reg__ |
| 974 .L102: |
| 975 0788 6150 subi r22,lo8(-(-1)) |
| 976 078a 4F5F subi r20,lo8(-(1)) |
| 977 078c 5F4F sbci r21,hi8(-(1)) |
| 978 078e 3896 adiw r30,8 |
| 979 0790 67FF sbrs r22,7 |
| 980 0792 E9CF rjmp .L104 |
| 981 0794 1092 0000 sts motor_write,__zero_reg__ |
| 982 .L105: |
| 983 0798 1092 0000 sts twi_state,__zero_reg__ |
| 984 079c 8091 0000 lds r24,BLFlags |
| 985 07a0 8E7F andi r24,lo8(-2) |
| 986 07a2 8093 0000 sts BLFlags,r24 |
| 987 07a6 85EA ldi r24,lo8(-91) |
| 988 07a8 8093 BC00 sts 188,r24 |
| 989 .L108: |
| 990 07ac 8091 0000 lds r24,BLFlags |
| 991 07b0 80FD sbrc r24,0 |
| 992 07b2 05C0 rjmp .L109 |
| 993 07b4 CE01 movw r24,r28 |
| 994 07b6 0E94 0000 call CheckDelay |
| 995 07ba 8823 tst r24 |
| 996 07bc B9F3 breq .L108 |
| 997 .L109: |
| 998 07be 8091 0000 lds r24,BLConfig_WriteMask |
| 999 07c2 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
| 1000 07c6 892B or r24,r25 |
| 1001 07c8 29F0 breq .L106 |
| 1002 07ca CE01 movw r24,r28 |
| 1003 07cc 0E94 0000 call CheckDelay |
| 1004 07d0 8823 tst r24 |
| 1005 07d2 11F3 breq .L105 |
| 1006 .L106: |
| 1007 07d4 8091 0000 lds r24,BLConfig_WriteMask |
| 1008 07d8 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
| 1009 07dc 0097 sbiw r24,0 |
| 1010 07de 11F0 breq .L86 |
| 1011 .L115: |
| 1012 07e0 82E0 ldi r24,lo8(2) |
| 1013 07e2 90E0 ldi r25,hi8(2) |
| 1014 .L86: |
| 1015 /* epilogue: frame size=0 */ |
| 1016 07e4 DF91 pop r29 |
| 1017 07e6 CF91 pop r28 |
| 1018 07e8 1F91 pop r17 |
| 1019 07ea 0895 ret |
| 1020 /* epilogue end (size=4) */ |
| 1021 /* function I2C_WriteBLConfig size 172 (165) */ |
| 1023 .global I2C_ReadBLConfig |
| 1025 I2C_ReadBLConfig: |
| 1026 /* prologue: frame size=0 */ |
| 1027 07ec 0F93 push r16 |
| 1028 07ee 1F93 push r17 |
| 1029 07f0 CF93 push r28 |
| 1030 07f2 DF93 push r29 |
| 1031 /* prologue end (size=4) */ |
| 1032 07f4 982F mov r25,r24 |
| 1033 07f6 8091 0000 lds r24,MotorenEin |
| 1034 07fa 8823 tst r24 |
| 1035 07fc 21F4 brne .L118 |
| 1036 07fe 8091 0000 lds r24,PC_MotortestActive |
| 1037 0802 8823 tst r24 |
| 1038 0804 19F0 breq .L117 |
| 1039 .L118: |
| 1040 0806 81E0 ldi r24,lo8(1) |
| 1041 0808 90E0 ldi r25,hi8(1) |
| 1042 080a 92C0 rjmp .L116 |
| 1043 .L117: |
| 1044 080c 9D30 cpi r25,lo8(13) |
| 1045 080e A0F4 brsh .L141 |
| 1046 0810 9923 tst r25 |
| 1047 0812 19F4 brne .L120 |
| 1048 0814 86E0 ldi r24,lo8(6) |
| 1049 0816 90E0 ldi r25,hi8(6) |
| 1050 0818 8BC0 rjmp .L116 |
| 1051 .L120: |
| 1052 081a C92F mov r28,r25 |
| 1053 081c DD27 clr r29 |
| 1054 081e FE01 movw r30,r28 |
| 1055 0820 33E0 ldi r19,3 |
| 1056 0822 EE0F 1: lsl r30 |
| 1057 0824 FF1F rol r31 |
| 1058 0826 3A95 dec r19 |
| 1059 0828 E1F7 brne 1b |
| 1060 082a E050 subi r30,lo8(-(Motor)) |
| 1061 082c F040 sbci r31,hi8(-(Motor)) |
| 1062 082e 3597 sbiw r30,5 |
| 1063 0830 8081 ld r24,Z |
| 1064 0832 3596 adiw r30,5 |
| 1065 0834 87FD sbrc r24,7 |
| 1066 0836 03C0 rjmp .L121 |
| 1067 .L141: |
| 1068 0838 82E0 ldi r24,lo8(2) |
| 1069 083a 90E0 ldi r25,hi8(2) |
| 1070 083c 79C0 rjmp .L116 |
| 1071 .L121: |
| 1072 083e 3897 sbiw r30,8 |
| 1073 0840 8081 ld r24,Z |
| 1074 0842 80FD sbrc r24,0 |
| 1075 0844 03C0 rjmp .L122 |
| 1076 0846 83E0 ldi r24,lo8(3) |
| 1077 0848 90E0 ldi r25,hi8(3) |
| 1078 084a 72C0 rjmp .L116 |
| 1079 .L122: |
| 1080 084c 80ED ldi r24,lo8(2000) |
| 1081 084e 97E0 ldi r25,hi8(2000) |
| 1082 0850 0E94 0000 call SetDelay |
| 1083 0854 8C01 movw r16,r24 |
| 1084 .L123: |
| 1085 0856 8091 0000 lds r24,BLFlags |
| 1086 085a 80FD sbrc r24,0 |
| 1087 085c 05C0 rjmp .L124 |
| 1088 085e C801 movw r24,r16 |
| 1089 0860 0E94 0000 call CheckDelay |
| 1090 0864 8823 tst r24 |
| 1091 0866 B9F3 breq .L123 |
| 1092 .L124: |
| 1093 0868 2197 sbiw r28,1 |
| 1094 086a 21E0 ldi r18,lo8(1) |
| 1095 086c 30E0 ldi r19,hi8(1) |
| 1096 086e C901 movw r24,r18 |
| 1097 0870 02C0 rjmp 2f |
| 1098 0872 880F 1: lsl r24 |
| 1099 0874 991F rol r25 |
| 1100 0876 CA95 2: dec r28 |
| 1101 0878 E2F7 brpl 1b |
| 1102 087a 9093 0000 sts (BLConfig_ReadMask)+1,r25 |
| 1103 087e 8093 0000 sts BLConfig_ReadMask,r24 |
| 1104 0882 D901 movw r26,r18 |
| 1105 0884 E0E0 ldi r30,lo8(Motor) |
| 1106 0886 F0E0 ldi r31,hi8(Motor) |
| 1107 0888 40E0 ldi r20,lo8(0) |
| 1108 088a 50E0 ldi r21,hi8(0) |
| 1109 088c 6BE0 ldi r22,lo8(11) |
| 1110 .L130: |
| 1111 088e CD01 movw r24,r26 |
| 1112 0890 042E mov r0,r20 |
| 1113 0892 02C0 rjmp 2f |
| 1114 0894 880F 1: lsl r24 |
| 1115 0896 991F rol r25 |
| 1116 0898 0A94 2: dec r0 |
| 1117 089a E2F7 brpl 1b |
| 1118 089c 2091 0000 lds r18,BLConfig_ReadMask |
| 1119 08a0 3091 0000 lds r19,(BLConfig_ReadMask)+1 |
| 1120 08a4 8223 and r24,r18 |
| 1121 08a6 9323 and r25,r19 |
| 1122 08a8 892B or r24,r25 |
| 1123 08aa 11F0 breq .L128 |
| 1124 08ac 1182 std Z+1,__zero_reg__ |
| 1125 08ae 1282 std Z+2,__zero_reg__ |
| 1126 .L128: |
| 1127 08b0 6150 subi r22,lo8(-(-1)) |
| 1128 08b2 4F5F subi r20,lo8(-(1)) |
| 1129 08b4 5F4F sbci r21,hi8(-(1)) |
| 1130 08b6 3896 adiw r30,8 |
| 1131 08b8 67FF sbrs r22,7 |
| 1132 08ba E9CF rjmp .L130 |
| 1133 08bc 1092 0000 sts motor_read,__zero_reg__ |
| 1134 08c0 1092 0000 sts BLConfig,__zero_reg__ |
| 1135 08c4 1092 0000 sts BLConfig+7,__zero_reg__ |
| 1136 .L131: |
| 1137 08c8 1092 0000 sts twi_state,__zero_reg__ |
| 1138 08cc 8091 0000 lds r24,BLFlags |
| 1139 08d0 8E7F andi r24,lo8(-2) |
| 1140 08d2 8093 0000 sts BLFlags,r24 |
| 1141 08d6 85EA ldi r24,lo8(-91) |
| 1142 08d8 8093 BC00 sts 188,r24 |
| 1143 .L134: |
| 1144 08dc 8091 0000 lds r24,BLFlags |
| 1145 08e0 80FD sbrc r24,0 |
| 1146 08e2 05C0 rjmp .L135 |
| 1147 08e4 C801 movw r24,r16 |
| 1148 08e6 0E94 0000 call CheckDelay |
| 1149 08ea 8823 tst r24 |
| 1150 08ec B9F3 breq .L134 |
| 1151 .L135: |
| 1152 08ee 8091 0000 lds r24,BLConfig_ReadMask |
| 1153 08f2 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
| 1154 08f6 892B or r24,r25 |
| 1155 08f8 29F0 breq .L132 |
| 1156 08fa C801 movw r24,r16 |
| 1157 08fc 0E94 0000 call CheckDelay |
| 1158 0900 8823 tst r24 |
| 1159 0902 11F3 breq .L131 |
| 1160 .L132: |
| 1161 0904 8091 0000 lds r24,BLConfig |
| 1162 0908 8230 cpi r24,lo8(2) |
| 1163 090a 19F0 breq .L137 |
| 1164 090c 84E0 ldi r24,lo8(4) |
| 1165 090e 90E0 ldi r25,hi8(4) |
| 1166 0910 0FC0 rjmp .L116 |
| 1167 .L137: |
| 1168 0912 67E0 ldi r22,lo8(7) |
| 1169 0914 70E0 ldi r23,hi8(7) |
| 1170 0916 80E0 ldi r24,lo8(BLConfig) |
| 1171 0918 90E0 ldi r25,hi8(BLConfig) |
| 1172 091a 0E94 0000 call RAM_Checksum |
| 1173 091e 9091 0000 lds r25,BLConfig+7 |
| 1174 0922 8917 cp r24,r25 |
| 1175 0924 19F0 breq .L138 |
| 1176 0926 85E0 ldi r24,lo8(5) |
| 1177 0928 90E0 ldi r25,hi8(5) |
| 1178 092a 02C0 rjmp .L116 |
| 1179 .L138: |
| 1180 092c 80E0 ldi r24,lo8(0) |
| 1181 092e 90E0 ldi r25,hi8(0) |
| 1182 .L116: |
| 1183 /* epilogue: frame size=0 */ |
| 1184 0930 DF91 pop r29 |
| 1185 0932 CF91 pop r28 |
| 1186 0934 1F91 pop r17 |
| 1187 0936 0F91 pop r16 |
| 1188 0938 0895 ret |
| 1189 /* epilogue end (size=5) */ |
| 1190 /* function I2C_ReadBLConfig size 168 (159) */ |
| 1192 .comm Motor,96,1 |
| 1193 .comm BLConfig,8,1 |
| 1194 /* File "twimaster.c": code 1214 = 0x04be (1170), prologues 20, epilogues 24 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 twimaster.c |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:15 .bss:00000000 BLConfig_ReadMask |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:21 .bss:00000002 BLConfig_WriteMask |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:27 .bss:00000004 BLFlags |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:33 .bss:00000005 MissingMotor |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:39 .data:00000000 I2CTimeout |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:46 .bss:00000006 I2C_TransferActive |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:52 .bss:00000007 motor_read |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:58 .bss:00000008 motor_write |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:64 .bss:00000009 dac_channel |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:70 .bss:0000000a twi_state |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:75 .text:00000000 I2C_Init |
| *COM*:00000060 Motor |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:126 .text:00000054 I2C_Reset |
| .bss:0000000b missing_motor.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:153 .bss:0000000c motor_read_temperature.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:154 .bss:0000000d pBuff.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:155 .bss:0000000f BuffLen.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:159 .text:00000098 __vector_26 |
| *COM*:00000008 BLConfig |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:853 .text:00000698 I2C_WriteBLConfig |
| C:\Users\Thomas\AppData\Local\Temp/ccMRaaaa.s:1025 .text:000007ec I2C_ReadBLConfig |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __tablejump2__ |
| Mixer |
| RequiredMotors |
| FC_StatusFlags |
| AnalogOffsetNick |
| AnalogOffsetRoll |
| AnalogOffsetGier |
| MotorenEin |
| PC_MotortestActive |
| RAM_Checksum |
| SetDelay |
| CheckDelay |
| /branches/metro/v0.82a metro_Akku+/uart.c |
|---|
| 0,0 → 1,761 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdarg.h> |
| #include <string.h> |
| #include <avr/pgmspace.h> |
| #include "main.h" |
| #include "uart.h" |
| #include "libfc.h" |
| #include "eeprom.h" |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| #define BL_CTRL_ADDRESS 5 |
| #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| #define MAX_SENDE_BUFF 170 |
| #define MAX_EMPFANGS_BUFF 170 |
| #define BLPARAM_REVISION 1 |
| #define MASK_SET_PWM_SCALING 0x01 |
| #define MASK_SET_CURRENT_LIMIT 0x02 |
| #define MASK_SET_TEMP_LIMIT 0x04 |
| #define MASK_SET_CURRENT_SCALING 0x08 |
| #define MASK_SET_BITCONFIG 0x10 |
| #define MASK_RESET_CAPCOUNTER 0x20 |
| #define MASK_SET_DEFAULT_PARAMS 0x40 |
| #define MASK_SET_SAVE_EEPROM 0x80 |
| typedef struct |
| { |
| unsigned char Revision; // revision of parameter structure |
| unsigned char Address; // target address |
| unsigned char PwmScaling; // maximum value of pwm setpoint |
| unsigned char CurrentLimit; // current limit in 1A steps |
| unsigned char TemperatureLimit; // in °C |
| unsigned char CurrentScaling; // scaling factor for current measurement |
| unsigned char BitConfig; // see defines above |
| unsigned char SetMask; // filter for active paramters |
| unsigned char Checksum; // checksum for parameter sturcture |
| } __attribute__((packed)) BLParameter_t; |
| unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| unsigned char DisplayLine = 0; |
| unsigned volatile char SioTmp = 0; |
| 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 TxdBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned char *pRxData = 0; |
| unsigned char RxDataLen = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned volatile char PC_MotortestActive = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[16]; |
| unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| unsigned char ConfirmFrame; |
| struct str_DebugOut DebugOut; |
| struct str_ExternControl ExternControl; |
| struct str_VersionInfo VersionInfo; |
| struct str_WinkelOut WinkelOut; |
| struct str_Data3D Data3D; |
| int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| unsigned int AboTimeOut = 0; |
| unsigned volatile char JetiUpdateModeActive = 0; |
| const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| { |
| //1234567890123456 |
| "AngleNick ", //0 |
| "AngleRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "YawGyro ", |
| "Height Value ", //5 |
| "AccZ ", |
| "Gas ", |
| "Compass Value ", |
| "Voltage [0.1V] ", |
| "Receiver Level ", //10 |
| "Gyro Compass ", |
| "Motor 1 ", |
| "Motor 2 ", |
| "Motor 3 ", |
| "Motor 4 ", //15 |
| "16 ", |
| "17 ", |
| "18 ", |
| "19 ", |
| "Servo ", //20 |
| "Hovergas ", |
| "Current [0.1A] ", |
| "Capacity [mAh] ", |
| "24 ", |
| "25 ", //25 |
| "26 ", |
| "27 ", |
| "I2C-Error ", |
| "BL Limit ", |
| "GPS_Nick ", //30 |
| "GPS_Roll " |
| }; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ISR(USART0_TX_vect) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = TxdBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR0 = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ISR(USART0_RX_vect) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| if (JetiUpdateModeActive == 1) { UDR1 = UDR0; return; } |
| if (JetiUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } |
| SioTmp = UDR0; |
| if(buf_ptr >= MAX_SENDE_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 + 1; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') |
| { |
| LcdClear(); |
| wdt_enable(WDTO_250MS); // Reset-Commando |
| ServoActive = 0; |
| } |
| } |
| } |
| 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 += TxdBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| TxdBuffer[i++] = '=' + tmpCRC / 64; |
| TxdBuffer[i++] = '=' + tmpCRC % 64; |
| TxdBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR0 = TxdBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| { |
| va_list ap; |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| unsigned char *snd = 0; |
| int len = 0; |
| TxdBuffer[pt++] = '#'; // Startzeichen |
| TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| TxdBuffer[pt++] = cmd; // Commando |
| va_start(ap, BufferAnzahl); |
| if(BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| while(len) |
| { |
| if(len) |
| { |
| a = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else c = 0; |
| TxdBuffer[pt++] = '=' + (a >> 2); |
| TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| { |
| unsigned char a,b,c,d; |
| unsigned char x,y,z; |
| unsigned char ptrIn = 3; // start at begin of data block |
| unsigned char ptrOut = 3; |
| unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) RxdBuffer[ptrOut++] = x; else break; |
| if(len--) RxdBuffer[ptrOut++] = y; else break; |
| if(len--) RxdBuffer[ptrOut++] = z; else break; |
| } |
| pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned char tempchar1, tempchar2; |
| Decode64(); // dekodiere datenblock im Empfangsbuffer |
| switch(RxdBuffer[1]-'a') // check for Slave Address |
| { |
| case FC_ADDRESS: // FC special commands |
| switch(RxdBuffer[2]) |
| { |
| case 'K':// Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| break; |
| case 't':// Motortest |
| if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| PC_MotortestActive = 240; |
| //while(!UebertragungAbgeschlossen); |
| //SendOutData('T', MeineSlaveAdresse, 0); |
| PcZugriff = 255; |
| break; |
| case 'n':// "Get Mixer |
| while(!UebertragungAbgeschlossen); |
| SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| Debug("Mixer lesen"); |
| break; |
| case 'm':// "Write Mixer |
| if(pRxData[0] == EEMIXER_REVISION) |
| { |
| memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| MixerTable_WriteToEEProm(); |
| tempchar1 = 1; |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
| } |
| else |
| { |
| tempchar1 = 0; |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| break; |
| case 'p': // get PPM Channels |
| GetPPMChannelAnforderung = 1; |
| PcZugriff = 255; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
| { |
| tempchar1 = pRxData[0] - 10; |
| if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| SetDefaultParameter(tempchar1, 1); |
| } |
| else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
| { |
| tempchar1 = pRxData[0] - 20; |
| if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| SetDefaultParameter(tempchar1, 0); |
| } |
| else |
| { |
| tempchar1 = pRxData[0]; |
| if(tempchar1 == 0xFF) |
| { |
| tempchar1 = GetActiveParamSet(); |
| } |
| if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(tempchar1); |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| Debug("Lese Setting %d", tempchar1); |
| break; |
| case 's': // Parametersatz speichern |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
| { |
| memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| ParamSet_WriteToEEProm(pRxData[0]); |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| tempchar1 = GetActiveParamSet(); |
| } |
| else |
| { |
| tempchar1 = 0; // mark in response an invlid setting |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| if(!MotorenEin) Piep(tempchar1,110); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| break; |
| case 'f': // auf anderen Parametersatz umschalten |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| tempchar1 = GetActiveParamSet(); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| if(!MotorenEin) Piep(tempchar1,110); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| break; |
| case 'y':// serial Potis |
| PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
| PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
| PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
| break; |
| case 'u': // request BL parameter |
| Debug("Reading BL %d", pRxData[0]); |
| // try to read BL configuration |
| tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| else tempchar1 = 0; |
| while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| break; |
| case 'w': // write BL parameter |
| Debug("Writing BL %d", pRxData[0]); |
| if(RxDataLen >= 1+sizeof(BLConfig_t)) |
| { |
| memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
| tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| else tempchar1 = 0; // indicate error |
| while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| } |
| break; |
| case 'j': |
| tempchar1 = LIBFC_GetCPUType(); |
| if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
| { |
| uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
| cli(); |
| // UART0 & UART1 disable RX and TX-Interrupt |
| UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
| UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
| // UART0 & UART1 disable receiver and transmitter |
| UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
| UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
| // UART0 & UART1 flush receive buffer explicit |
| while ( UCSR1A & (1<<RXC1) ) UDR1; |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| if (pRxData[0] == 0) |
| { |
| JetiUpdateModeActive = 1; |
| // UART0 & UART1 set baudrate |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| UBRR0H = UBRR1H; |
| UBRR0L = UBRR1L; |
| // UART1 no parity |
| UCSR1C &= ~(1 << UPM11); |
| UCSR1C &= ~(1 << UPM10); |
| // UART1 8-bit |
| UCSR1B &= ~(1 << UCSZ12); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| } |
| else JetiUpdateModeActive = 2; |
| // UART0 & UART1 1 stop bit |
| UCSR1C &= ~(1 << USBS1); |
| UCSR0C &= ~(1 << USBS0); |
| // UART1 clear 9th bit |
| UCSR1B &= ~(1<<TXB81); |
| // enable receiver and transmitter for UART0 and UART1 |
| UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
| // enable RX-Interrupt for UART0 and UART1 |
| UCSR0B |= (1 << RXCIE0); |
| UCSR1B |= (1 << RXCIE1); |
| // disable other Interrupts |
| TIMSK0 = 0; |
| TIMSK1 = 0; |
| TIMSK2 = 0; |
| sei(); |
| } |
| break; |
| } // case FC_ADDRESS: |
| default: // any Slave Address |
| switch(RxdBuffer[2]) |
| { |
| // 't' comand placed here only for compatibility to BL |
| case 't':// Motortest |
| if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('T', MeineSlaveAdresse, 0); |
| PC_MotortestActive = 250; |
| PcZugriff = 255; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| case 'K':// Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| break; |
| case 'a':// Texte der Analogwerte |
| DebugTextAnforderung = pRxData[0]; |
| if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| PcZugriff = 255; |
| break; |
| case 'b': |
| memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| ConfirmFrame = ExternControl.Frame; |
| PcZugriff = 255; |
| break; |
| case 'c': // Poll the 3D-Data |
| if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| Intervall3D = pRxData[0] * 10; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'd': // Poll the debug data |
| PcZugriff = 255; |
| DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'h':// x-1 Displayzeilen |
| PcZugriff = 255; |
| if((pRxData[0] & 0x80) == 0x00) // old format |
| { |
| DisplayLine = 2; |
| Display_Interval = 0; |
| } |
| else // new format |
| { |
| RemoteKeys |= ~pRxData[0]; |
| Display_Interval = (unsigned int)pRxData[1] * 10; |
| DisplayLine = 4; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| } |
| DebugDisplayAnforderung = 1; |
| break; |
| case 'l':// x-1 Displayzeilen |
| PcZugriff = 255; |
| MenuePunkt = pRxData[0]; |
| DebugDisplayAnforderung1 = 1; |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// |
| GetExternalControl = 1; |
| break; |
| default: |
| //unsupported command received |
| break; |
| } |
| break; // default: |
| } |
| NeuerDatensatzEmpfangen = 0; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| void uart_putchar (char c) |
| //############################################################################ |
| { |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| //Ausgabe des Zeichens |
| UDR0 = c; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| // UART Double Speed (U2X) |
| UCSR0A |= (1 << U2X0); |
| // RX-Interrupt Freigabe |
| UCSR0B |= (1 << RXCIE0); |
| // TX-Interrupt Freigabe |
| UCSR0B |= (1 << TXCIE0); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| Debug_Timer = SetDelay(DebugDataIntervall); |
| Kompass_Timer = SetDelay(220); |
| VersionInfo.SWMajor = VERSION_MAJOR; |
| VersionInfo.SWMinor = VERSION_MINOR; |
| VersionInfo.SWPatch = VERSION_PATCH; |
| VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if(CheckDelay(AboTimeOut)) |
| { |
| Display_Interval = 0; |
| DebugDataIntervall = 0; |
| Intervall3D = 0; |
| } |
| if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| { |
| if(DisplayLine > 3)// new format |
| { |
| Menu(); |
| SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| } |
| else // old format |
| { |
| LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| if(DisplayLine++ > 3) DisplayLine = 0; |
| } |
| Display_Timer = SetDelay(Display_Interval); |
| DebugDisplayAnforderung = 0; |
| } |
| if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| DebugDisplayAnforderung1 = 0; |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| Debug_OK("Version gesendet"); |
| } |
| if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| GetExternalControl = 0; |
| } |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| Kompass_Timer = SetDelay(99); |
| } |
| if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| CopyDebugValues(); |
| SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| } |
| if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| { |
| Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| Data3D.Centroid[0] = SummeNick >> 9; |
| Data3D.Centroid[1] = SummeRoll >> 9; |
| Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
| SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| Timer3D = SetDelay(Intervall3D); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| unsigned char label[16]; // local sram buffer |
| memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
| SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| DebugTextAnforderung = 255; |
| } |
| if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| { |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| GetPPMChannelAnforderung = 0; |
| } |
| #ifdef DEBUG // only include functions if DEBUG is defined |
| if(SendDebugOutput && UebertragungAbgeschlossen) |
| { |
| SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| SendDebugOutput = 0; |
| } |
| #endif |
| } |
| /branches/metro/v0.82a metro_Akku+/uart.d |
|---|
| 0,0 → 1,3 |
| uart.o uart.d : uart.c main.h old_macros.h printf_P.h timer0.h uart.h analog.h \ |
| twimaster.h menu.h rc.h fc.h gps.h spi.h led.h spektrum.h capacity.h \ |
| eeprom.h libfc.h debug.h |
| /branches/metro/v0.82a metro_Akku+/uart.h |
|---|
| 0,0 → 1,107 |
| #ifndef _UART_H |
| #define _UART_H |
| #define printf_P(format, args...) _printf_P(&uart_putchar, format , ## args) |
| #define printf(format, args...) _printf_P(&uart_putchar, PSTR(format) , ## args) |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char JetiUpdateModeActive; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned volatile char PC_MotortestActive; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern unsigned char RemotePollDisplayLine; |
| extern unsigned volatile char RxdBuffer[]; |
| extern int Debug_Timer,Kompass_Timer; |
| extern void UART_Init (void); |
| extern void uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void Uart1Init(void); |
| extern void BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[16]; |
| struct str_DebugOut |
| { |
| unsigned char Status[2]; |
| signed int Analog[32]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_WinkelOut |
| { |
| signed int Winkel[2]; |
| unsigned char UserParameter[2]; |
| unsigned char CalcState; |
| unsigned char Orientation; |
| }; |
| extern struct str_WinkelOut WinkelOut; |
| struct str_Data3D |
| { |
| signed int Winkel[3]; // nick, roll, compass in 0,1° |
| signed char Centroid[3]; |
| signed char reserve[5]; |
| }; |
| extern struct str_Data3D Data3D; |
| struct str_ExternControl |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| signed char Nick; |
| signed char Roll; |
| signed char Gier; |
| unsigned char Gas; |
| signed char Hight; |
| unsigned char free; |
| unsigned char Frame; |
| unsigned char Config; |
| }; |
| extern struct str_ExternControl ExternControl; |
| // FC hardware errors |
| // bitmask for UART_VersionInfo_t.HardwareError[0] |
| #define FC_ERROR0_GYRO_NICK 0x01 |
| #define FC_ERROR0_GYRO_ROLL 0x02 |
| #define FC_ERROR0_GYRO_YAW 0x04 |
| #define FC_ERROR0_ACC_NICK 0x08 |
| #define FC_ERROR0_ACC_ROLL 0x10 |
| #define FC_ERROR0_ACC_TOP 0x20 |
| #define FC_ERROR0_PRESSURE 0x40 |
| #define FC_ERROR0_CAREFREE 0x80 |
| // bitmask for UART_VersionInfo_t.HardwareError[1] |
| #define FC_ERROR1_I2C 0x01 |
| #define FC_ERROR1_BL_MISSING 0x02 |
| #define FC_ERROR1_SPI_RX 0x04 |
| #define FC_ERROR1_PPM 0x08 |
| #define FC_ERROR1_MIXER 0x10 |
| #define FC_ERROR1_RES1 0x20 |
| #define FC_ERROR1_RES2 0x40 |
| #define FC_ERROR1_RES3 0x80 |
| struct str_VersionInfo |
| { |
| unsigned char SWMajor; |
| unsigned char SWMinor; |
| unsigned char ProtoMajor; |
| unsigned char ProtoMinor; |
| unsigned char SWPatch; |
| unsigned char HardwareError[5]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //#define USART0_BAUD 9600 |
| //#define USART0_BAUD 14400 |
| //#define USART0_BAUD 28800 |
| //#define USART0_BAUD 38400 |
| #define USART0_BAUD 57600 |
| #endif //_UART_H |
| /branches/metro/v0.82a metro_Akku+/uart.lst |
|---|
| 0,0 → 1,2677 |
| 1 .file "uart.c" |
| 2 .arch atmega644p |
| 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 .global ANALOG_TEXT |
| 11 .section .progmem.data,"a",@progbits |
| 14 ANALOG_TEXT: |
| 15 0000 416E 676C .ascii "AngleNick " |
| 15 654E 6963 |
| 15 6B20 2020 |
| 15 2020 2020 |
| 16 0010 416E 676C .ascii "AngleRoll " |
| 16 6552 6F6C |
| 16 6C20 2020 |
| 16 2020 2020 |
| 17 0020 4163 634E .ascii "AccNick " |
| 17 6963 6B20 |
| 17 2020 2020 |
| 17 2020 2020 |
| 18 0030 4163 6352 .ascii "AccRoll " |
| 18 6F6C 6C20 |
| 18 2020 2020 |
| 18 2020 2020 |
| 19 0040 5961 7747 .ascii "YawGyro " |
| 19 7972 6F20 |
| 19 2020 2020 |
| 19 2020 2020 |
| 20 0050 4865 6967 .ascii "Height Value " |
| 20 6874 2056 |
| 20 616C 7565 |
| 20 2020 2020 |
| 21 0060 4163 635A .ascii "AccZ " |
| 21 2020 2020 |
| 21 2020 2020 |
| 21 2020 2020 |
| 22 0070 4761 7320 .ascii "Gas " |
| 22 2020 2020 |
| 22 2020 2020 |
| 22 2020 2020 |
| 23 0080 436F 6D70 .ascii "Compass Value " |
| 23 6173 7320 |
| 23 5661 6C75 |
| 23 6520 2020 |
| 24 0090 566F 6C74 .ascii "Voltage [0.1V] " |
| 24 6167 6520 |
| 24 5B30 2E31 |
| 24 565D 2020 |
| 25 00a0 5265 6365 .ascii "Receiver Level " |
| 25 6976 6572 |
| 25 204C 6576 |
| 25 656C 2020 |
| 26 00b0 4779 726F .ascii "Gyro Compass " |
| 26 2043 6F6D |
| 26 7061 7373 |
| 26 2020 2020 |
| 27 00c0 4D6F 746F .ascii "Motor 1 " |
| 27 7220 3120 |
| 27 2020 2020 |
| 27 2020 2020 |
| 28 00d0 4D6F 746F .ascii "Motor 2 " |
| 28 7220 3220 |
| 28 2020 2020 |
| 28 2020 2020 |
| 29 00e0 4D6F 746F .ascii "Motor 3 " |
| 29 7220 3320 |
| 29 2020 2020 |
| 29 2020 2020 |
| 30 00f0 4D6F 746F .ascii "Motor 4 " |
| 30 7220 3420 |
| 30 2020 2020 |
| 30 2020 2020 |
| 31 0100 3136 2020 .ascii "16 " |
| 31 2020 2020 |
| 31 2020 2020 |
| 31 2020 2020 |
| 32 0110 3137 2020 .ascii "17 " |
| 32 2020 2020 |
| 32 2020 2020 |
| 32 2020 2020 |
| 33 0120 3138 2020 .ascii "18 " |
| 33 2020 2020 |
| 33 2020 2020 |
| 33 2020 2020 |
| 34 0130 3139 2020 .ascii "19 " |
| 34 2020 2020 |
| 34 2020 2020 |
| 34 2020 2020 |
| 35 0140 5365 7276 .ascii "Servo " |
| 35 6F20 2020 |
| 35 2020 2020 |
| 35 2020 2020 |
| 36 0150 486F 7665 .ascii "Hovergas " |
| 36 7267 6173 |
| 36 2020 2020 |
| 36 2020 2020 |
| 37 0160 4375 7272 .ascii "Current [0.1A] " |
| 37 656E 7420 |
| 37 5B30 2E31 |
| 37 415D 2020 |
| 38 0170 4361 7061 .ascii "Capacity [mAh] " |
| 38 6369 7479 |
| 38 205B 6D41 |
| 38 685D 2020 |
| 39 0180 3234 2020 .ascii "24 " |
| 39 2020 2020 |
| 39 2020 2020 |
| 39 2020 2020 |
| 40 0190 3235 2020 .ascii "25 " |
| 40 2020 2020 |
| 40 2020 2020 |
| 40 2020 2020 |
| 41 01a0 3236 2020 .ascii "26 " |
| 41 2020 2020 |
| 41 2020 2020 |
| 41 2020 2020 |
| 42 01b0 3237 2020 .ascii "27 " |
| 42 2020 2020 |
| 42 2020 2020 |
| 42 2020 2020 |
| 43 01c0 4932 432D .ascii "I2C-Error " |
| 43 4572 726F |
| 43 7220 2020 |
| 43 2020 2020 |
| 44 01d0 424C 204C .ascii "BL Limit " |
| 44 696D 6974 |
| 44 2020 2020 |
| 44 2020 2020 |
| 45 01e0 4750 535F .ascii "GPS_Nick " |
| 45 4E69 636B |
| 45 2020 2020 |
| 45 2020 2020 |
| 46 01f0 4750 535F .ascii "GPS_Roll " |
| 46 526F 6C6C |
| 46 2020 2020 |
| 46 2020 2020 |
| 47 .global JetiUpdateModeActive |
| 48 .global JetiUpdateModeActive |
| 49 .section .bss |
| 52 JetiUpdateModeActive: |
| 53 0000 00 .skip 1,0 |
| 54 .global AboTimeOut |
| 55 .global AboTimeOut |
| 58 AboTimeOut: |
| 59 0001 0000 .skip 2,0 |
| 60 .global Display_Interval |
| 61 .global Display_Interval |
| 64 Display_Interval: |
| 65 0003 0000 .skip 2,0 |
| 66 .global Intervall3D |
| 67 .global Intervall3D |
| 70 Intervall3D: |
| 71 0005 0000 .skip 2,0 |
| 72 .global DebugDataIntervall |
| 73 .global DebugDataIntervall |
| 76 DebugDataIntervall: |
| 77 0007 0000 .skip 2,0 |
| 78 .global MeineSlaveAdresse |
| 79 .data |
| 82 MeineSlaveAdresse: |
| 83 0000 01 .byte 1 |
| 84 .global PcZugriff |
| 87 PcZugriff: |
| 88 0001 64 .byte 100 |
| 89 .global DebugTextAnforderung |
| 92 DebugTextAnforderung: |
| 93 0002 FF .byte -1 |
| 94 .global PC_MotortestActive |
| 95 .global PC_MotortestActive |
| 96 .section .bss |
| 99 PC_MotortestActive: |
| 100 0009 00 .skip 1,0 |
| 101 .global PC_DebugTimeout |
| 102 .global PC_DebugTimeout |
| 105 PC_DebugTimeout: |
| 106 000a 00 .skip 1,0 |
| 107 .global RxDataLen |
| 108 .global RxDataLen |
| 111 RxDataLen: |
| 112 000b 00 .skip 1,0 |
| 113 .global pRxData |
| 114 .global pRxData |
| 117 pRxData: |
| 118 000c 0000 .skip 2,0 |
| 119 .global AnzahlEmpfangsBytes |
| 120 .global AnzahlEmpfangsBytes |
| 123 AnzahlEmpfangsBytes: |
| 124 000e 00 .skip 1,0 |
| 125 .global CntCrcError |
| 126 .global CntCrcError |
| 129 CntCrcError: |
| 130 000f 00 .skip 1,0 |
| 131 .global UebertragungAbgeschlossen |
| 132 .data |
| 135 UebertragungAbgeschlossen: |
| 136 0003 01 .byte 1 |
| 137 .global NeueKoordinateEmpfangen |
| 138 .global NeueKoordinateEmpfangen |
| 139 .section .bss |
| 142 NeueKoordinateEmpfangen: |
| 143 0010 00 .skip 1,0 |
| 144 .global NeuerDatensatzEmpfangen |
| 145 .global NeuerDatensatzEmpfangen |
| 148 NeuerDatensatzEmpfangen: |
| 149 0011 00 .skip 1,0 |
| 150 .global SioTmp |
| 151 .global SioTmp |
| 154 SioTmp: |
| 155 0012 00 .skip 1,0 |
| 156 .global DisplayLine |
| 157 .global DisplayLine |
| 160 DisplayLine: |
| 161 0013 00 .skip 1,0 |
| 162 .global GetPPMChannelAnforderung |
| 163 .global GetPPMChannelAnforderung |
| 166 GetPPMChannelAnforderung: |
| 167 0014 00 .skip 1,0 |
| 168 .global GetVersionAnforderung |
| 169 .global GetVersionAnforderung |
| 172 GetVersionAnforderung: |
| 173 0015 00 .skip 1,0 |
| 174 .global DebugDataAnforderung |
| 175 .global DebugDataAnforderung |
| 178 DebugDataAnforderung: |
| 179 0016 00 .skip 1,0 |
| 180 .global DebugDisplayAnforderung |
| 181 .global DebugDisplayAnforderung |
| 184 DebugDisplayAnforderung: |
| 185 0017 00 .skip 1,0 |
| 186 .global DebugDisplayAnforderung1 |
| 187 .global DebugDisplayAnforderung1 |
| 190 DebugDisplayAnforderung1: |
| 191 0018 00 .skip 1,0 |
| 192 .global GetExternalControl |
| 193 .global GetExternalControl |
| 196 GetExternalControl: |
| 197 0019 00 .skip 1,0 |
| 198 .lcomm ptr.6,2 |
| 199 .text |
| 200 .global __vector_22 |
| 202 __vector_22: |
| 203 /* prologue: frame size=0 */ |
| 204 0000 1F92 push __zero_reg__ |
| 205 0002 0F92 push __tmp_reg__ |
| 206 0004 0FB6 in __tmp_reg__,__SREG__ |
| 207 0006 0F92 push __tmp_reg__ |
| 208 0008 1124 clr __zero_reg__ |
| 209 000a 8F93 push r24 |
| 210 000c 9F93 push r25 |
| 211 000e EF93 push r30 |
| 212 0010 FF93 push r31 |
| 213 /* prologue end (size=9) */ |
| 214 0012 8091 0000 lds r24,UebertragungAbgeschlossen |
| 215 0016 8823 tst r24 |
| 216 0018 E1F4 brne .L2 |
| 217 001a 8091 0000 lds r24,ptr.6 |
| 218 001e 9091 0000 lds r25,(ptr.6)+1 |
| 219 0022 0196 adiw r24,1 |
| 220 0024 9093 0000 sts (ptr.6)+1,r25 |
| 221 0028 8093 0000 sts ptr.6,r24 |
| 222 002c FC01 movw r30,r24 |
| 223 002e E050 subi r30,lo8(-(TxdBuffer)) |
| 224 0030 F040 sbci r31,hi8(-(TxdBuffer)) |
| 225 0032 E081 ld r30,Z |
| 226 0034 ED30 cpi r30,lo8(13) |
| 227 0036 19F0 breq .L4 |
| 228 0038 8A3A cpi r24,170 |
| 229 003a 9105 cpc r25,__zero_reg__ |
| 230 003c 39F4 brne .L3 |
| 231 .L4: |
| 232 003e 1092 0000 sts (ptr.6)+1,__zero_reg__ |
| 233 0042 1092 0000 sts ptr.6,__zero_reg__ |
| 234 0046 81E0 ldi r24,lo8(1) |
| 235 0048 8093 0000 sts UebertragungAbgeschlossen,r24 |
| 236 .L3: |
| 237 004c E093 C600 sts 198,r30 |
| 238 0050 04C0 rjmp .L1 |
| 239 .L2: |
| 240 0052 1092 0000 sts (ptr.6)+1,__zero_reg__ |
| 241 0056 1092 0000 sts ptr.6,__zero_reg__ |
| 242 .L1: |
| 243 /* epilogue: frame size=0 */ |
| 244 005a FF91 pop r31 |
| 245 005c EF91 pop r30 |
| 246 005e 9F91 pop r25 |
| 247 0060 8F91 pop r24 |
| 248 0062 0F90 pop __tmp_reg__ |
| 249 0064 0FBE out __SREG__,__tmp_reg__ |
| 250 0066 0F90 pop __tmp_reg__ |
| 251 0068 1F90 pop __zero_reg__ |
| 252 006a 1895 reti |
| 253 /* epilogue end (size=9) */ |
| 254 /* function __vector_22 size 54 (36) */ |
| 256 .lcomm crc.1,2 |
| 257 .lcomm crc1.2,1 |
| 258 .lcomm crc2.3,1 |
| 259 .lcomm buf_ptr.4,1 |
| 260 .lcomm UartState.5,1 |
| 261 .global __vector_20 |
| 263 __vector_20: |
| 264 /* prologue: frame size=0 */ |
| 265 006c 1F92 push __zero_reg__ |
| 266 006e 0F92 push __tmp_reg__ |
| 267 0070 0FB6 in __tmp_reg__,__SREG__ |
| 268 0072 0F92 push __tmp_reg__ |
| 269 0074 1124 clr __zero_reg__ |
| 270 0076 2F93 push r18 |
| 271 0078 3F93 push r19 |
| 272 007a 4F93 push r20 |
| 273 007c 5F93 push r21 |
| 274 007e 6F93 push r22 |
| 275 0080 7F93 push r23 |
| 276 0082 8F93 push r24 |
| 277 0084 9F93 push r25 |
| 278 0086 AF93 push r26 |
| 279 0088 BF93 push r27 |
| 280 008a CF93 push r28 |
| 281 008c EF93 push r30 |
| 282 008e FF93 push r31 |
| 283 /* prologue end (size=18) */ |
| 284 0090 90E0 ldi r25,lo8(0) |
| 285 0092 8091 0000 lds r24,JetiUpdateModeActive |
| 286 0096 8130 cpi r24,lo8(1) |
| 287 0098 29F4 brne .L7 |
| 288 009a 8091 C600 lds r24,198 |
| 289 009e 8093 CE00 sts 206,r24 |
| 290 00a2 CCC0 rjmp .L6 |
| 291 .L7: |
| 292 00a4 8091 0000 lds r24,JetiUpdateModeActive |
| 293 00a8 8230 cpi r24,lo8(2) |
| 294 00aa 29F4 brne .L8 |
| 295 00ac 8091 C600 lds r24,198 |
| 296 00b0 8093 0000 sts RxdBuffer,r24 |
| 297 00b4 C3C0 rjmp .L6 |
| 298 .L8: |
| 299 00b6 8091 C600 lds r24,198 |
| 300 00ba 8093 0000 sts SioTmp,r24 |
| 301 00be 5091 0000 lds r21,buf_ptr.4 |
| 302 00c2 5A3A cpi r21,lo8(-86) |
| 303 00c4 10F0 brlo .L9 |
| 304 00c6 9093 0000 sts UartState.5,r25 |
| 305 .L9: |
| 306 00ca 8091 0000 lds r24,SioTmp |
| 307 00ce 8D30 cpi r24,lo8(13) |
| 308 00d0 09F0 breq .+2 |
| 309 00d2 65C0 rjmp .L10 |
| 310 00d4 8091 0000 lds r24,UartState.5 |
| 311 00d8 8230 cpi r24,lo8(2) |
| 312 00da 09F0 breq .+2 |
| 313 00dc 60C0 rjmp .L10 |
| 314 00de 9093 0000 sts UartState.5,r25 |
| 315 00e2 852F mov r24,r21 |
| 316 00e4 9927 clr r25 |
| 317 00e6 8050 subi r24,lo8(-(RxdBuffer)) |
| 318 00e8 9040 sbci r25,hi8(-(RxdBuffer)) |
| 319 00ea FC01 movw r30,r24 |
| 320 00ec 3297 sbiw r30,2 |
| 321 00ee 4081 ld r20,Z |
| 322 00f0 2091 0000 lds r18,crc.1 |
| 323 00f4 3091 0000 lds r19,(crc.1)+1 |
| 324 00f8 241B sub r18,r20 |
| 325 00fa 3109 sbc r19,__zero_reg__ |
| 326 00fc DC01 movw r26,r24 |
| 327 00fe 1197 sbiw r26,1 |
| 328 0100 8C91 ld r24,X |
| 329 0102 281B sub r18,r24 |
| 330 0104 3109 sbc r19,__zero_reg__ |
| 331 0106 C901 movw r24,r18 |
| 332 0108 9F70 andi r25,hi8(4095) |
| 333 010a 9093 0000 sts (crc.1)+1,r25 |
| 334 010e 8093 0000 sts crc.1,r24 |
| 335 0112 46E0 ldi r20,6 |
| 336 0114 9695 1: lsr r25 |
| 337 0116 8795 ror r24 |
| 338 0118 4A95 dec r20 |
| 339 011a E1F7 brne 1b |
| 340 011c 982F mov r25,r24 |
| 341 011e 935C subi r25,lo8(-(61)) |
| 342 0120 9093 0000 sts crc1.2,r25 |
| 343 0124 2F73 andi r18,lo8(63) |
| 344 0126 3070 andi r19,hi8(63) |
| 345 0128 235C subi r18,lo8(-(61)) |
| 346 012a 2093 0000 sts crc2.3,r18 |
| 347 012e 8081 ld r24,Z |
| 348 0130 9817 cp r25,r24 |
| 349 0132 29F4 brne .L11 |
| 350 0134 8C91 ld r24,X |
| 351 0136 2817 cp r18,r24 |
| 352 0138 11F4 brne .L11 |
| 353 013a 91E0 ldi r25,lo8(1) |
| 354 013c 06C0 rjmp .L12 |
| 355 .L11: |
| 356 013e 90E0 ldi r25,lo8(0) |
| 357 0140 8091 0000 lds r24,CntCrcError |
| 358 0144 8F5F subi r24,lo8(-(1)) |
| 359 0146 8093 0000 sts CntCrcError,r24 |
| 360 .L12: |
| 361 014a C091 0000 lds r28,NeuerDatensatzEmpfangen |
| 362 014e CC23 tst r28 |
| 363 0150 09F0 breq .+2 |
| 364 0152 74C0 rjmp .L6 |
| 365 0154 9923 tst r25 |
| 366 0156 09F4 brne .+2 |
| 367 0158 71C0 rjmp .L6 |
| 368 015a 81E0 ldi r24,lo8(1) |
| 369 015c 8093 0000 sts NeuerDatensatzEmpfangen,r24 |
| 370 0160 580F add r21,r24 |
| 371 0162 5093 0000 sts AnzahlEmpfangsBytes,r21 |
| 372 0166 5150 subi r21,lo8(-(-1)) |
| 373 0168 E52F mov r30,r21 |
| 374 016a FF27 clr r31 |
| 375 016c E050 subi r30,lo8(-(RxdBuffer)) |
| 376 016e F040 sbci r31,hi8(-(RxdBuffer)) |
| 377 0170 8DE0 ldi r24,lo8(13) |
| 378 0172 8083 st Z,r24 |
| 379 0174 8091 0000 lds r24,RxdBuffer+2 |
| 380 0178 8235 cpi r24,lo8(82) |
| 381 017a 09F0 breq .+2 |
| 382 017c 5FC0 rjmp .L6 |
| 383 017e 0E94 0000 call LcdClear |
| 384 0182 88E1 ldi r24,lo8(24) |
| 385 0184 90E0 ldi r25,hi8(24) |
| 386 0186 2CE0 ldi r18,lo8(12) |
| 387 /* #APP */ |
| 388 0188 0FB6 in __tmp_reg__,__SREG__ |
| 389 018a F894 cli |
| 390 018c A895 wdr |
| 391 018e 8093 6000 sts 96,r24 |
| 392 0192 0FBE out __SREG__,__tmp_reg__ |
| 393 0194 2093 6000 sts 96,r18 |
| 394 /* #NOAPP */ |
| 395 0198 C093 0000 sts ServoActive,r28 |
| 396 019c 4FC0 rjmp .L6 |
| 397 .L10: |
| 398 019e 2091 0000 lds r18,UartState.5 |
| 399 01a2 822F mov r24,r18 |
| 400 01a4 9927 clr r25 |
| 401 01a6 8130 cpi r24,1 |
| 402 01a8 9105 cpc r25,__zero_reg__ |
| 403 01aa F9F0 breq .L19 |
| 404 01ac 8230 cpi r24,2 |
| 405 01ae 9105 cpc r25,__zero_reg__ |
| 406 01b0 1CF4 brge .L24 |
| 407 01b2 892B or r24,r25 |
| 408 01b4 21F0 breq .L17 |
| 409 01b6 40C0 rjmp .L23 |
| 410 .L24: |
| 411 01b8 0297 sbiw r24,2 |
| 412 01ba 11F1 breq .L20 |
| 413 01bc 3DC0 rjmp .L23 |
| 414 .L17: |
| 415 01be 8091 0000 lds r24,SioTmp |
| 416 01c2 8332 cpi r24,lo8(35) |
| 417 01c4 39F4 brne .L18 |
| 418 01c6 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 419 01ca 8823 tst r24 |
| 420 01cc 19F4 brne .L18 |
| 421 01ce 81E0 ldi r24,lo8(1) |
| 422 01d0 8093 0000 sts UartState.5,r24 |
| 423 .L18: |
| 424 01d4 8091 0000 lds r24,SioTmp |
| 425 01d8 8093 0000 sts RxdBuffer,r24 |
| 426 01dc 81E0 ldi r24,lo8(1) |
| 427 01de 8093 0000 sts buf_ptr.4,r24 |
| 428 01e2 8091 0000 lds r24,SioTmp |
| 429 01e6 9927 clr r25 |
| 430 01e8 22C0 rjmp .L25 |
| 431 .L19: |
| 432 01ea 2F5F subi r18,lo8(-(1)) |
| 433 01ec 2093 0000 sts UartState.5,r18 |
| 434 01f0 E52F mov r30,r21 |
| 435 01f2 FF27 clr r31 |
| 436 01f4 E050 subi r30,lo8(-(RxdBuffer)) |
| 437 01f6 F040 sbci r31,hi8(-(RxdBuffer)) |
| 438 01f8 8091 0000 lds r24,SioTmp |
| 439 01fc 8083 st Z,r24 |
| 440 01fe 09C0 rjmp .L26 |
| 441 .L20: |
| 442 0200 E52F mov r30,r21 |
| 443 0202 FF27 clr r31 |
| 444 0204 E050 subi r30,lo8(-(RxdBuffer)) |
| 445 0206 F040 sbci r31,hi8(-(RxdBuffer)) |
| 446 0208 8091 0000 lds r24,SioTmp |
| 447 020c 8083 st Z,r24 |
| 448 020e 5A3A cpi r21,lo8(-86) |
| 449 0210 20F4 brsh .L21 |
| 450 .L26: |
| 451 0212 5F5F subi r21,lo8(-(1)) |
| 452 0214 5093 0000 sts buf_ptr.4,r21 |
| 453 0218 02C0 rjmp .L22 |
| 454 .L21: |
| 455 021a 1092 0000 sts UartState.5,__zero_reg__ |
| 456 .L22: |
| 457 021e 2091 0000 lds r18,SioTmp |
| 458 0222 8091 0000 lds r24,crc.1 |
| 459 0226 9091 0000 lds r25,(crc.1)+1 |
| 460 022a 820F add r24,r18 |
| 461 022c 911D adc r25,__zero_reg__ |
| 462 .L25: |
| 463 022e 9093 0000 sts (crc.1)+1,r25 |
| 464 0232 8093 0000 sts crc.1,r24 |
| 465 0236 02C0 rjmp .L6 |
| 466 .L23: |
| 467 0238 1092 0000 sts UartState.5,__zero_reg__ |
| 468 .L6: |
| 469 /* epilogue: frame size=0 */ |
| 470 023c FF91 pop r31 |
| 471 023e EF91 pop r30 |
| 472 0240 CF91 pop r28 |
| 473 0242 BF91 pop r27 |
| 474 0244 AF91 pop r26 |
| 475 0246 9F91 pop r25 |
| 476 0248 8F91 pop r24 |
| 477 024a 7F91 pop r23 |
| 478 024c 6F91 pop r22 |
| 479 024e 5F91 pop r21 |
| 480 0250 4F91 pop r20 |
| 481 0252 3F91 pop r19 |
| 482 0254 2F91 pop r18 |
| 483 0256 0F90 pop __tmp_reg__ |
| 484 0258 0FBE out __SREG__,__tmp_reg__ |
| 485 025a 0F90 pop __tmp_reg__ |
| 486 025c 1F90 pop __zero_reg__ |
| 487 025e 1895 reti |
| 488 /* epilogue end (size=18) */ |
| 489 /* function __vector_20 size 256 (220) */ |
| 491 .global AddCRC |
| 493 AddCRC: |
| 494 /* prologue: frame size=0 */ |
| 495 /* prologue end (size=0) */ |
| 496 0260 AC01 movw r20,r24 |
| 497 0262 A0E0 ldi r26,lo8(0) |
| 498 0264 B0E0 ldi r27,hi8(0) |
| 499 0266 9D01 movw r18,r26 |
| 500 0268 A817 cp r26,r24 |
| 501 026a B907 cpc r27,r25 |
| 502 026c 48F4 brsh .L33 |
| 503 026e E0E0 ldi r30,lo8(TxdBuffer) |
| 504 0270 F0E0 ldi r31,hi8(TxdBuffer) |
| 505 .L31: |
| 506 0272 8191 ld r24,Z+ |
| 507 0274 280F add r18,r24 |
| 508 0276 311D adc r19,__zero_reg__ |
| 509 0278 1196 adiw r26,1 |
| 510 027a A417 cp r26,r20 |
| 511 027c B507 cpc r27,r21 |
| 512 027e C8F3 brlo .L31 |
| 513 .L33: |
| 514 0280 3F70 andi r19,hi8(4095) |
| 515 0282 FD01 movw r30,r26 |
| 516 0284 E050 subi r30,lo8(-(TxdBuffer)) |
| 517 0286 F040 sbci r31,hi8(-(TxdBuffer)) |
| 518 0288 C901 movw r24,r18 |
| 519 028a 56E0 ldi r21,6 |
| 520 028c 9695 1: lsr r25 |
| 521 028e 8795 ror r24 |
| 522 0290 5A95 dec r21 |
| 523 0292 E1F7 brne 1b |
| 524 0294 835C subi r24,lo8(-(61)) |
| 525 0296 8083 st Z,r24 |
| 526 0298 1196 adiw r26,1 |
| 527 029a FD01 movw r30,r26 |
| 528 029c E050 subi r30,lo8(-(TxdBuffer)) |
| 529 029e F040 sbci r31,hi8(-(TxdBuffer)) |
| 530 02a0 2F73 andi r18,lo8(63) |
| 531 02a2 3070 andi r19,hi8(63) |
| 532 02a4 822F mov r24,r18 |
| 533 02a6 835C subi r24,lo8(-(61)) |
| 534 02a8 8083 st Z,r24 |
| 535 02aa A050 subi r26,lo8(-(TxdBuffer+1)) |
| 536 02ac B040 sbci r27,hi8(-(TxdBuffer+1)) |
| 537 02ae 8DE0 ldi r24,lo8(13) |
| 538 02b0 8C93 st X,r24 |
| 539 02b2 1092 0000 sts UebertragungAbgeschlossen,__zero_reg__ |
| 540 02b6 8091 0000 lds r24,TxdBuffer |
| 541 02ba 8093 C600 sts 198,r24 |
| 542 /* epilogue: frame size=0 */ |
| 543 02be 0895 ret |
| 544 /* epilogue end (size=1) */ |
| 545 /* function AddCRC size 49 (48) */ |
| 547 .global SendOutData |
| 549 SendOutData: |
| 550 /* prologue: frame size=0 */ |
| 551 02c0 A0E0 ldi r26,lo8(0) |
| 552 02c2 B0E0 ldi r27,hi8(0) |
| 553 02c4 E0E0 ldi r30,pm_lo8(1f) |
| 554 02c6 F0E0 ldi r31,pm_hi8(1f) |
| 555 02c8 0C94 0000 jmp __prologue_saves__+18 |
| 556 1: |
| 557 /* prologue end (size=6) */ |
| 558 02cc 2C85 ldd r18,Y+12 |
| 559 02ce 9D85 ldd r25,Y+13 |
| 560 02d0 0E85 ldd r16,Y+14 |
| 561 02d2 BB24 clr r11 |
| 562 02d4 83E2 ldi r24,lo8(35) |
| 563 02d6 8093 0000 sts TxdBuffer,r24 |
| 564 02da 9F59 subi r25,lo8(-(97)) |
| 565 02dc 9093 0000 sts TxdBuffer+1,r25 |
| 566 02e0 2093 0000 sts TxdBuffer+2,r18 |
| 567 02e4 33E0 ldi r19,lo8(3) |
| 568 02e6 E32E mov r14,r19 |
| 569 02e8 F12C mov r15,__zero_reg__ |
| 570 02ea 0023 tst r16 |
| 571 02ec 09F4 brne .+2 |
| 572 02ee 9EC0 rjmp .L49 |
| 573 02f0 CF84 ldd r12,Y+15 |
| 574 02f2 D888 ldd r13,Y+16 |
| 575 02f4 BE01 movw r22,r28 |
| 576 02f6 6D5E subi r22,lo8(-(19)) |
| 577 02f8 7F4F sbci r23,hi8(-(19)) |
| 578 02fa A989 ldd r26,Y+17 |
| 579 02fc BA89 ldd r27,Y+18 |
| 580 02fe 0150 subi r16,lo8(-(-1)) |
| 581 .L50: |
| 582 0300 1097 sbiw r26,0 |
| 583 0302 09F4 brne .+2 |
| 584 0304 93C0 rjmp .L49 |
| 585 0306 1097 sbiw r26,0 |
| 586 0308 B9F0 breq .L38 |
| 587 030a F601 movw r30,r12 |
| 588 030c EB0D add r30,r11 |
| 589 030e F11D adc r31,__zero_reg__ |
| 590 0310 B394 inc r11 |
| 591 0312 9081 ld r25,Z |
| 592 0314 1197 sbiw r26,1 |
| 593 0316 91F4 brne .L40 |
| 594 0318 0023 tst r16 |
| 595 031a 49F1 breq .L41 |
| 596 031c FB01 movw r30,r22 |
| 597 031e 6E5F subi r22,lo8(-(2)) |
| 598 0320 7F4F sbci r23,hi8(-(2)) |
| 599 0322 DB01 movw r26,r22 |
| 600 0324 C080 ld r12,Z |
| 601 0326 D180 ldd r13,Z+1 |
| 602 0328 6E5F subi r22,lo8(-(2)) |
| 603 032a 7F4F sbci r23,hi8(-(2)) |
| 604 032c 0D90 ld __tmp_reg__,X+ |
| 605 032e BC91 ld r27,X |
| 606 0330 A02D mov r26,__tmp_reg__ |
| 607 0332 BB24 clr r11 |
| 608 0334 0150 subi r16,lo8(-(-1)) |
| 609 0336 02C0 rjmp .L40 |
| 610 .L38: |
| 611 0338 90E0 ldi r25,lo8(0) |
| 612 033a 19C0 rjmp .L41 |
| 613 .L40: |
| 614 033c 1097 sbiw r26,0 |
| 615 033e B9F0 breq .L41 |
| 616 0340 F601 movw r30,r12 |
| 617 0342 EB0D add r30,r11 |
| 618 0344 F11D adc r31,__zero_reg__ |
| 619 0346 B394 inc r11 |
| 620 0348 4081 ld r20,Z |
| 621 034a 1197 sbiw r26,1 |
| 622 034c 91F4 brne .L43 |
| 623 034e 0023 tst r16 |
| 624 0350 41F1 breq .L44 |
| 625 0352 FB01 movw r30,r22 |
| 626 0354 6E5F subi r22,lo8(-(2)) |
| 627 0356 7F4F sbci r23,hi8(-(2)) |
| 628 0358 DB01 movw r26,r22 |
| 629 035a C080 ld r12,Z |
| 630 035c D180 ldd r13,Z+1 |
| 631 035e 6E5F subi r22,lo8(-(2)) |
| 632 0360 7F4F sbci r23,hi8(-(2)) |
| 633 0362 0D90 ld __tmp_reg__,X+ |
| 634 0364 BC91 ld r27,X |
| 635 0366 A02D mov r26,__tmp_reg__ |
| 636 0368 BB24 clr r11 |
| 637 036a 0150 subi r16,lo8(-(-1)) |
| 638 036c 02C0 rjmp .L43 |
| 639 .L41: |
| 640 036e 40E0 ldi r20,lo8(0) |
| 641 0370 18C0 rjmp .L44 |
| 642 .L43: |
| 643 0372 1097 sbiw r26,0 |
| 644 0374 B1F0 breq .L44 |
| 645 0376 F601 movw r30,r12 |
| 646 0378 EB0D add r30,r11 |
| 647 037a F11D adc r31,__zero_reg__ |
| 648 037c B394 inc r11 |
| 649 037e 1081 ld r17,Z |
| 650 0380 1197 sbiw r26,1 |
| 651 0382 81F4 brne .L46 |
| 652 0384 0023 tst r16 |
| 653 0386 71F0 breq .L46 |
| 654 0388 FB01 movw r30,r22 |
| 655 038a 3296 adiw r30,2 |
| 656 038c DB01 movw r26,r22 |
| 657 038e CD90 ld r12,X+ |
| 658 0390 DC90 ld r13,X |
| 659 0392 BF01 movw r22,r30 |
| 660 0394 6E5F subi r22,lo8(-(2)) |
| 661 0396 7F4F sbci r23,hi8(-(2)) |
| 662 0398 A081 ld r26,Z |
| 663 039a B181 ldd r27,Z+1 |
| 664 039c BB24 clr r11 |
| 665 039e 0150 subi r16,lo8(-(-1)) |
| 666 03a0 01C0 rjmp .L46 |
| 667 .L44: |
| 668 03a2 10E0 ldi r17,lo8(0) |
| 669 .L46: |
| 670 03a4 F701 movw r30,r14 |
| 671 03a6 E050 subi r30,lo8(-(TxdBuffer)) |
| 672 03a8 F040 sbci r31,hi8(-(TxdBuffer)) |
| 673 03aa 892F mov r24,r25 |
| 674 03ac 8695 lsr r24 |
| 675 03ae 8695 lsr r24 |
| 676 03b0 835C subi r24,lo8(-(61)) |
| 677 03b2 8083 st Z,r24 |
| 678 03b4 0894 sec |
| 679 03b6 E11C adc r14,__zero_reg__ |
| 680 03b8 F11C adc r15,__zero_reg__ |
| 681 03ba F701 movw r30,r14 |
| 682 03bc E050 subi r30,lo8(-(TxdBuffer)) |
| 683 03be F040 sbci r31,hi8(-(TxdBuffer)) |
| 684 03c0 892F mov r24,r25 |
| 685 03c2 9927 clr r25 |
| 686 03c4 8370 andi r24,lo8(3) |
| 687 03c6 9070 andi r25,hi8(3) |
| 688 03c8 24E0 ldi r18,4 |
| 689 03ca 880F 1: lsl r24 |
| 690 03cc 991F rol r25 |
| 691 03ce 2A95 dec r18 |
| 692 03d0 E1F7 brne 1b |
| 693 03d2 5527 clr r21 |
| 694 03d4 9A01 movw r18,r20 |
| 695 03d6 94E0 ldi r25,4 |
| 696 03d8 3695 1: lsr r19 |
| 697 03da 2795 ror r18 |
| 698 03dc 9A95 dec r25 |
| 699 03de E1F7 brne 1b |
| 700 03e0 822B or r24,r18 |
| 701 03e2 835C subi r24,lo8(-(61)) |
| 702 03e4 8083 st Z,r24 |
| 703 03e6 0894 sec |
| 704 03e8 E11C adc r14,__zero_reg__ |
| 705 03ea F11C adc r15,__zero_reg__ |
| 706 03ec F701 movw r30,r14 |
| 707 03ee E050 subi r30,lo8(-(TxdBuffer)) |
| 708 03f0 F040 sbci r31,hi8(-(TxdBuffer)) |
| 709 03f2 4F70 andi r20,lo8(15) |
| 710 03f4 5070 andi r21,hi8(15) |
| 711 03f6 440F lsl r20 |
| 712 03f8 551F rol r21 |
| 713 03fa 440F lsl r20 |
| 714 03fc 551F rol r21 |
| 715 03fe 812F mov r24,r17 |
| 716 0400 9927 clr r25 |
| 717 0402 26E0 ldi r18,6 |
| 718 0404 9695 1: lsr r25 |
| 719 0406 8795 ror r24 |
| 720 0408 2A95 dec r18 |
| 721 040a E1F7 brne 1b |
| 722 040c 842B or r24,r20 |
| 723 040e 835C subi r24,lo8(-(61)) |
| 724 0410 8083 st Z,r24 |
| 725 0412 0894 sec |
| 726 0414 E11C adc r14,__zero_reg__ |
| 727 0416 F11C adc r15,__zero_reg__ |
| 728 0418 F701 movw r30,r14 |
| 729 041a E050 subi r30,lo8(-(TxdBuffer)) |
| 730 041c F040 sbci r31,hi8(-(TxdBuffer)) |
| 731 041e 1F73 andi r17,lo8(63) |
| 732 0420 135C subi r17,lo8(-(61)) |
| 733 0422 1083 st Z,r17 |
| 734 0424 0894 sec |
| 735 0426 E11C adc r14,__zero_reg__ |
| 736 0428 F11C adc r15,__zero_reg__ |
| 737 042a 6ACF rjmp .L50 |
| 738 .L49: |
| 739 042c C701 movw r24,r14 |
| 740 042e 0E94 0000 call AddCRC |
| 741 /* epilogue: frame size=0 */ |
| 742 0432 E9E0 ldi r30,9 |
| 743 0434 0C94 0000 jmp __epilogue_restores__+18 |
| 744 /* epilogue end (size=3) */ |
| 745 /* function SendOutData size 191 (182) */ |
| 747 .global Decode64 |
| 749 Decode64: |
| 750 /* prologue: frame size=0 */ |
| 751 /* prologue end (size=0) */ |
| 752 0438 A3E0 ldi r26,lo8(3) |
| 753 043a 7A2F mov r23,r26 |
| 754 043c 4091 0000 lds r20,AnzahlEmpfangsBytes |
| 755 0440 4650 subi r20,lo8(-(-6)) |
| 756 .L62: |
| 757 0442 4423 tst r20 |
| 758 0444 09F4 brne .+2 |
| 759 0446 58C0 rjmp .L53 |
| 760 0448 E72F mov r30,r23 |
| 761 044a FF27 clr r31 |
| 762 044c E050 subi r30,lo8(-(RxdBuffer)) |
| 763 044e F040 sbci r31,hi8(-(RxdBuffer)) |
| 764 0450 8081 ld r24,Z |
| 765 0452 8D53 subi r24,lo8(-(-61)) |
| 766 0454 7F5F subi r23,lo8(-(1)) |
| 767 0456 E72F mov r30,r23 |
| 768 0458 FF27 clr r31 |
| 769 045a E050 subi r30,lo8(-(RxdBuffer)) |
| 770 045c F040 sbci r31,hi8(-(RxdBuffer)) |
| 771 045e 2081 ld r18,Z |
| 772 0460 2D53 subi r18,lo8(-(-61)) |
| 773 0462 7F5F subi r23,lo8(-(1)) |
| 774 0464 E72F mov r30,r23 |
| 775 0466 FF27 clr r31 |
| 776 0468 E050 subi r30,lo8(-(RxdBuffer)) |
| 777 046a F040 sbci r31,hi8(-(RxdBuffer)) |
| 778 046c 3081 ld r19,Z |
| 779 046e 3D53 subi r19,lo8(-(-61)) |
| 780 0470 7F5F subi r23,lo8(-(1)) |
| 781 0472 E72F mov r30,r23 |
| 782 0474 FF27 clr r31 |
| 783 0476 E050 subi r30,lo8(-(RxdBuffer)) |
| 784 0478 F040 sbci r31,hi8(-(RxdBuffer)) |
| 785 047a 6081 ld r22,Z |
| 786 047c 6D53 subi r22,lo8(-(-61)) |
| 787 047e 7F5F subi r23,lo8(-(1)) |
| 788 0480 9927 clr r25 |
| 789 0482 880F lsl r24 |
| 790 0484 991F rol r25 |
| 791 0486 880F lsl r24 |
| 792 0488 991F rol r25 |
| 793 048a 522F mov r21,r18 |
| 794 048c 5295 swap r21 |
| 795 048e 5F70 andi r21,0x0f |
| 796 0490 582B or r21,r24 |
| 797 0492 822F mov r24,r18 |
| 798 0494 9927 clr r25 |
| 799 0496 8F70 andi r24,lo8(15) |
| 800 0498 9070 andi r25,hi8(15) |
| 801 049a F4E0 ldi r31,4 |
| 802 049c 880F 1: lsl r24 |
| 803 049e 991F rol r25 |
| 804 04a0 FA95 dec r31 |
| 805 04a2 E1F7 brne 1b |
| 806 04a4 232F mov r18,r19 |
| 807 04a6 2695 lsr r18 |
| 808 04a8 2695 lsr r18 |
| 809 04aa 282B or r18,r24 |
| 810 04ac 832F mov r24,r19 |
| 811 04ae 9927 clr r25 |
| 812 04b0 8370 andi r24,lo8(3) |
| 813 04b2 9070 andi r25,hi8(3) |
| 814 04b4 E6E0 ldi r30,6 |
| 815 04b6 880F 1: lsl r24 |
| 816 04b8 991F rol r25 |
| 817 04ba EA95 dec r30 |
| 818 04bc E1F7 brne 1b |
| 819 04be 682B or r22,r24 |
| 820 04c0 4150 subi r20,lo8(-(-1)) |
| 821 04c2 4F3F cpi r20,lo8(-1) |
| 822 04c4 C9F0 breq .L53 |
| 823 04c6 EA2F mov r30,r26 |
| 824 04c8 FF27 clr r31 |
| 825 04ca E050 subi r30,lo8(-(RxdBuffer)) |
| 826 04cc F040 sbci r31,hi8(-(RxdBuffer)) |
| 827 04ce 5083 st Z,r21 |
| 828 04d0 AF5F subi r26,lo8(-(1)) |
| 829 04d2 4150 subi r20,lo8(-(-1)) |
| 830 04d4 4F3F cpi r20,lo8(-1) |
| 831 04d6 81F0 breq .L53 |
| 832 04d8 EA2F mov r30,r26 |
| 833 04da FF27 clr r31 |
| 834 04dc E050 subi r30,lo8(-(RxdBuffer)) |
| 835 04de F040 sbci r31,hi8(-(RxdBuffer)) |
| 836 04e0 2083 st Z,r18 |
| 837 04e2 AF5F subi r26,lo8(-(1)) |
| 838 04e4 4150 subi r20,lo8(-(-1)) |
| 839 04e6 4F3F cpi r20,lo8(-1) |
| 840 04e8 39F0 breq .L53 |
| 841 04ea EA2F mov r30,r26 |
| 842 04ec FF27 clr r31 |
| 843 04ee E050 subi r30,lo8(-(RxdBuffer)) |
| 844 04f0 F040 sbci r31,hi8(-(RxdBuffer)) |
| 845 04f2 6083 st Z,r22 |
| 846 04f4 AF5F subi r26,lo8(-(1)) |
| 847 04f6 A5CF rjmp .L62 |
| 848 .L53: |
| 849 04f8 80E0 ldi r24,lo8(RxdBuffer+3) |
| 850 04fa 90E0 ldi r25,hi8(RxdBuffer+3) |
| 851 04fc 9093 0000 sts (pRxData)+1,r25 |
| 852 0500 8093 0000 sts pRxData,r24 |
| 853 0504 A350 subi r26,lo8(-(-3)) |
| 854 0506 A093 0000 sts RxDataLen,r26 |
| 855 /* epilogue: frame size=0 */ |
| 856 050a 0895 ret |
| 857 /* epilogue end (size=1) */ |
| 858 /* function Decode64 size 106 (105) */ |
| 860 .global BearbeiteRxDaten |
| 862 BearbeiteRxDaten: |
| 863 /* prologue: frame size=2 */ |
| 864 050c A2E0 ldi r26,lo8(2) |
| 865 050e B0E0 ldi r27,hi8(2) |
| 866 0510 E0E0 ldi r30,pm_lo8(1f) |
| 867 0512 F0E0 ldi r31,pm_hi8(1f) |
| 868 0514 0C94 0000 jmp __prologue_saves__+30 |
| 869 1: |
| 870 /* prologue end (size=6) */ |
| 871 0518 8091 0000 lds r24,NeuerDatensatzEmpfangen |
| 872 051c 8823 tst r24 |
| 873 051e 09F4 brne .+2 |
| 874 0520 6BC4 rjmp .L63 |
| 875 0522 0E94 0000 call Decode64 |
| 876 0526 8091 0000 lds r24,RxdBuffer+1 |
| 877 052a 8236 cpi r24,lo8(98) |
| 878 052c 09F0 breq .+2 |
| 879 052e 25C3 rjmp .L143 |
| 880 0530 8091 0000 lds r24,RxdBuffer+2 |
| 881 0534 9927 clr r25 |
| 882 0536 8037 cpi r24,112 |
| 883 0538 9105 cpc r25,__zero_reg__ |
| 884 053a 09F4 brne .+2 |
| 885 053c C1C0 rjmp .L82 |
| 886 053e 8137 cpi r24,113 |
| 887 0540 9105 cpc r25,__zero_reg__ |
| 888 0542 C4F4 brge .L139 |
| 889 0544 8A36 cpi r24,106 |
| 890 0546 9105 cpc r25,__zero_reg__ |
| 891 0548 09F4 brne .+2 |
| 892 054a 8DC2 rjmp .L128 |
| 893 054c 8B36 cpi r24,107 |
| 894 054e 9105 cpc r25,__zero_reg__ |
| 895 0550 44F4 brge .L140 |
| 896 0552 8B34 cpi r24,75 |
| 897 0554 9105 cpc r25,__zero_reg__ |
| 898 0556 71F1 breq .L68 |
| 899 0558 8636 cpi r24,102 |
| 900 055a 9105 cpc r25,__zero_reg__ |
| 901 055c 09F4 brne .+2 |
| 902 055e 6CC1 rjmp .L108 |
| 903 0560 0CC3 rjmp .L143 |
| 904 .L140: |
| 905 0562 8D36 cpi r24,109 |
| 906 0564 9105 cpc r25,__zero_reg__ |
| 907 0566 09F4 brne .+2 |
| 908 0568 7BC0 rjmp .L76 |
| 909 056a 8E36 cpi r24,110 |
| 910 056c 9105 cpc r25,__zero_reg__ |
| 911 056e 09F4 brne .+2 |
| 912 0570 5FC0 rjmp .L73 |
| 913 0572 03C3 rjmp .L143 |
| 914 .L139: |
| 915 0574 8437 cpi r24,116 |
| 916 0576 9105 cpc r25,__zero_reg__ |
| 917 0578 D1F1 breq .L69 |
| 918 057a 8537 cpi r24,117 |
| 919 057c 9105 cpc r25,__zero_reg__ |
| 920 057e 4CF4 brge .L141 |
| 921 0580 8137 cpi r24,113 |
| 922 0582 9105 cpc r25,__zero_reg__ |
| 923 0584 09F4 brne .+2 |
| 924 0586 A3C0 rjmp .L83 |
| 925 0588 8337 cpi r24,115 |
| 926 058a 9105 cpc r25,__zero_reg__ |
| 927 058c 09F4 brne .+2 |
| 928 058e F1C0 rjmp .L101 |
| 929 0590 F4C2 rjmp .L143 |
| 930 .L141: |
| 931 0592 8737 cpi r24,119 |
| 932 0594 9105 cpc r25,__zero_reg__ |
| 933 0596 09F4 brne .+2 |
| 934 0598 28C2 rjmp .L121 |
| 935 059a 8837 cpi r24,120 |
| 936 059c 9105 cpc r25,__zero_reg__ |
| 937 059e 2CF4 brge .L142 |
| 938 05a0 8537 cpi r24,117 |
| 939 05a2 9105 cpc r25,__zero_reg__ |
| 940 05a4 09F4 brne .+2 |
| 941 05a6 E4C1 rjmp .L115 |
| 942 05a8 E8C2 rjmp .L143 |
| 943 .L142: |
| 944 05aa 8937 cpi r24,121 |
| 945 05ac 9105 cpc r25,__zero_reg__ |
| 946 05ae 09F4 brne .+2 |
| 947 05b0 7AC1 rjmp .L114 |
| 948 05b2 E3C2 rjmp .L143 |
| 949 .L68: |
| 950 05b4 E091 0000 lds r30,pRxData |
| 951 05b8 F091 0000 lds r31,(pRxData)+1 |
| 952 05bc 8081 ld r24,Z |
| 953 05be 9181 ldd r25,Z+1 |
| 954 05c0 9093 0000 sts (KompassValue)+1,r25 |
| 955 05c4 8093 0000 sts KompassValue,r24 |
| 956 05c8 2091 0000 lds r18,KompassStartwert |
| 957 05cc 3091 0000 lds r19,(KompassStartwert)+1 |
| 958 05d0 821B sub r24,r18 |
| 959 05d2 930B sbc r25,r19 |
| 960 05d4 845E subi r24,lo8(-(540)) |
| 961 05d6 9D4F sbci r25,hi8(-(540)) |
| 962 05d8 68E6 ldi r22,lo8(360) |
| 963 05da 71E0 ldi r23,hi8(360) |
| 964 05dc 0E94 0000 call __divmodhi4 |
| 965 05e0 845B subi r24,lo8(-(-180)) |
| 966 05e2 9040 sbci r25,hi8(-(-180)) |
| 967 05e4 9093 0000 sts (KompassRichtung)+1,r25 |
| 968 05e8 8093 0000 sts KompassRichtung,r24 |
| 969 05ec C6C2 rjmp .L143 |
| 970 .L69: |
| 971 05ee 8091 0000 lds r24,AnzahlEmpfangsBytes |
| 972 05f2 A091 0000 lds r26,pRxData |
| 973 05f6 B091 0000 lds r27,(pRxData)+1 |
| 974 05fa 8531 cpi r24,lo8(21) |
| 975 05fc 40F0 brlo .L70 |
| 976 05fe 80E1 ldi r24,lo8(16) |
| 977 0600 E0E0 ldi r30,lo8(MotorTest) |
| 978 0602 F0E0 ldi r31,hi8(MotorTest) |
| 979 0604 0D90 ld __tmp_reg__,X+ |
| 980 0606 0192 st Z+,__tmp_reg__ |
| 981 0608 8A95 dec r24 |
| 982 060a E1F7 brne .-8 |
| 983 060c 0DC0 rjmp .L71 |
| 984 .L70: |
| 985 060e 8D91 ld r24,X+ |
| 986 0610 9D91 ld r25,X+ |
| 987 0612 0D90 ld __tmp_reg__,X+ |
| 988 0614 BC91 ld r27,X |
| 989 0616 A02D mov r26,__tmp_reg__ |
| 990 0618 8093 0000 sts MotorTest,r24 |
| 991 061c 9093 0000 sts (MotorTest)+1,r25 |
| 992 0620 A093 0000 sts (MotorTest)+2,r26 |
| 993 0624 B093 0000 sts (MotorTest)+3,r27 |
| 994 .L71: |
| 995 0628 80EF ldi r24,lo8(-16) |
| 996 062a 8093 0000 sts PC_MotortestActive,r24 |
| 997 062e 4BC0 rjmp .L180 |
| 998 .L73: |
| 999 0630 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1000 0634 8823 tst r24 |
| 1001 0636 E1F3 breq .L73 |
| 1002 0638 8DE4 ldi r24,lo8(77) |
| 1003 063a 90E0 ldi r25,hi8(77) |
| 1004 063c 9F93 push r25 |
| 1005 063e 8F93 push r24 |
| 1006 0640 80E0 ldi r24,lo8(Mixer) |
| 1007 0642 90E0 ldi r25,hi8(Mixer) |
| 1008 0644 9F93 push r25 |
| 1009 0646 8F93 push r24 |
| 1010 0648 81E0 ldi r24,lo8(1) |
| 1011 064a 8F93 push r24 |
| 1012 064c 8F93 push r24 |
| 1013 064e 8EE4 ldi r24,lo8(78) |
| 1014 0650 8F93 push r24 |
| 1015 0652 0E94 0000 call SendOutData |
| 1016 0656 8DB7 in r24,__SP_L__ |
| 1017 0658 9EB7 in r25,__SP_H__ |
| 1018 065a 0796 adiw r24,7 |
| 1019 065c 8DBF out __SP_L__,r24 |
| 1020 065e 8DC2 rjmp .L143 |
| 1021 .L76: |
| 1022 0660 A091 0000 lds r26,pRxData |
| 1023 0664 B091 0000 lds r27,(pRxData)+1 |
| 1024 0668 1C91 ld r17,X |
| 1025 066a 1130 cpi r17,lo8(1) |
| 1026 066c 81F4 brne .L77 |
| 1027 066e 8DE4 ldi r24,lo8(77) |
| 1028 0670 E0E0 ldi r30,lo8(Mixer) |
| 1029 0672 F0E0 ldi r31,hi8(Mixer) |
| 1030 0674 0D90 ld __tmp_reg__,X+ |
| 1031 0676 0192 st Z+,__tmp_reg__ |
| 1032 0678 8A95 dec r24 |
| 1033 067a E1F7 brne .-8 |
| 1034 067c 0E94 0000 call MixerTable_WriteToEEProm |
| 1035 0680 1983 std Y+1,r17 |
| 1036 0682 8091 0000 lds r24,VersionInfo+6 |
| 1037 0686 8F7E andi r24,lo8(-17) |
| 1038 0688 8093 0000 sts VersionInfo+6,r24 |
| 1039 068c 01C0 rjmp .L79 |
| 1040 .L77: |
| 1041 068e 1982 std Y+1,__zero_reg__ |
| 1042 .L79: |
| 1043 0690 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1044 0694 8823 tst r24 |
| 1045 0696 E1F3 breq .L79 |
| 1046 0698 81E0 ldi r24,lo8(1) |
| 1047 069a 90E0 ldi r25,hi8(1) |
| 1048 069c 9F93 push r25 |
| 1049 069e 8F93 push r24 |
| 1050 06a0 CE01 movw r24,r28 |
| 1051 06a2 0196 adiw r24,1 |
| 1052 06a4 9F93 push r25 |
| 1053 06a6 8F93 push r24 |
| 1054 06a8 81E0 ldi r24,lo8(1) |
| 1055 06aa 8F93 push r24 |
| 1056 06ac 8F93 push r24 |
| 1057 06ae 8DE4 ldi r24,lo8(77) |
| 1058 06b0 8F93 push r24 |
| 1059 06b2 0E94 0000 call SendOutData |
| 1060 06b6 ADB7 in r26,__SP_L__ |
| 1061 06b8 BEB7 in r27,__SP_H__ |
| 1062 06ba 1796 adiw r26,7 |
| 1063 06bc ADBF out __SP_L__,r26 |
| 1064 06be 5DC2 rjmp .L143 |
| 1065 .L82: |
| 1066 06c0 81E0 ldi r24,lo8(1) |
| 1067 06c2 8093 0000 sts GetPPMChannelAnforderung,r24 |
| 1068 .L180: |
| 1069 06c6 8FEF ldi r24,lo8(-1) |
| 1070 06c8 8093 0000 sts PcZugriff,r24 |
| 1071 06cc 56C2 rjmp .L143 |
| 1072 .L83: |
| 1073 06ce E091 0000 lds r30,pRxData |
| 1074 06d2 F091 0000 lds r31,(pRxData)+1 |
| 1075 06d6 E081 ld r30,Z |
| 1076 06d8 8E2F mov r24,r30 |
| 1077 06da 8A50 subi r24,lo8(-(-10)) |
| 1078 06dc 8A30 cpi r24,lo8(10) |
| 1079 06de 58F4 brsh .L84 |
| 1080 06e0 8983 std Y+1,r24 |
| 1081 06e2 8823 tst r24 |
| 1082 06e4 11F4 brne .L85 |
| 1083 06e6 81E0 ldi r24,lo8(1) |
| 1084 06e8 03C0 rjmp .L174 |
| 1085 .L85: |
| 1086 06ea 8630 cpi r24,lo8(6) |
| 1087 06ec 10F0 brlo .L86 |
| 1088 06ee 85E0 ldi r24,lo8(5) |
| 1089 .L174: |
| 1090 06f0 8983 std Y+1,r24 |
| 1091 .L86: |
| 1092 06f2 61E0 ldi r22,lo8(1) |
| 1093 06f4 0EC0 rjmp .L177 |
| 1094 .L84: |
| 1095 06f6 8E2F mov r24,r30 |
| 1096 06f8 8451 subi r24,lo8(-(-20)) |
| 1097 06fa 8A30 cpi r24,lo8(10) |
| 1098 06fc 70F4 brsh .L89 |
| 1099 06fe 8983 std Y+1,r24 |
| 1100 0700 8823 tst r24 |
| 1101 0702 11F4 brne .L90 |
| 1102 0704 81E0 ldi r24,lo8(1) |
| 1103 0706 03C0 rjmp .L175 |
| 1104 .L90: |
| 1105 0708 8630 cpi r24,lo8(6) |
| 1106 070a 10F0 brlo .L91 |
| 1107 070c 85E0 ldi r24,lo8(5) |
| 1108 .L175: |
| 1109 070e 8983 std Y+1,r24 |
| 1110 .L91: |
| 1111 0710 60E0 ldi r22,lo8(0) |
| 1112 .L177: |
| 1113 0712 8981 ldd r24,Y+1 |
| 1114 0714 0E94 0000 call SetDefaultParameter |
| 1115 0718 12C0 rjmp .L98 |
| 1116 .L89: |
| 1117 071a E983 std Y+1,r30 |
| 1118 071c EF3F cpi r30,lo8(-1) |
| 1119 071e 19F4 brne .L94 |
| 1120 0720 0E94 0000 call GetActiveParamSet |
| 1121 0724 8983 std Y+1,r24 |
| 1122 .L94: |
| 1123 0726 8981 ldd r24,Y+1 |
| 1124 0728 8823 tst r24 |
| 1125 072a 11F4 brne .L95 |
| 1126 072c 81E0 ldi r24,lo8(1) |
| 1127 072e 03C0 rjmp .L176 |
| 1128 .L95: |
| 1129 0730 8630 cpi r24,lo8(6) |
| 1130 0732 10F0 brlo .L96 |
| 1131 0734 85E0 ldi r24,lo8(5) |
| 1132 .L176: |
| 1133 0736 8983 std Y+1,r24 |
| 1134 .L96: |
| 1135 0738 8981 ldd r24,Y+1 |
| 1136 073a 0E94 0000 call ParamSet_ReadFromEEProm |
| 1137 .L98: |
| 1138 073e 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1139 0742 8823 tst r24 |
| 1140 0744 E1F3 breq .L98 |
| 1141 0746 83E7 ldi r24,lo8(115) |
| 1142 0748 90E0 ldi r25,hi8(115) |
| 1143 074a 9F93 push r25 |
| 1144 074c 8F93 push r24 |
| 1145 074e 80E0 ldi r24,lo8(EE_Parameter) |
| 1146 0750 90E0 ldi r25,hi8(EE_Parameter) |
| 1147 0752 9F93 push r25 |
| 1148 0754 8F93 push r24 |
| 1149 0756 81E0 ldi r24,lo8(1) |
| 1150 0758 90E0 ldi r25,hi8(1) |
| 1151 075a 9F93 push r25 |
| 1152 075c 8F93 push r24 |
| 1153 075e CE01 movw r24,r28 |
| 1154 0760 0196 adiw r24,1 |
| 1155 0762 9F93 push r25 |
| 1156 0764 8F93 push r24 |
| 1157 0766 82E0 ldi r24,lo8(2) |
| 1158 0768 8F93 push r24 |
| 1159 076a 81E0 ldi r24,lo8(1) |
| 1160 076c 8F93 push r24 |
| 1161 076e 81E5 ldi r24,lo8(81) |
| 1162 0770 72C1 rjmp .L183 |
| 1163 .L101: |
| 1164 0772 2091 0000 lds r18,pRxData |
| 1165 0776 3091 0000 lds r19,(pRxData)+1 |
| 1166 077a D901 movw r26,r18 |
| 1167 077c 8C91 ld r24,X |
| 1168 077e 8150 subi r24,lo8(-(-1)) |
| 1169 0780 8530 cpi r24,lo8(5) |
| 1170 0782 08F0 brlo .+2 |
| 1171 0784 40C0 rjmp .L102 |
| 1172 0786 F901 movw r30,r18 |
| 1173 0788 8181 ldd r24,Z+1 |
| 1174 078a 8535 cpi r24,lo8(85) |
| 1175 078c E1F5 brne .L102 |
| 1176 078e 2F5F subi r18,lo8(-(1)) |
| 1177 0790 3F4F sbci r19,hi8(-(1)) |
| 1178 0792 83E7 ldi r24,lo8(115) |
| 1179 0794 E0E0 ldi r30,lo8(EE_Parameter) |
| 1180 0796 F0E0 ldi r31,hi8(EE_Parameter) |
| 1181 0798 D901 movw r26,r18 |
| 1182 079a 0D90 ld __tmp_reg__,X+ |
| 1183 079c 0192 st Z+,__tmp_reg__ |
| 1184 079e 8A95 dec r24 |
| 1185 07a0 E1F7 brne .-8 |
| 1186 07a2 F901 movw r30,r18 |
| 1187 07a4 8291 ld r24,-Z |
| 1188 07a6 0E94 0000 call ParamSet_WriteToEEProm |
| 1189 07aa 8091 0000 lds r24,EE_Parameter+65 |
| 1190 07ae 9927 clr r25 |
| 1191 07b0 AA27 clr r26 |
| 1192 07b2 BB27 clr r27 |
| 1193 07b4 BC01 movw r22,r24 |
| 1194 07b6 CD01 movw r24,r26 |
| 1195 07b8 24EC ldi r18,lo8(2500) |
| 1196 07ba 39E0 ldi r19,hi8(2500) |
| 1197 07bc 40E0 ldi r20,hlo8(2500) |
| 1198 07be 50E0 ldi r21,hhi8(2500) |
| 1199 07c0 0E94 0000 call __mulsi3 |
| 1200 07c4 DC01 movw r26,r24 |
| 1201 07c6 CB01 movw r24,r22 |
| 1202 07c8 8093 0000 sts Umschlag180Nick,r24 |
| 1203 07cc 9093 0000 sts (Umschlag180Nick)+1,r25 |
| 1204 07d0 A093 0000 sts (Umschlag180Nick)+2,r26 |
| 1205 07d4 B093 0000 sts (Umschlag180Nick)+3,r27 |
| 1206 07d8 8091 0000 lds r24,EE_Parameter+66 |
| 1207 07dc 9927 clr r25 |
| 1208 07de AA27 clr r26 |
| 1209 07e0 BB27 clr r27 |
| 1210 07e2 BC01 movw r22,r24 |
| 1211 07e4 CD01 movw r24,r26 |
| 1212 07e6 0E94 0000 call __mulsi3 |
| 1213 07ea DC01 movw r26,r24 |
| 1214 07ec CB01 movw r24,r22 |
| 1215 07ee 8093 0000 sts Umschlag180Roll,r24 |
| 1216 07f2 9093 0000 sts (Umschlag180Roll)+1,r25 |
| 1217 07f6 A093 0000 sts (Umschlag180Roll)+2,r26 |
| 1218 07fa B093 0000 sts (Umschlag180Roll)+3,r27 |
| 1219 07fe 0E94 0000 call GetActiveParamSet |
| 1220 0802 8983 std Y+1,r24 |
| 1221 0804 01C0 rjmp .L104 |
| 1222 .L102: |
| 1223 0806 1982 std Y+1,__zero_reg__ |
| 1224 .L104: |
| 1225 0808 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1226 080c 8823 tst r24 |
| 1227 080e E1F3 breq .L104 |
| 1228 0810 81E0 ldi r24,lo8(1) |
| 1229 0812 90E0 ldi r25,hi8(1) |
| 1230 0814 9F93 push r25 |
| 1231 0816 8F93 push r24 |
| 1232 0818 CE01 movw r24,r28 |
| 1233 081a 0196 adiw r24,1 |
| 1234 081c 9F93 push r25 |
| 1235 081e 8F93 push r24 |
| 1236 0820 81E0 ldi r24,lo8(1) |
| 1237 0822 8F93 push r24 |
| 1238 0824 8F93 push r24 |
| 1239 0826 83E5 ldi r24,lo8(83) |
| 1240 0828 8F93 push r24 |
| 1241 082a 0E94 0000 call SendOutData |
| 1242 082e 8DB7 in r24,__SP_L__ |
| 1243 0830 9EB7 in r25,__SP_H__ |
| 1244 0832 0796 adiw r24,7 |
| 1245 0834 8DBF out __SP_L__,r24 |
| 1246 0836 26C0 rjmp .L184 |
| 1247 .L108: |
| 1248 0838 E091 0000 lds r30,pRxData |
| 1249 083c F091 0000 lds r31,(pRxData)+1 |
| 1250 0840 E081 ld r30,Z |
| 1251 0842 8E2F mov r24,r30 |
| 1252 0844 8150 subi r24,lo8(-(-1)) |
| 1253 0846 8530 cpi r24,lo8(5) |
| 1254 0848 18F4 brsh .L109 |
| 1255 084a 8E2F mov r24,r30 |
| 1256 084c 0E94 0000 call ParamSet_ReadFromEEProm |
| 1257 .L109: |
| 1258 0850 0E94 0000 call GetActiveParamSet |
| 1259 0854 8983 std Y+1,r24 |
| 1260 .L110: |
| 1261 0856 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1262 085a 8823 tst r24 |
| 1263 085c E1F3 breq .L110 |
| 1264 085e 81E0 ldi r24,lo8(1) |
| 1265 0860 90E0 ldi r25,hi8(1) |
| 1266 0862 9F93 push r25 |
| 1267 0864 8F93 push r24 |
| 1268 0866 CE01 movw r24,r28 |
| 1269 0868 0196 adiw r24,1 |
| 1270 086a 9F93 push r25 |
| 1271 086c 8F93 push r24 |
| 1272 086e 81E0 ldi r24,lo8(1) |
| 1273 0870 8F93 push r24 |
| 1274 0872 8F93 push r24 |
| 1275 0874 86E4 ldi r24,lo8(70) |
| 1276 0876 8F93 push r24 |
| 1277 0878 0E94 0000 call SendOutData |
| 1278 087c ADB7 in r26,__SP_L__ |
| 1279 087e BEB7 in r27,__SP_H__ |
| 1280 0880 1796 adiw r26,7 |
| 1281 0882 ADBF out __SP_L__,r26 |
| 1282 .L184: |
| 1283 0884 8091 0000 lds r24,MotorenEin |
| 1284 0888 8823 tst r24 |
| 1285 088a 29F4 brne .L113 |
| 1286 088c 6EE6 ldi r22,lo8(110) |
| 1287 088e 70E0 ldi r23,hi8(110) |
| 1288 0890 8981 ldd r24,Y+1 |
| 1289 0892 0E94 0000 call Piep |
| 1290 .L113: |
| 1291 0896 80E0 ldi r24,lo8(0) |
| 1292 0898 0E94 0000 call LipoDetection |
| 1293 089c 8091 0000 lds r24,EE_Parameter+39 |
| 1294 08a0 0E94 0000 call LIBFC_ReceiverInit |
| 1295 08a4 6AC1 rjmp .L143 |
| 1296 .L114: |
| 1297 08a6 E091 0000 lds r30,pRxData |
| 1298 08aa F091 0000 lds r31,(pRxData)+1 |
| 1299 08ae 8081 ld r24,Z |
| 1300 08b0 9927 clr r25 |
| 1301 08b2 87FD sbrc r24,7 |
| 1302 08b4 9095 com r25 |
| 1303 08b6 9093 0000 sts (PPM_in+26)+1,r25 |
| 1304 08ba 8093 0000 sts PPM_in+26,r24 |
| 1305 08be 8181 ldd r24,Z+1 |
| 1306 08c0 9927 clr r25 |
| 1307 08c2 87FD sbrc r24,7 |
| 1308 08c4 9095 com r25 |
| 1309 08c6 9093 0000 sts (PPM_in+28)+1,r25 |
| 1310 08ca 8093 0000 sts PPM_in+28,r24 |
| 1311 08ce 8281 ldd r24,Z+2 |
| 1312 08d0 9927 clr r25 |
| 1313 08d2 87FD sbrc r24,7 |
| 1314 08d4 9095 com r25 |
| 1315 08d6 9093 0000 sts (PPM_in+30)+1,r25 |
| 1316 08da 8093 0000 sts PPM_in+30,r24 |
| 1317 08de 8381 ldd r24,Z+3 |
| 1318 08e0 9927 clr r25 |
| 1319 08e2 87FD sbrc r24,7 |
| 1320 08e4 9095 com r25 |
| 1321 08e6 9093 0000 sts (PPM_in+32)+1,r25 |
| 1322 08ea 8093 0000 sts PPM_in+32,r24 |
| 1323 08ee 8481 ldd r24,Z+4 |
| 1324 08f0 9927 clr r25 |
| 1325 08f2 87FD sbrc r24,7 |
| 1326 08f4 9095 com r25 |
| 1327 08f6 9093 0000 sts (PPM_in+34)+1,r25 |
| 1328 08fa 8093 0000 sts PPM_in+34,r24 |
| 1329 08fe 8581 ldd r24,Z+5 |
| 1330 0900 9927 clr r25 |
| 1331 0902 87FD sbrc r24,7 |
| 1332 0904 9095 com r25 |
| 1333 0906 9093 0000 sts (PPM_in+36)+1,r25 |
| 1334 090a 8093 0000 sts PPM_in+36,r24 |
| 1335 090e 8681 ldd r24,Z+6 |
| 1336 0910 9927 clr r25 |
| 1337 0912 87FD sbrc r24,7 |
| 1338 0914 9095 com r25 |
| 1339 0916 9093 0000 sts (PPM_in+38)+1,r25 |
| 1340 091a 8093 0000 sts PPM_in+38,r24 |
| 1341 091e 8781 ldd r24,Z+7 |
| 1342 0920 9927 clr r25 |
| 1343 0922 87FD sbrc r24,7 |
| 1344 0924 9095 com r25 |
| 1345 0926 9093 0000 sts (PPM_in+40)+1,r25 |
| 1346 092a 8093 0000 sts PPM_in+40,r24 |
| 1347 092e 8085 ldd r24,Z+8 |
| 1348 0930 9927 clr r25 |
| 1349 0932 87FD sbrc r24,7 |
| 1350 0934 9095 com r25 |
| 1351 0936 9093 0000 sts (PPM_in+42)+1,r25 |
| 1352 093a 8093 0000 sts PPM_in+42,r24 |
| 1353 093e 8185 ldd r24,Z+9 |
| 1354 0940 9927 clr r25 |
| 1355 0942 87FD sbrc r24,7 |
| 1356 0944 9095 com r25 |
| 1357 0946 9093 0000 sts (PPM_in+44)+1,r25 |
| 1358 094a 8093 0000 sts PPM_in+44,r24 |
| 1359 094e 8285 ldd r24,Z+10 |
| 1360 0950 9927 clr r25 |
| 1361 0952 87FD sbrc r24,7 |
| 1362 0954 9095 com r25 |
| 1363 0956 9093 0000 sts (PPM_in+46)+1,r25 |
| 1364 095a 8093 0000 sts PPM_in+46,r24 |
| 1365 095e 8385 ldd r24,Z+11 |
| 1366 0960 9927 clr r25 |
| 1367 0962 87FD sbrc r24,7 |
| 1368 0964 9095 com r25 |
| 1369 0966 9093 0000 sts (PPM_in+48)+1,r25 |
| 1370 096a 8093 0000 sts PPM_in+48,r24 |
| 1371 096e 05C1 rjmp .L143 |
| 1372 .L115: |
| 1373 0970 E091 0000 lds r30,pRxData |
| 1374 0974 F091 0000 lds r31,(pRxData)+1 |
| 1375 0978 8081 ld r24,Z |
| 1376 097a 0E94 0000 call I2C_ReadBLConfig |
| 1377 097e 8A83 std Y+2,r24 |
| 1378 0980 8823 tst r24 |
| 1379 0982 19F4 brne .L116 |
| 1380 0984 81E0 ldi r24,lo8(1) |
| 1381 0986 8983 std Y+1,r24 |
| 1382 0988 01C0 rjmp .L118 |
| 1383 .L116: |
| 1384 098a 1982 std Y+1,__zero_reg__ |
| 1385 .L118: |
| 1386 098c 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1387 0990 8823 tst r24 |
| 1388 0992 E1F3 breq .L118 |
| 1389 0994 88E0 ldi r24,lo8(8) |
| 1390 0996 90E0 ldi r25,hi8(8) |
| 1391 0998 9F93 push r25 |
| 1392 099a 8F93 push r24 |
| 1393 099c 80E0 ldi r24,lo8(BLConfig) |
| 1394 099e 90E0 ldi r25,hi8(BLConfig) |
| 1395 09a0 9F93 push r25 |
| 1396 09a2 8F93 push r24 |
| 1397 09a4 21E0 ldi r18,lo8(1) |
| 1398 09a6 30E0 ldi r19,hi8(1) |
| 1399 09a8 3F93 push r19 |
| 1400 09aa 2F93 push r18 |
| 1401 09ac 8091 0000 lds r24,pRxData |
| 1402 09b0 9091 0000 lds r25,(pRxData)+1 |
| 1403 09b4 9F93 push r25 |
| 1404 09b6 8F93 push r24 |
| 1405 09b8 3F93 push r19 |
| 1406 09ba 2F93 push r18 |
| 1407 09bc CE01 movw r24,r28 |
| 1408 09be 0296 adiw r24,2 |
| 1409 09c0 9F93 push r25 |
| 1410 09c2 8F93 push r24 |
| 1411 09c4 3F93 push r19 |
| 1412 09c6 2F93 push r18 |
| 1413 09c8 CE01 movw r24,r28 |
| 1414 09ca 820F add r24,r18 |
| 1415 09cc 931F adc r25,r19 |
| 1416 09ce 9F93 push r25 |
| 1417 09d0 8F93 push r24 |
| 1418 09d2 84E0 ldi r24,lo8(4) |
| 1419 09d4 8F93 push r24 |
| 1420 09d6 81E0 ldi r24,lo8(1) |
| 1421 09d8 8F93 push r24 |
| 1422 09da 85E5 ldi r24,lo8(85) |
| 1423 09dc 8F93 push r24 |
| 1424 09de 0E94 0000 call SendOutData |
| 1425 09e2 EDB7 in r30,__SP_L__ |
| 1426 09e4 FEB7 in r31,__SP_H__ |
| 1427 09e6 7396 adiw r30,19 |
| 1428 09e8 3CC0 rjmp .L179 |
| 1429 .L121: |
| 1430 09ea 8091 0000 lds r24,RxDataLen |
| 1431 09ee 8930 cpi r24,lo8(9) |
| 1432 09f0 08F4 brsh .+2 |
| 1433 09f2 C3C0 rjmp .L143 |
| 1434 09f4 2091 0000 lds r18,pRxData |
| 1435 09f8 3091 0000 lds r19,(pRxData)+1 |
| 1436 09fc 2F5F subi r18,lo8(-(1)) |
| 1437 09fe 3F4F sbci r19,hi8(-(1)) |
| 1438 0a00 88E0 ldi r24,lo8(8) |
| 1439 0a02 A0E0 ldi r26,lo8(BLConfig) |
| 1440 0a04 B0E0 ldi r27,hi8(BLConfig) |
| 1441 0a06 F901 movw r30,r18 |
| 1442 0a08 0190 ld __tmp_reg__,Z+ |
| 1443 0a0a 0D92 st X+,__tmp_reg__ |
| 1444 0a0c 8A95 dec r24 |
| 1445 0a0e E1F7 brne .-8 |
| 1446 0a10 D901 movw r26,r18 |
| 1447 0a12 8E91 ld r24,-X |
| 1448 0a14 0E94 0000 call I2C_WriteBLConfig |
| 1449 0a18 8A83 std Y+2,r24 |
| 1450 0a1a 8823 tst r24 |
| 1451 0a1c 19F4 brne .L123 |
| 1452 0a1e 81E0 ldi r24,lo8(1) |
| 1453 0a20 8983 std Y+1,r24 |
| 1454 0a22 01C0 rjmp .L125 |
| 1455 .L123: |
| 1456 0a24 1982 std Y+1,__zero_reg__ |
| 1457 .L125: |
| 1458 0a26 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1459 0a2a 8823 tst r24 |
| 1460 0a2c E1F3 breq .L125 |
| 1461 0a2e 21E0 ldi r18,lo8(1) |
| 1462 0a30 30E0 ldi r19,hi8(1) |
| 1463 0a32 3F93 push r19 |
| 1464 0a34 2F93 push r18 |
| 1465 0a36 CE01 movw r24,r28 |
| 1466 0a38 0296 adiw r24,2 |
| 1467 0a3a 9F93 push r25 |
| 1468 0a3c 8F93 push r24 |
| 1469 0a3e 3F93 push r19 |
| 1470 0a40 2F93 push r18 |
| 1471 0a42 CE01 movw r24,r28 |
| 1472 0a44 820F add r24,r18 |
| 1473 0a46 931F adc r25,r19 |
| 1474 0a48 9F93 push r25 |
| 1475 0a4a 8F93 push r24 |
| 1476 0a4c 82E0 ldi r24,lo8(2) |
| 1477 0a4e 8F93 push r24 |
| 1478 0a50 81E0 ldi r24,lo8(1) |
| 1479 0a52 8F93 push r24 |
| 1480 0a54 87E5 ldi r24,lo8(87) |
| 1481 .L183: |
| 1482 0a56 8F93 push r24 |
| 1483 0a58 0E94 0000 call SendOutData |
| 1484 0a5c EDB7 in r30,__SP_L__ |
| 1485 0a5e FEB7 in r31,__SP_H__ |
| 1486 0a60 3B96 adiw r30,11 |
| 1487 .L179: |
| 1488 0a62 EDBF out __SP_L__,r30 |
| 1489 0a64 8AC0 rjmp .L143 |
| 1490 .L128: |
| 1491 0a66 0E94 0000 call LIBFC_GetCPUType |
| 1492 0a6a 8983 std Y+1,r24 |
| 1493 0a6c 8230 cpi r24,lo8(2) |
| 1494 0a6e 19F0 breq .L130 |
| 1495 0a70 8430 cpi r24,lo8(4) |
| 1496 0a72 09F0 breq .+2 |
| 1497 0a74 82C0 rjmp .L143 |
| 1498 .L130: |
| 1499 /* #APP */ |
| 1500 0a76 F894 cli |
| 1501 /* #NOAPP */ |
| 1502 0a78 8091 C100 lds r24,193 |
| 1503 0a7c 8F73 andi r24,lo8(63) |
| 1504 0a7e 8093 C100 sts 193,r24 |
| 1505 0a82 8091 C900 lds r24,201 |
| 1506 0a86 8F73 andi r24,lo8(63) |
| 1507 0a88 8093 C900 sts 201,r24 |
| 1508 0a8c 8091 C100 lds r24,193 |
| 1509 0a90 877E andi r24,lo8(-25) |
| 1510 0a92 8093 C100 sts 193,r24 |
| 1511 0a96 8091 C900 lds r24,201 |
| 1512 0a9a 877E andi r24,lo8(-25) |
| 1513 0a9c 8093 C900 sts 201,r24 |
| 1514 .L178: |
| 1515 0aa0 8091 C800 lds r24,200 |
| 1516 0aa4 87FF sbrs r24,7 |
| 1517 0aa6 03C0 rjmp .L171 |
| 1518 0aa8 8091 CE00 lds r24,206 |
| 1519 0aac F9CF rjmp .L178 |
| 1520 .L171: |
| 1521 0aae 8091 C000 lds r24,192 |
| 1522 0ab2 87FF sbrs r24,7 |
| 1523 0ab4 03C0 rjmp .L173 |
| 1524 0ab6 8091 C600 lds r24,198 |
| 1525 0aba F9CF rjmp .L171 |
| 1526 .L173: |
| 1527 0abc E091 0000 lds r30,pRxData |
| 1528 0ac0 F091 0000 lds r31,(pRxData)+1 |
| 1529 0ac4 8081 ld r24,Z |
| 1530 0ac6 8823 tst r24 |
| 1531 0ac8 59F5 brne .L137 |
| 1532 0aca 81E0 ldi r24,lo8(1) |
| 1533 0acc 8093 0000 sts JetiUpdateModeActive,r24 |
| 1534 0ad0 1092 CD00 sts 205,__zero_reg__ |
| 1535 0ad4 80E4 ldi r24,lo8(64) |
| 1536 0ad6 90E0 ldi r25,hi8(64) |
| 1537 0ad8 8093 CC00 sts 204,r24 |
| 1538 0adc 8091 CD00 lds r24,205 |
| 1539 0ae0 8093 C500 sts 197,r24 |
| 1540 0ae4 8091 CC00 lds r24,204 |
| 1541 0ae8 8093 C400 sts 196,r24 |
| 1542 0aec 8091 CA00 lds r24,202 |
| 1543 0af0 8F7D andi r24,lo8(-33) |
| 1544 0af2 8093 CA00 sts 202,r24 |
| 1545 0af6 8091 CA00 lds r24,202 |
| 1546 0afa 8F7E andi r24,lo8(-17) |
| 1547 0afc 8093 CA00 sts 202,r24 |
| 1548 0b00 8091 C900 lds r24,201 |
| 1549 0b04 8B7F andi r24,lo8(-5) |
| 1550 0b06 8093 C900 sts 201,r24 |
| 1551 0b0a 8091 CA00 lds r24,202 |
| 1552 0b0e 8460 ori r24,lo8(4) |
| 1553 0b10 8093 CA00 sts 202,r24 |
| 1554 0b14 8091 CA00 lds r24,202 |
| 1555 0b18 8260 ori r24,lo8(2) |
| 1556 0b1a 8093 CA00 sts 202,r24 |
| 1557 0b1e 03C0 rjmp .L138 |
| 1558 .L137: |
| 1559 0b20 82E0 ldi r24,lo8(2) |
| 1560 0b22 8093 0000 sts JetiUpdateModeActive,r24 |
| 1561 .L138: |
| 1562 0b26 8091 CA00 lds r24,202 |
| 1563 0b2a 877F andi r24,lo8(-9) |
| 1564 0b2c 8093 CA00 sts 202,r24 |
| 1565 0b30 8091 C200 lds r24,194 |
| 1566 0b34 877F andi r24,lo8(-9) |
| 1567 0b36 8093 C200 sts 194,r24 |
| 1568 0b3a 8091 C900 lds r24,201 |
| 1569 0b3e 8E7F andi r24,lo8(-2) |
| 1570 0b40 8093 C900 sts 201,r24 |
| 1571 0b44 8091 C100 lds r24,193 |
| 1572 0b48 8861 ori r24,lo8(24) |
| 1573 0b4a 8093 C100 sts 193,r24 |
| 1574 0b4e 8091 C900 lds r24,201 |
| 1575 0b52 8861 ori r24,lo8(24) |
| 1576 0b54 8093 C900 sts 201,r24 |
| 1577 0b58 8091 C100 lds r24,193 |
| 1578 0b5c 8068 ori r24,lo8(-128) |
| 1579 0b5e 8093 C100 sts 193,r24 |
| 1580 0b62 8091 C900 lds r24,201 |
| 1581 0b66 8068 ori r24,lo8(-128) |
| 1582 0b68 8093 C900 sts 201,r24 |
| 1583 0b6c 1092 6E00 sts 110,__zero_reg__ |
| 1584 0b70 1092 6F00 sts 111,__zero_reg__ |
| 1585 0b74 1092 7000 sts 112,__zero_reg__ |
| 1586 /* #APP */ |
| 1587 0b78 7894 sei |
| 1588 /* #NOAPP */ |
| 1589 .L143: |
| 1590 0b7a 8091 0000 lds r24,RxdBuffer+2 |
| 1591 0b7e 9927 clr r25 |
| 1592 0b80 8436 cpi r24,100 |
| 1593 0b82 9105 cpc r25,__zero_reg__ |
| 1594 0b84 09F4 brne .+2 |
| 1595 0b86 CDC0 rjmp .L158 |
| 1596 0b88 8536 cpi r24,101 |
| 1597 0b8a 9105 cpc r25,__zero_reg__ |
| 1598 0b8c ACF4 brge .L167 |
| 1599 0b8e 8136 cpi r24,97 |
| 1600 0b90 9105 cpc r25,__zero_reg__ |
| 1601 0b92 09F4 brne .+2 |
| 1602 0b94 81C0 rjmp .L152 |
| 1603 0b96 8236 cpi r24,98 |
| 1604 0b98 9105 cpc r25,__zero_reg__ |
| 1605 0b9a 2CF4 brge .L168 |
| 1606 0b9c 8B34 cpi r24,75 |
| 1607 0b9e 9105 cpc r25,__zero_reg__ |
| 1608 0ba0 09F4 brne .+2 |
| 1609 0ba2 5DC0 rjmp .L151 |
| 1610 0ba4 21C1 rjmp .L65 |
| 1611 .L168: |
| 1612 0ba6 8236 cpi r24,98 |
| 1613 0ba8 9105 cpc r25,__zero_reg__ |
| 1614 0baa 09F4 brne .+2 |
| 1615 0bac 82C0 rjmp .L154 |
| 1616 0bae 8336 cpi r24,99 |
| 1617 0bb0 9105 cpc r25,__zero_reg__ |
| 1618 0bb2 09F4 brne .+2 |
| 1619 0bb4 91C0 rjmp .L155 |
| 1620 0bb6 18C1 rjmp .L65 |
| 1621 .L167: |
| 1622 0bb8 8C36 cpi r24,108 |
| 1623 0bba 9105 cpc r25,__zero_reg__ |
| 1624 0bbc 09F4 brne .+2 |
| 1625 0bbe FFC0 rjmp .L163 |
| 1626 0bc0 8D36 cpi r24,109 |
| 1627 0bc2 9105 cpc r25,__zero_reg__ |
| 1628 0bc4 4CF4 brge .L169 |
| 1629 0bc6 8736 cpi r24,103 |
| 1630 0bc8 9105 cpc r25,__zero_reg__ |
| 1631 0bca 09F4 brne .+2 |
| 1632 0bcc 0AC1 rjmp .L165 |
| 1633 0bce 8836 cpi r24,104 |
| 1634 0bd0 9105 cpc r25,__zero_reg__ |
| 1635 0bd2 09F4 brne .+2 |
| 1636 0bd4 C4C0 rjmp .L160 |
| 1637 0bd6 08C1 rjmp .L65 |
| 1638 .L169: |
| 1639 0bd8 8437 cpi r24,116 |
| 1640 0bda 9105 cpc r25,__zero_reg__ |
| 1641 0bdc 29F0 breq .L145 |
| 1642 0bde 8637 cpi r24,118 |
| 1643 0be0 9105 cpc r25,__zero_reg__ |
| 1644 0be2 09F4 brne .+2 |
| 1645 0be4 FAC0 rjmp .L164 |
| 1646 0be6 00C1 rjmp .L65 |
| 1647 .L145: |
| 1648 0be8 8091 0000 lds r24,AnzahlEmpfangsBytes |
| 1649 0bec A091 0000 lds r26,pRxData |
| 1650 0bf0 B091 0000 lds r27,(pRxData)+1 |
| 1651 0bf4 8031 cpi r24,lo8(16) |
| 1652 0bf6 40F0 brlo .L146 |
| 1653 0bf8 80E1 ldi r24,lo8(16) |
| 1654 0bfa E0E0 ldi r30,lo8(MotorTest) |
| 1655 0bfc F0E0 ldi r31,hi8(MotorTest) |
| 1656 0bfe 0D90 ld __tmp_reg__,X+ |
| 1657 0c00 0192 st Z+,__tmp_reg__ |
| 1658 0c02 8A95 dec r24 |
| 1659 0c04 E1F7 brne .-8 |
| 1660 0c06 0DC0 rjmp .L148 |
| 1661 .L146: |
| 1662 0c08 8D91 ld r24,X+ |
| 1663 0c0a 9D91 ld r25,X+ |
| 1664 0c0c 0D90 ld __tmp_reg__,X+ |
| 1665 0c0e BC91 ld r27,X |
| 1666 0c10 A02D mov r26,__tmp_reg__ |
| 1667 0c12 8093 0000 sts MotorTest,r24 |
| 1668 0c16 9093 0000 sts (MotorTest)+1,r25 |
| 1669 0c1a A093 0000 sts (MotorTest)+2,r26 |
| 1670 0c1e B093 0000 sts (MotorTest)+3,r27 |
| 1671 .L148: |
| 1672 0c22 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1673 0c26 8823 tst r24 |
| 1674 0c28 E1F3 breq .L148 |
| 1675 0c2a 1F92 push __zero_reg__ |
| 1676 0c2c 8091 0000 lds r24,MeineSlaveAdresse |
| 1677 0c30 8F93 push r24 |
| 1678 0c32 84E5 ldi r24,lo8(84) |
| 1679 0c34 8F93 push r24 |
| 1680 0c36 0E94 0000 call SendOutData |
| 1681 0c3a 8AEF ldi r24,lo8(-6) |
| 1682 0c3c 8093 0000 sts PC_MotortestActive,r24 |
| 1683 0c40 8FEF ldi r24,lo8(-1) |
| 1684 0c42 8093 0000 sts PcZugriff,r24 |
| 1685 0c46 80EA ldi r24,lo8(4000) |
| 1686 0c48 9FE0 ldi r25,hi8(4000) |
| 1687 0c4a 0E94 0000 call SetDelay |
| 1688 0c4e 9093 0000 sts (AboTimeOut)+1,r25 |
| 1689 0c52 8093 0000 sts AboTimeOut,r24 |
| 1690 0c56 0F90 pop __tmp_reg__ |
| 1691 0c58 0F90 pop __tmp_reg__ |
| 1692 0c5a 0F90 pop __tmp_reg__ |
| 1693 0c5c C5C0 rjmp .L65 |
| 1694 .L151: |
| 1695 0c5e E091 0000 lds r30,pRxData |
| 1696 0c62 F091 0000 lds r31,(pRxData)+1 |
| 1697 0c66 8081 ld r24,Z |
| 1698 0c68 9181 ldd r25,Z+1 |
| 1699 0c6a 9093 0000 sts (KompassValue)+1,r25 |
| 1700 0c6e 8093 0000 sts KompassValue,r24 |
| 1701 0c72 2091 0000 lds r18,KompassStartwert |
| 1702 0c76 3091 0000 lds r19,(KompassStartwert)+1 |
| 1703 0c7a 821B sub r24,r18 |
| 1704 0c7c 930B sbc r25,r19 |
| 1705 0c7e 845E subi r24,lo8(-(540)) |
| 1706 0c80 9D4F sbci r25,hi8(-(540)) |
| 1707 0c82 68E6 ldi r22,lo8(360) |
| 1708 0c84 71E0 ldi r23,hi8(360) |
| 1709 0c86 0E94 0000 call __divmodhi4 |
| 1710 0c8a 845B subi r24,lo8(-(-180)) |
| 1711 0c8c 9040 sbci r25,hi8(-(-180)) |
| 1712 0c8e 9093 0000 sts (KompassRichtung)+1,r25 |
| 1713 0c92 8093 0000 sts KompassRichtung,r24 |
| 1714 0c96 A8C0 rjmp .L65 |
| 1715 .L152: |
| 1716 0c98 E091 0000 lds r30,pRxData |
| 1717 0c9c F091 0000 lds r31,(pRxData)+1 |
| 1718 0ca0 8081 ld r24,Z |
| 1719 0ca2 8093 0000 sts DebugTextAnforderung,r24 |
| 1720 0ca6 8032 cpi r24,lo8(32) |
| 1721 0ca8 98F0 brlo .L181 |
| 1722 0caa 8FE1 ldi r24,lo8(31) |
| 1723 0cac 8093 0000 sts DebugTextAnforderung,r24 |
| 1724 0cb0 0FC0 rjmp .L181 |
| 1725 .L154: |
| 1726 0cb2 A091 0000 lds r26,pRxData |
| 1727 0cb6 B091 0000 lds r27,(pRxData)+1 |
| 1728 0cba 8BE0 ldi r24,lo8(11) |
| 1729 0cbc E0E0 ldi r30,lo8(ExternControl) |
| 1730 0cbe F0E0 ldi r31,hi8(ExternControl) |
| 1731 0cc0 0D90 ld __tmp_reg__,X+ |
| 1732 0cc2 0192 st Z+,__tmp_reg__ |
| 1733 0cc4 8A95 dec r24 |
| 1734 0cc6 E1F7 brne .-8 |
| 1735 0cc8 8091 0000 lds r24,ExternControl+9 |
| 1736 0ccc 8093 0000 sts ConfirmFrame,r24 |
| 1737 .L181: |
| 1738 0cd0 8FEF ldi r24,lo8(-1) |
| 1739 0cd2 8093 0000 sts PcZugriff,r24 |
| 1740 0cd6 88C0 rjmp .L65 |
| 1741 .L155: |
| 1742 0cd8 8091 0000 lds r24,Intervall3D |
| 1743 0cdc 9091 0000 lds r25,(Intervall3D)+1 |
| 1744 0ce0 892B or r24,r25 |
| 1745 0ce2 89F4 brne .L156 |
| 1746 0ce4 E091 0000 lds r30,pRxData |
| 1747 0ce8 F091 0000 lds r31,(pRxData)+1 |
| 1748 0cec E081 ld r30,Z |
| 1749 0cee EE23 tst r30 |
| 1750 0cf0 51F0 breq .L156 |
| 1751 0cf2 8AE0 ldi r24,lo8(10) |
| 1752 0cf4 E89F mul r30,r24 |
| 1753 0cf6 C001 movw r24,r0 |
| 1754 0cf8 1124 clr r1 |
| 1755 0cfa 0E94 0000 call SetDelay |
| 1756 0cfe 9093 0000 sts (Timer3D)+1,r25 |
| 1757 0d02 8093 0000 sts Timer3D,r24 |
| 1758 .L156: |
| 1759 0d06 E091 0000 lds r30,pRxData |
| 1760 0d0a F091 0000 lds r31,(pRxData)+1 |
| 1761 0d0e 9081 ld r25,Z |
| 1762 0d10 8AE0 ldi r24,lo8(10) |
| 1763 0d12 989F mul r25,r24 |
| 1764 0d14 C001 movw r24,r0 |
| 1765 0d16 1124 clr r1 |
| 1766 0d18 9093 0000 sts (Intervall3D)+1,r25 |
| 1767 0d1c 8093 0000 sts Intervall3D,r24 |
| 1768 0d20 15C0 rjmp .L159 |
| 1769 .L158: |
| 1770 0d22 8FEF ldi r24,lo8(-1) |
| 1771 0d24 8093 0000 sts PcZugriff,r24 |
| 1772 0d28 E091 0000 lds r30,pRxData |
| 1773 0d2c F091 0000 lds r31,(pRxData)+1 |
| 1774 0d30 9081 ld r25,Z |
| 1775 0d32 8AE0 ldi r24,lo8(10) |
| 1776 0d34 989F mul r25,r24 |
| 1777 0d36 C001 movw r24,r0 |
| 1778 0d38 1124 clr r1 |
| 1779 0d3a 9093 0000 sts (DebugDataIntervall)+1,r25 |
| 1780 0d3e 8093 0000 sts DebugDataIntervall,r24 |
| 1781 0d42 892B or r24,r25 |
| 1782 0d44 19F0 breq .L159 |
| 1783 0d46 81E0 ldi r24,lo8(1) |
| 1784 0d48 8093 0000 sts DebugDataAnforderung,r24 |
| 1785 .L159: |
| 1786 0d4c 80EA ldi r24,lo8(4000) |
| 1787 0d4e 9FE0 ldi r25,hi8(4000) |
| 1788 0d50 0E94 0000 call SetDelay |
| 1789 0d54 9093 0000 sts (AboTimeOut)+1,r25 |
| 1790 0d58 8093 0000 sts AboTimeOut,r24 |
| 1791 0d5c 45C0 rjmp .L65 |
| 1792 .L160: |
| 1793 0d5e 8FEF ldi r24,lo8(-1) |
| 1794 0d60 8093 0000 sts PcZugriff,r24 |
| 1795 0d64 E091 0000 lds r30,pRxData |
| 1796 0d68 F091 0000 lds r31,(pRxData)+1 |
| 1797 0d6c 9081 ld r25,Z |
| 1798 0d6e 97FD sbrc r25,7 |
| 1799 0d70 08C0 rjmp .L161 |
| 1800 0d72 82E0 ldi r24,lo8(2) |
| 1801 0d74 8093 0000 sts DisplayLine,r24 |
| 1802 0d78 1092 0000 sts (Display_Interval)+1,__zero_reg__ |
| 1803 0d7c 1092 0000 sts Display_Interval,__zero_reg__ |
| 1804 0d80 1AC0 rjmp .L162 |
| 1805 .L161: |
| 1806 0d82 9095 com r25 |
| 1807 0d84 8091 0000 lds r24,RemoteKeys |
| 1808 0d88 892B or r24,r25 |
| 1809 0d8a 8093 0000 sts RemoteKeys,r24 |
| 1810 0d8e 9181 ldd r25,Z+1 |
| 1811 0d90 8AE0 ldi r24,lo8(10) |
| 1812 0d92 989F mul r25,r24 |
| 1813 0d94 C001 movw r24,r0 |
| 1814 0d96 1124 clr r1 |
| 1815 0d98 9093 0000 sts (Display_Interval)+1,r25 |
| 1816 0d9c 8093 0000 sts Display_Interval,r24 |
| 1817 0da0 84E0 ldi r24,lo8(4) |
| 1818 0da2 8093 0000 sts DisplayLine,r24 |
| 1819 0da6 80EA ldi r24,lo8(4000) |
| 1820 0da8 9FE0 ldi r25,hi8(4000) |
| 1821 0daa 0E94 0000 call SetDelay |
| 1822 0dae 9093 0000 sts (AboTimeOut)+1,r25 |
| 1823 0db2 8093 0000 sts AboTimeOut,r24 |
| 1824 .L162: |
| 1825 0db6 81E0 ldi r24,lo8(1) |
| 1826 0db8 8093 0000 sts DebugDisplayAnforderung,r24 |
| 1827 0dbc 15C0 rjmp .L65 |
| 1828 .L163: |
| 1829 0dbe 8FEF ldi r24,lo8(-1) |
| 1830 0dc0 8093 0000 sts PcZugriff,r24 |
| 1831 0dc4 E091 0000 lds r30,pRxData |
| 1832 0dc8 F091 0000 lds r31,(pRxData)+1 |
| 1833 0dcc 8081 ld r24,Z |
| 1834 0dce 8093 0000 sts MenuePunkt,r24 |
| 1835 0dd2 81E0 ldi r24,lo8(1) |
| 1836 0dd4 8093 0000 sts DebugDisplayAnforderung1,r24 |
| 1837 0dd8 07C0 rjmp .L65 |
| 1838 .L164: |
| 1839 0dda 81E0 ldi r24,lo8(1) |
| 1840 0ddc 8093 0000 sts GetVersionAnforderung,r24 |
| 1841 0de0 03C0 rjmp .L65 |
| 1842 .L165: |
| 1843 0de2 81E0 ldi r24,lo8(1) |
| 1844 0de4 8093 0000 sts GetExternalControl,r24 |
| 1845 .L65: |
| 1846 0de8 1092 0000 sts NeuerDatensatzEmpfangen,__zero_reg__ |
| 1847 0dec 1092 0000 sts (pRxData)+1,__zero_reg__ |
| 1848 0df0 1092 0000 sts pRxData,__zero_reg__ |
| 1849 0df4 1092 0000 sts RxDataLen,__zero_reg__ |
| 1850 .L63: |
| 1851 /* epilogue: frame size=2 */ |
| 1852 0df8 E3E0 ldi r30,3 |
| 1853 0dfa CE5F subi r28,-2 |
| 1854 0dfc 0C94 0000 jmp __epilogue_restores__+30 |
| 1855 /* epilogue end (size=4) */ |
| 1856 /* function BearbeiteRxDaten size 1148 (1138) */ |
| 1858 .global uart_putchar |
| 1860 uart_putchar: |
| 1861 /* prologue: frame size=0 */ |
| 1862 /* prologue end (size=0) */ |
| 1863 0e00 982F mov r25,r24 |
| 1864 .L186: |
| 1865 0e02 8091 C000 lds r24,192 |
| 1866 0e06 85FF sbrs r24,5 |
| 1867 0e08 FCCF rjmp .L186 |
| 1868 0e0a 9093 C600 sts 198,r25 |
| 1869 /* epilogue: frame size=0 */ |
| 1870 0e0e 0895 ret |
| 1871 /* epilogue end (size=1) */ |
| 1872 /* function uart_putchar size 8 (7) */ |
| 1874 .global UART_Init |
| 1876 UART_Init: |
| 1877 /* prologue: frame size=0 */ |
| 1878 0e10 0F93 push r16 |
| 1879 0e12 1F93 push r17 |
| 1880 /* prologue end (size=2) */ |
| 1881 0e14 88E1 ldi r24,lo8(24) |
| 1882 0e16 8093 C100 sts 193,r24 |
| 1883 0e1a 8091 C000 lds r24,192 |
| 1884 0e1e 8260 ori r24,lo8(2) |
| 1885 0e20 8093 C000 sts 192,r24 |
| 1886 0e24 8091 C100 lds r24,193 |
| 1887 0e28 8068 ori r24,lo8(-128) |
| 1888 0e2a 8093 C100 sts 193,r24 |
| 1889 0e2e 8091 C100 lds r24,193 |
| 1890 0e32 8064 ori r24,lo8(64) |
| 1891 0e34 8093 C100 sts 193,r24 |
| 1892 0e38 00E0 ldi r16,lo8(0) |
| 1893 0e3a 10E0 ldi r17,hi8(0) |
| 1894 0e3c 0093 C500 sts 197,r16 |
| 1895 0e40 8AE2 ldi r24,lo8(42) |
| 1896 0e42 90E0 ldi r25,hi8(42) |
| 1897 0e44 8093 C400 sts 196,r24 |
| 1898 0e48 8091 0000 lds r24,DebugDataIntervall |
| 1899 0e4c 9091 0000 lds r25,(DebugDataIntervall)+1 |
| 1900 0e50 0E94 0000 call SetDelay |
| 1901 0e54 9093 0000 sts (Debug_Timer)+1,r25 |
| 1902 0e58 8093 0000 sts Debug_Timer,r24 |
| 1903 0e5c 8CED ldi r24,lo8(220) |
| 1904 0e5e 90E0 ldi r25,hi8(220) |
| 1905 0e60 0E94 0000 call SetDelay |
| 1906 0e64 9093 0000 sts (Kompass_Timer)+1,r25 |
| 1907 0e68 8093 0000 sts Kompass_Timer,r24 |
| 1908 0e6c 1092 0000 sts VersionInfo,__zero_reg__ |
| 1909 0e70 82E5 ldi r24,lo8(82) |
| 1910 0e72 8093 0000 sts VersionInfo+1,r24 |
| 1911 0e76 1092 0000 sts VersionInfo+4,__zero_reg__ |
| 1912 0e7a 8BE0 ldi r24,lo8(11) |
| 1913 0e7c 8093 0000 sts VersionInfo+2,r24 |
| 1914 0e80 1092 0000 sts VersionInfo+3,__zero_reg__ |
| 1915 0e84 1093 0000 sts (pRxData)+1,r17 |
| 1916 0e88 0093 0000 sts pRxData,r16 |
| 1917 0e8c 1092 0000 sts RxDataLen,__zero_reg__ |
| 1918 /* epilogue: frame size=0 */ |
| 1919 0e90 1F91 pop r17 |
| 1920 0e92 0F91 pop r16 |
| 1921 0e94 0895 ret |
| 1922 /* epilogue end (size=3) */ |
| 1923 /* function UART_Init size 67 (62) */ |
| 1925 .section .progmem.data |
| 1928 __c.0: |
| 1929 0200 2121 2120 .string "!!! INCOMPATIBLE !!!" |
| 1929 494E 434F |
| 1929 4D50 4154 |
| 1929 4942 4C45 |
| 1929 2021 2121 |
| 1930 .text |
| 1931 .global DatenUebertragung |
| 1933 DatenUebertragung: |
| 1934 /* prologue: frame size=16 */ |
| 1935 0e96 A0E1 ldi r26,lo8(16) |
| 1936 0e98 B0E0 ldi r27,hi8(16) |
| 1937 0e9a E0E0 ldi r30,pm_lo8(1f) |
| 1938 0e9c F0E0 ldi r31,pm_hi8(1f) |
| 1939 0e9e 0C94 0000 jmp __prologue_saves__+24 |
| 1940 1: |
| 1941 /* prologue end (size=6) */ |
| 1942 0ea2 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1943 0ea6 8823 tst r24 |
| 1944 0ea8 09F4 brne .+2 |
| 1945 0eaa C1C2 rjmp .L190 |
| 1946 0eac 8091 0000 lds r24,AboTimeOut |
| 1947 0eb0 9091 0000 lds r25,(AboTimeOut)+1 |
| 1948 0eb4 0E94 0000 call CheckDelay |
| 1949 0eb8 8823 tst r24 |
| 1950 0eba 61F0 breq .L192 |
| 1951 0ebc 1092 0000 sts (Display_Interval)+1,__zero_reg__ |
| 1952 0ec0 1092 0000 sts Display_Interval,__zero_reg__ |
| 1953 0ec4 1092 0000 sts (DebugDataIntervall)+1,__zero_reg__ |
| 1954 0ec8 1092 0000 sts DebugDataIntervall,__zero_reg__ |
| 1955 0ecc 1092 0000 sts (Intervall3D)+1,__zero_reg__ |
| 1956 0ed0 1092 0000 sts Intervall3D,__zero_reg__ |
| 1957 .L192: |
| 1958 0ed4 8091 0000 lds r24,Display_Interval |
| 1959 0ed8 9091 0000 lds r25,(Display_Interval)+1 |
| 1960 0edc 892B or r24,r25 |
| 1961 0ede 41F0 breq .L195 |
| 1962 0ee0 8091 0000 lds r24,Display_Timer |
| 1963 0ee4 9091 0000 lds r25,(Display_Timer)+1 |
| 1964 0ee8 0E94 0000 call CheckDelay |
| 1965 0eec 8823 tst r24 |
| 1966 0eee 29F4 brne .L194 |
| 1967 .L195: |
| 1968 0ef0 8091 0000 lds r24,DebugDisplayAnforderung |
| 1969 0ef4 8823 tst r24 |
| 1970 0ef6 09F4 brne .+2 |
| 1971 0ef8 60C0 rjmp .L193 |
| 1972 .L194: |
| 1973 0efa 8091 0000 lds r24,UebertragungAbgeschlossen |
| 1974 0efe 8823 tst r24 |
| 1975 0f00 09F4 brne .+2 |
| 1976 0f02 5BC0 rjmp .L193 |
| 1977 0f04 8091 0000 lds r24,DisplayLine |
| 1978 0f08 00E0 ldi r16,lo8(DisplayBuff) |
| 1979 0f0a 10E0 ldi r17,hi8(DisplayBuff) |
| 1980 0f0c 8430 cpi r24,lo8(4) |
| 1981 0f0e A8F0 brlo .L196 |
| 1982 0f10 0E94 0000 call Menu |
| 1983 0f14 80E5 ldi r24,lo8(80) |
| 1984 0f16 90E0 ldi r25,hi8(80) |
| 1985 0f18 9F93 push r25 |
| 1986 0f1a 8F93 push r24 |
| 1987 0f1c 1F93 push r17 |
| 1988 0f1e 0F93 push r16 |
| 1989 0f20 81E0 ldi r24,lo8(1) |
| 1990 0f22 8F93 push r24 |
| 1991 0f24 8F93 push r24 |
| 1992 0f26 88E4 ldi r24,lo8(72) |
| 1993 0f28 8F93 push r24 |
| 1994 0f2a 0E94 0000 call SendOutData |
| 1995 0f2e 2DB7 in r18,__SP_L__ |
| 1996 0f30 3EB7 in r19,__SP_H__ |
| 1997 0f32 295F subi r18,lo8(-(7)) |
| 1998 0f34 3F4F sbci r19,hi8(-(7)) |
| 1999 0f36 2DBF out __SP_L__,r18 |
| 2000 0f38 34C0 rjmp .L197 |
| 2001 .L196: |
| 2002 0f3a 1092 0000 sts DispPtr,__zero_reg__ |
| 2003 0f3e 80E0 ldi r24,lo8(__c.0) |
| 2004 0f40 90E0 ldi r25,hi8(__c.0) |
| 2005 0f42 9F93 push r25 |
| 2006 0f44 8F93 push r24 |
| 2007 0f46 80E0 ldi r24,lo8(pm(Menu_Putchar)) |
| 2008 0f48 90E0 ldi r25,hi8(pm(Menu_Putchar)) |
| 2009 0f4a 9F93 push r25 |
| 2010 0f4c 8F93 push r24 |
| 2011 0f4e E091 0000 lds r30,_printf_P |
| 2012 0f52 F091 0000 lds r31,(_printf_P)+1 |
| 2013 0f56 0995 icall |
| 2014 0f58 84E1 ldi r24,lo8(20) |
| 2015 0f5a 90E0 ldi r25,hi8(20) |
| 2016 0f5c 9F93 push r25 |
| 2017 0f5e 8F93 push r24 |
| 2018 0f60 1F93 push r17 |
| 2019 0f62 0F93 push r16 |
| 2020 0f64 81E0 ldi r24,lo8(1) |
| 2021 0f66 90E0 ldi r25,hi8(1) |
| 2022 0f68 9F93 push r25 |
| 2023 0f6a 8F93 push r24 |
| 2024 0f6c 80E0 ldi r24,lo8(DisplayLine) |
| 2025 0f6e 90E0 ldi r25,hi8(DisplayLine) |
| 2026 0f70 9F93 push r25 |
| 2027 0f72 8F93 push r24 |
| 2028 0f74 82E0 ldi r24,lo8(2) |
| 2029 0f76 8F93 push r24 |
| 2030 0f78 81E0 ldi r24,lo8(1) |
| 2031 0f7a 8F93 push r24 |
| 2032 0f7c 88E4 ldi r24,lo8(72) |
| 2033 0f7e 8F93 push r24 |
| 2034 0f80 0E94 0000 call SendOutData |
| 2035 0f84 8091 0000 lds r24,DisplayLine |
| 2036 0f88 982F mov r25,r24 |
| 2037 0f8a 8F5F subi r24,lo8(-(1)) |
| 2038 0f8c 8093 0000 sts DisplayLine,r24 |
| 2039 0f90 2DB7 in r18,__SP_L__ |
| 2040 0f92 3EB7 in r19,__SP_H__ |
| 2041 0f94 215F subi r18,lo8(-(15)) |
| 2042 0f96 3F4F sbci r19,hi8(-(15)) |
| 2043 0f98 2DBF out __SP_L__,r18 |
| 2044 0f9a 9430 cpi r25,lo8(4) |
| 2045 0f9c 10F0 brlo .L197 |
| 2046 0f9e 1092 0000 sts DisplayLine,__zero_reg__ |
| 2047 .L197: |
| 2048 0fa2 8091 0000 lds r24,Display_Interval |
| 2049 0fa6 9091 0000 lds r25,(Display_Interval)+1 |
| 2050 0faa 0E94 0000 call SetDelay |
| 2051 0fae 9093 0000 sts (Display_Timer)+1,r25 |
| 2052 0fb2 8093 0000 sts Display_Timer,r24 |
| 2053 0fb6 1092 0000 sts DebugDisplayAnforderung,__zero_reg__ |
| 2054 .L193: |
| 2055 0fba 8091 0000 lds r24,DebugDisplayAnforderung1 |
| 2056 0fbe 8823 tst r24 |
| 2057 0fc0 51F1 breq .L199 |
| 2058 0fc2 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2059 0fc6 8823 tst r24 |
| 2060 0fc8 31F1 breq .L199 |
| 2061 0fca 0E94 0000 call Menu |
| 2062 0fce 80E5 ldi r24,lo8(80) |
| 2063 0fd0 90E0 ldi r25,hi8(80) |
| 2064 0fd2 9F93 push r25 |
| 2065 0fd4 8F93 push r24 |
| 2066 0fd6 80E0 ldi r24,lo8(DisplayBuff) |
| 2067 0fd8 90E0 ldi r25,hi8(DisplayBuff) |
| 2068 0fda 9F93 push r25 |
| 2069 0fdc 8F93 push r24 |
| 2070 0fde 21E0 ldi r18,lo8(1) |
| 2071 0fe0 30E0 ldi r19,hi8(1) |
| 2072 0fe2 3F93 push r19 |
| 2073 0fe4 2F93 push r18 |
| 2074 0fe6 80E0 ldi r24,lo8(MaxMenue) |
| 2075 0fe8 90E0 ldi r25,hi8(MaxMenue) |
| 2076 0fea 9F93 push r25 |
| 2077 0fec 8F93 push r24 |
| 2078 0fee 3F93 push r19 |
| 2079 0ff0 2F93 push r18 |
| 2080 0ff2 80E0 ldi r24,lo8(MenuePunkt) |
| 2081 0ff4 90E0 ldi r25,hi8(MenuePunkt) |
| 2082 0ff6 9F93 push r25 |
| 2083 0ff8 8F93 push r24 |
| 2084 0ffa 83E0 ldi r24,lo8(3) |
| 2085 0ffc 8F93 push r24 |
| 2086 0ffe 81E0 ldi r24,lo8(1) |
| 2087 1000 8F93 push r24 |
| 2088 1002 8CE4 ldi r24,lo8(76) |
| 2089 1004 8F93 push r24 |
| 2090 1006 0E94 0000 call SendOutData |
| 2091 100a 1092 0000 sts DebugDisplayAnforderung1,__zero_reg__ |
| 2092 100e 8DB7 in r24,__SP_L__ |
| 2093 1010 9EB7 in r25,__SP_H__ |
| 2094 1012 0F96 adiw r24,15 |
| 2095 1014 8DBF out __SP_L__,r24 |
| 2096 .L199: |
| 2097 1016 8091 0000 lds r24,GetVersionAnforderung |
| 2098 101a 8823 tst r24 |
| 2099 101c D1F0 breq .L200 |
| 2100 101e 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2101 1022 8823 tst r24 |
| 2102 1024 B1F0 breq .L200 |
| 2103 1026 8AE0 ldi r24,lo8(10) |
| 2104 1028 90E0 ldi r25,hi8(10) |
| 2105 102a 9F93 push r25 |
| 2106 102c 8F93 push r24 |
| 2107 102e 80E0 ldi r24,lo8(VersionInfo) |
| 2108 1030 90E0 ldi r25,hi8(VersionInfo) |
| 2109 1032 9F93 push r25 |
| 2110 1034 8F93 push r24 |
| 2111 1036 81E0 ldi r24,lo8(1) |
| 2112 1038 8F93 push r24 |
| 2113 103a 8F93 push r24 |
| 2114 103c 86E5 ldi r24,lo8(86) |
| 2115 103e 8F93 push r24 |
| 2116 1040 0E94 0000 call SendOutData |
| 2117 1044 1092 0000 sts GetVersionAnforderung,__zero_reg__ |
| 2118 1048 2DB7 in r18,__SP_L__ |
| 2119 104a 3EB7 in r19,__SP_H__ |
| 2120 104c 295F subi r18,lo8(-(7)) |
| 2121 104e 3F4F sbci r19,hi8(-(7)) |
| 2122 1050 2DBF out __SP_L__,r18 |
| 2123 .L200: |
| 2124 1052 8091 0000 lds r24,GetExternalControl |
| 2125 1056 8823 tst r24 |
| 2126 1058 D9F0 breq .L201 |
| 2127 105a 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2128 105e 8823 tst r24 |
| 2129 1060 B9F0 breq .L201 |
| 2130 1062 8BE0 ldi r24,lo8(11) |
| 2131 1064 90E0 ldi r25,hi8(11) |
| 2132 1066 9F93 push r25 |
| 2133 1068 8F93 push r24 |
| 2134 106a 80E0 ldi r24,lo8(ExternControl) |
| 2135 106c 90E0 ldi r25,hi8(ExternControl) |
| 2136 106e 9F93 push r25 |
| 2137 1070 8F93 push r24 |
| 2138 1072 81E0 ldi r24,lo8(1) |
| 2139 1074 8F93 push r24 |
| 2140 1076 8091 0000 lds r24,MeineSlaveAdresse |
| 2141 107a 8F93 push r24 |
| 2142 107c 87E4 ldi r24,lo8(71) |
| 2143 107e 8F93 push r24 |
| 2144 1080 0E94 0000 call SendOutData |
| 2145 1084 1092 0000 sts GetExternalControl,__zero_reg__ |
| 2146 1088 8DB7 in r24,__SP_L__ |
| 2147 108a 9EB7 in r25,__SP_H__ |
| 2148 108c 0796 adiw r24,7 |
| 2149 108e 8DBF out __SP_L__,r24 |
| 2150 .L201: |
| 2151 1090 8091 0000 lds r24,Kompass_Timer |
| 2152 1094 9091 0000 lds r25,(Kompass_Timer)+1 |
| 2153 1098 0E94 0000 call CheckDelay |
| 2154 109c 8823 tst r24 |
| 2155 109e 09F4 brne .+2 |
| 2156 10a0 61C0 rjmp .L202 |
| 2157 10a2 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2158 10a6 8823 tst r24 |
| 2159 10a8 09F4 brne .+2 |
| 2160 10aa 5CC0 rjmp .L202 |
| 2161 10ac 8091 0000 lds r24,EE_Parameter+28 |
| 2162 10b0 9927 clr r25 |
| 2163 10b2 880F lsl r24 |
| 2164 10b4 991F rol r25 |
| 2165 10b6 880F lsl r24 |
| 2166 10b8 991F rol r25 |
| 2167 10ba 7C01 movw r14,r24 |
| 2168 10bc 0027 clr r16 |
| 2169 10be F7FC sbrc r15,7 |
| 2170 10c0 0095 com r16 |
| 2171 10c2 102F mov r17,r16 |
| 2172 10c4 8091 0000 lds r24,IntegralNick |
| 2173 10c8 9091 0000 lds r25,(IntegralNick)+1 |
| 2174 10cc A091 0000 lds r26,(IntegralNick)+2 |
| 2175 10d0 B091 0000 lds r27,(IntegralNick)+3 |
| 2176 10d4 BC01 movw r22,r24 |
| 2177 10d6 CD01 movw r24,r26 |
| 2178 10d8 A801 movw r20,r16 |
| 2179 10da 9701 movw r18,r14 |
| 2180 10dc 0E94 0000 call __divmodsi4 |
| 2181 10e0 3093 0000 sts (WinkelOut)+1,r19 |
| 2182 10e4 2093 0000 sts WinkelOut,r18 |
| 2183 10e8 8091 0000 lds r24,IntegralRoll |
| 2184 10ec 9091 0000 lds r25,(IntegralRoll)+1 |
| 2185 10f0 A091 0000 lds r26,(IntegralRoll)+2 |
| 2186 10f4 B091 0000 lds r27,(IntegralRoll)+3 |
| 2187 10f8 BC01 movw r22,r24 |
| 2188 10fa CD01 movw r24,r26 |
| 2189 10fc A801 movw r20,r16 |
| 2190 10fe 9701 movw r18,r14 |
| 2191 1100 0E94 0000 call __divmodsi4 |
| 2192 1104 3093 0000 sts (WinkelOut+2)+1,r19 |
| 2193 1108 2093 0000 sts WinkelOut+2,r18 |
| 2194 110c 8091 0000 lds r24,Parameter_UserParam1 |
| 2195 1110 8093 0000 sts WinkelOut+4,r24 |
| 2196 1114 8091 0000 lds r24,Parameter_UserParam2 |
| 2197 1118 8093 0000 sts WinkelOut+5,r24 |
| 2198 111c 88E0 ldi r24,lo8(8) |
| 2199 111e 90E0 ldi r25,hi8(8) |
| 2200 1120 9F93 push r25 |
| 2201 1122 8F93 push r24 |
| 2202 1124 80E0 ldi r24,lo8(WinkelOut) |
| 2203 1126 90E0 ldi r25,hi8(WinkelOut) |
| 2204 1128 9F93 push r25 |
| 2205 112a 8F93 push r24 |
| 2206 112c 81E0 ldi r24,lo8(1) |
| 2207 112e 8F93 push r24 |
| 2208 1130 83E0 ldi r24,lo8(3) |
| 2209 1132 8F93 push r24 |
| 2210 1134 8BE6 ldi r24,lo8(107) |
| 2211 1136 8F93 push r24 |
| 2212 1138 0E94 0000 call SendOutData |
| 2213 113c 8091 0000 lds r24,WinkelOut+6 |
| 2214 1140 2DB7 in r18,__SP_L__ |
| 2215 1142 3EB7 in r19,__SP_H__ |
| 2216 1144 295F subi r18,lo8(-(7)) |
| 2217 1146 3F4F sbci r19,hi8(-(7)) |
| 2218 1148 2DBF out __SP_L__,r18 |
| 2219 114a 8530 cpi r24,lo8(5) |
| 2220 114c 18F0 brlo .L203 |
| 2221 114e 86E0 ldi r24,lo8(6) |
| 2222 1150 8093 0000 sts WinkelOut+6,r24 |
| 2223 .L203: |
| 2224 1154 83E6 ldi r24,lo8(99) |
| 2225 1156 90E0 ldi r25,hi8(99) |
| 2226 1158 0E94 0000 call SetDelay |
| 2227 115c 9093 0000 sts (Kompass_Timer)+1,r25 |
| 2228 1160 8093 0000 sts Kompass_Timer,r24 |
| 2229 .L202: |
| 2230 1164 8091 0000 lds r24,DebugDataIntervall |
| 2231 1168 9091 0000 lds r25,(DebugDataIntervall)+1 |
| 2232 116c 892B or r24,r25 |
| 2233 116e 41F0 breq .L206 |
| 2234 1170 8091 0000 lds r24,Debug_Timer |
| 2235 1174 9091 0000 lds r25,(Debug_Timer)+1 |
| 2236 1178 0E94 0000 call CheckDelay |
| 2237 117c 8823 tst r24 |
| 2238 117e 21F4 brne .L205 |
| 2239 .L206: |
| 2240 1180 8091 0000 lds r24,DebugDataAnforderung |
| 2241 1184 8823 tst r24 |
| 2242 1186 39F1 breq .L204 |
| 2243 .L205: |
| 2244 1188 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2245 118c 8823 tst r24 |
| 2246 118e 19F1 breq .L204 |
| 2247 1190 0E94 0000 call CopyDebugValues |
| 2248 1194 82E4 ldi r24,lo8(66) |
| 2249 1196 90E0 ldi r25,hi8(66) |
| 2250 1198 9F93 push r25 |
| 2251 119a 8F93 push r24 |
| 2252 119c 80E0 ldi r24,lo8(DebugOut) |
| 2253 119e 90E0 ldi r25,hi8(DebugOut) |
| 2254 11a0 9F93 push r25 |
| 2255 11a2 8F93 push r24 |
| 2256 11a4 81E0 ldi r24,lo8(1) |
| 2257 11a6 8F93 push r24 |
| 2258 11a8 8F93 push r24 |
| 2259 11aa 84E4 ldi r24,lo8(68) |
| 2260 11ac 8F93 push r24 |
| 2261 11ae 0E94 0000 call SendOutData |
| 2262 11b2 1092 0000 sts DebugDataAnforderung,__zero_reg__ |
| 2263 11b6 8DB7 in r24,__SP_L__ |
| 2264 11b8 9EB7 in r25,__SP_H__ |
| 2265 11ba 0796 adiw r24,7 |
| 2266 11bc 8DBF out __SP_L__,r24 |
| 2267 11be 8091 0000 lds r24,DebugDataIntervall |
| 2268 11c2 9091 0000 lds r25,(DebugDataIntervall)+1 |
| 2269 11c6 0097 sbiw r24,0 |
| 2270 11c8 31F0 breq .L204 |
| 2271 11ca 0E94 0000 call SetDelay |
| 2272 11ce 9093 0000 sts (Debug_Timer)+1,r25 |
| 2273 11d2 8093 0000 sts Debug_Timer,r24 |
| 2274 .L204: |
| 2275 11d6 8091 0000 lds r24,Intervall3D |
| 2276 11da 9091 0000 lds r25,(Intervall3D)+1 |
| 2277 11de 892B or r24,r25 |
| 2278 11e0 09F4 brne .+2 |
| 2279 11e2 B8C0 rjmp .L208 |
| 2280 11e4 8091 0000 lds r24,Timer3D |
| 2281 11e8 9091 0000 lds r25,(Timer3D)+1 |
| 2282 11ec 0E94 0000 call CheckDelay |
| 2283 11f0 8823 tst r24 |
| 2284 11f2 09F4 brne .+2 |
| 2285 11f4 AFC0 rjmp .L208 |
| 2286 11f6 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2287 11fa 8823 tst r24 |
| 2288 11fc 09F4 brne .+2 |
| 2289 11fe AAC0 rjmp .L208 |
| 2290 1200 8091 0000 lds r24,EE_Parameter+28 |
| 2291 1204 9927 clr r25 |
| 2292 1206 880F lsl r24 |
| 2293 1208 991F rol r25 |
| 2294 120a 880F lsl r24 |
| 2295 120c 991F rol r25 |
| 2296 120e 7C01 movw r14,r24 |
| 2297 1210 0027 clr r16 |
| 2298 1212 F7FC sbrc r15,7 |
| 2299 1214 0095 com r16 |
| 2300 1216 102F mov r17,r16 |
| 2301 1218 8091 0000 lds r24,IntegralNick |
| 2302 121c 9091 0000 lds r25,(IntegralNick)+1 |
| 2303 1220 A091 0000 lds r26,(IntegralNick)+2 |
| 2304 1224 B091 0000 lds r27,(IntegralNick)+3 |
| 2305 1228 BC01 movw r22,r24 |
| 2306 122a CD01 movw r24,r26 |
| 2307 122c A801 movw r20,r16 |
| 2308 122e 9701 movw r18,r14 |
| 2309 1230 0E94 0000 call __divmodsi4 |
| 2310 1234 3093 0000 sts (Data3D)+1,r19 |
| 2311 1238 2093 0000 sts Data3D,r18 |
| 2312 123c 8091 0000 lds r24,IntegralRoll |
| 2313 1240 9091 0000 lds r25,(IntegralRoll)+1 |
| 2314 1244 A091 0000 lds r26,(IntegralRoll)+2 |
| 2315 1248 B091 0000 lds r27,(IntegralRoll)+3 |
| 2316 124c BC01 movw r22,r24 |
| 2317 124e CD01 movw r24,r26 |
| 2318 1250 A801 movw r20,r16 |
| 2319 1252 9701 movw r18,r14 |
| 2320 1254 0E94 0000 call __divmodsi4 |
| 2321 1258 3093 0000 sts (Data3D+2)+1,r19 |
| 2322 125c 2093 0000 sts Data3D+2,r18 |
| 2323 1260 2091 0000 lds r18,ErsatzKompass |
| 2324 1264 3091 0000 lds r19,(ErsatzKompass)+1 |
| 2325 1268 4091 0000 lds r20,(ErsatzKompass)+2 |
| 2326 126c 5091 0000 lds r21,(ErsatzKompass)+3 |
| 2327 1270 DA01 movw r26,r20 |
| 2328 1272 C901 movw r24,r18 |
| 2329 1274 63E0 ldi r22,3 |
| 2330 1276 880F 1: lsl r24 |
| 2331 1278 991F rol r25 |
| 2332 127a AA1F rol r26 |
| 2333 127c BB1F rol r27 |
| 2334 127e 6A95 dec r22 |
| 2335 1280 D1F7 brne 1b |
| 2336 1282 820F add r24,r18 |
| 2337 1284 931F adc r25,r19 |
| 2338 1286 A41F adc r26,r20 |
| 2339 1288 B51F adc r27,r21 |
| 2340 128a 820F add r24,r18 |
| 2341 128c 931F adc r25,r19 |
| 2342 128e A41F adc r26,r20 |
| 2343 1290 B51F adc r27,r21 |
| 2344 1292 2091 0000 lds r18,GIER_GRAD_FAKTOR |
| 2345 1296 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1 |
| 2346 129a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2 |
| 2347 129e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3 |
| 2348 12a2 BC01 movw r22,r24 |
| 2349 12a4 CD01 movw r24,r26 |
| 2350 12a6 0E94 0000 call __divmodsi4 |
| 2351 12aa 3093 0000 sts (Data3D+4)+1,r19 |
| 2352 12ae 2093 0000 sts Data3D+4,r18 |
| 2353 12b2 8091 0000 lds r24,SummeNick |
| 2354 12b6 9091 0000 lds r25,(SummeNick)+1 |
| 2355 12ba A091 0000 lds r26,(SummeNick)+2 |
| 2356 12be B091 0000 lds r27,(SummeNick)+3 |
| 2357 12c2 39E0 ldi r19,9 |
| 2358 12c4 B595 1: asr r27 |
| 2359 12c6 A795 ror r26 |
| 2360 12c8 9795 ror r25 |
| 2361 12ca 8795 ror r24 |
| 2362 12cc 3A95 dec r19 |
| 2363 12ce D1F7 brne 1b |
| 2364 12d0 8093 0000 sts Data3D+6,r24 |
| 2365 12d4 8091 0000 lds r24,SummeRoll |
| 2366 12d8 9091 0000 lds r25,(SummeRoll)+1 |
| 2367 12dc A091 0000 lds r26,(SummeRoll)+2 |
| 2368 12e0 B091 0000 lds r27,(SummeRoll)+3 |
| 2369 12e4 29E0 ldi r18,9 |
| 2370 12e6 B595 1: asr r27 |
| 2371 12e8 A795 ror r26 |
| 2372 12ea 9795 ror r25 |
| 2373 12ec 8795 ror r24 |
| 2374 12ee 2A95 dec r18 |
| 2375 12f0 D1F7 brne 1b |
| 2376 12f2 8093 0000 sts Data3D+7,r24 |
| 2377 12f6 8091 0000 lds r24,Mess_Integral_Gier |
| 2378 12fa 9091 0000 lds r25,(Mess_Integral_Gier)+1 |
| 2379 12fe A091 0000 lds r26,(Mess_Integral_Gier)+2 |
| 2380 1302 B091 0000 lds r27,(Mess_Integral_Gier)+3 |
| 2381 1306 09E0 ldi r16,9 |
| 2382 1308 B595 1: asr r27 |
| 2383 130a A795 ror r26 |
| 2384 130c 9795 ror r25 |
| 2385 130e 8795 ror r24 |
| 2386 1310 0A95 dec r16 |
| 2387 1312 D1F7 brne 1b |
| 2388 1314 8093 0000 sts Data3D+8,r24 |
| 2389 1318 8EE0 ldi r24,lo8(14) |
| 2390 131a 90E0 ldi r25,hi8(14) |
| 2391 131c 9F93 push r25 |
| 2392 131e 8F93 push r24 |
| 2393 1320 80E0 ldi r24,lo8(Data3D) |
| 2394 1322 90E0 ldi r25,hi8(Data3D) |
| 2395 1324 9F93 push r25 |
| 2396 1326 8F93 push r24 |
| 2397 1328 81E0 ldi r24,lo8(1) |
| 2398 132a 8F93 push r24 |
| 2399 132c 8F93 push r24 |
| 2400 132e 83E4 ldi r24,lo8(67) |
| 2401 1330 8F93 push r24 |
| 2402 1332 0E94 0000 call SendOutData |
| 2403 1336 8091 0000 lds r24,Intervall3D |
| 2404 133a 9091 0000 lds r25,(Intervall3D)+1 |
| 2405 133e 0E94 0000 call SetDelay |
| 2406 1342 9093 0000 sts (Timer3D)+1,r25 |
| 2407 1346 8093 0000 sts Timer3D,r24 |
| 2408 134a 2DB7 in r18,__SP_L__ |
| 2409 134c 3EB7 in r19,__SP_H__ |
| 2410 134e 295F subi r18,lo8(-(7)) |
| 2411 1350 3F4F sbci r19,hi8(-(7)) |
| 2412 1352 2DBF out __SP_L__,r18 |
| 2413 .L208: |
| 2414 1354 8091 0000 lds r24,DebugTextAnforderung |
| 2415 1358 8F3F cpi r24,lo8(-1) |
| 2416 135a 71F1 breq .L209 |
| 2417 135c 9927 clr r25 |
| 2418 135e 14E0 ldi r17,4 |
| 2419 1360 880F 1: lsl r24 |
| 2420 1362 991F rol r25 |
| 2421 1364 1A95 dec r17 |
| 2422 1366 E1F7 brne 1b |
| 2423 1368 8050 subi r24,lo8(-(ANALOG_TEXT)) |
| 2424 136a 9040 sbci r25,hi8(-(ANALOG_TEXT)) |
| 2425 136c 40E1 ldi r20,lo8(16) |
| 2426 136e 50E0 ldi r21,hi8(16) |
| 2427 1370 BC01 movw r22,r24 |
| 2428 1372 CE01 movw r24,r28 |
| 2429 1374 0196 adiw r24,1 |
| 2430 1376 0E94 0000 call memcpy_P |
| 2431 137a 80E1 ldi r24,lo8(16) |
| 2432 137c 90E0 ldi r25,hi8(16) |
| 2433 137e 9F93 push r25 |
| 2434 1380 8F93 push r24 |
| 2435 1382 CE01 movw r24,r28 |
| 2436 1384 0196 adiw r24,1 |
| 2437 1386 9F93 push r25 |
| 2438 1388 8F93 push r24 |
| 2439 138a 81E0 ldi r24,lo8(1) |
| 2440 138c 90E0 ldi r25,hi8(1) |
| 2441 138e 9F93 push r25 |
| 2442 1390 8F93 push r24 |
| 2443 1392 80E0 ldi r24,lo8(DebugTextAnforderung) |
| 2444 1394 90E0 ldi r25,hi8(DebugTextAnforderung) |
| 2445 1396 9F93 push r25 |
| 2446 1398 8F93 push r24 |
| 2447 139a 82E0 ldi r24,lo8(2) |
| 2448 139c 8F93 push r24 |
| 2449 139e 81E0 ldi r24,lo8(1) |
| 2450 13a0 8F93 push r24 |
| 2451 13a2 81E4 ldi r24,lo8(65) |
| 2452 13a4 8F93 push r24 |
| 2453 13a6 0E94 0000 call SendOutData |
| 2454 13aa 8FEF ldi r24,lo8(-1) |
| 2455 13ac 8093 0000 sts DebugTextAnforderung,r24 |
| 2456 13b0 8DB7 in r24,__SP_L__ |
| 2457 13b2 9EB7 in r25,__SP_H__ |
| 2458 13b4 0B96 adiw r24,11 |
| 2459 13b6 8DBF out __SP_L__,r24 |
| 2460 .L209: |
| 2461 13b8 8091 0000 lds r24,ConfirmFrame |
| 2462 13bc 8823 tst r24 |
| 2463 13be D1F0 breq .L210 |
| 2464 13c0 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2465 13c4 8823 tst r24 |
| 2466 13c6 B1F0 breq .L210 |
| 2467 13c8 81E0 ldi r24,lo8(1) |
| 2468 13ca 90E0 ldi r25,hi8(1) |
| 2469 13cc 9F93 push r25 |
| 2470 13ce 8F93 push r24 |
| 2471 13d0 80E0 ldi r24,lo8(ConfirmFrame) |
| 2472 13d2 90E0 ldi r25,hi8(ConfirmFrame) |
| 2473 13d4 9F93 push r25 |
| 2474 13d6 8F93 push r24 |
| 2475 13d8 81E0 ldi r24,lo8(1) |
| 2476 13da 8F93 push r24 |
| 2477 13dc 8F93 push r24 |
| 2478 13de 82E4 ldi r24,lo8(66) |
| 2479 13e0 8F93 push r24 |
| 2480 13e2 0E94 0000 call SendOutData |
| 2481 13e6 1092 0000 sts ConfirmFrame,__zero_reg__ |
| 2482 13ea 2DB7 in r18,__SP_L__ |
| 2483 13ec 3EB7 in r19,__SP_H__ |
| 2484 13ee 295F subi r18,lo8(-(7)) |
| 2485 13f0 3F4F sbci r19,hi8(-(7)) |
| 2486 13f2 2DBF out __SP_L__,r18 |
| 2487 .L210: |
| 2488 13f4 8091 0000 lds r24,GetPPMChannelAnforderung |
| 2489 13f8 8823 tst r24 |
| 2490 13fa C9F0 breq .L190 |
| 2491 13fc 8091 0000 lds r24,UebertragungAbgeschlossen |
| 2492 1400 8823 tst r24 |
| 2493 1402 A9F0 breq .L190 |
| 2494 1404 84E3 ldi r24,lo8(52) |
| 2495 1406 90E0 ldi r25,hi8(52) |
| 2496 1408 9F93 push r25 |
| 2497 140a 8F93 push r24 |
| 2498 140c 80E0 ldi r24,lo8(PPM_in) |
| 2499 140e 90E0 ldi r25,hi8(PPM_in) |
| 2500 1410 9F93 push r25 |
| 2501 1412 8F93 push r24 |
| 2502 1414 81E0 ldi r24,lo8(1) |
| 2503 1416 8F93 push r24 |
| 2504 1418 8F93 push r24 |
| 2505 141a 80E5 ldi r24,lo8(80) |
| 2506 141c 8F93 push r24 |
| 2507 141e 0E94 0000 call SendOutData |
| 2508 1422 1092 0000 sts GetPPMChannelAnforderung,__zero_reg__ |
| 2509 1426 8DB7 in r24,__SP_L__ |
| 2510 1428 9EB7 in r25,__SP_H__ |
| 2511 142a 0796 adiw r24,7 |
| 2512 142c 8DBF out __SP_L__,r24 |
| 2513 .L190: |
| 2514 /* epilogue: frame size=16 */ |
| 2515 142e E6E0 ldi r30,6 |
| 2516 1430 C05F subi r28,-16 |
| 2517 1432 0C94 0000 jmp __epilogue_restores__+24 |
| 2518 /* epilogue end (size=4) */ |
| 2519 /* function DatenUebertragung size 720 (710) */ |
| 2521 .comm RxdBuffer,170,1 |
| 2522 .comm Debug_Timer,2,1 |
| 2523 .comm Kompass_Timer,2,1 |
| 2524 .comm MotorTest,16,1 |
| 2525 .comm DebugOut,66,1 |
| 2526 .comm WinkelOut,8,1 |
| 2527 .comm Data3D,14,1 |
| 2528 .comm ExternControl,11,1 |
| 2529 .comm VersionInfo,10,1 |
| 2530 .comm TxdBuffer,170,1 |
| 2531 .comm ConfirmFrame,1,1 |
| 2532 .comm Display_Timer,2,1 |
| 2533 .comm Timer3D,2,1 |
| 2534 /* File "uart.c": code 2599 = 0x0a27 (2508), prologues 47, epilogues 44 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 uart.c |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:14 .progmem.data:00000000 ANALOG_TEXT |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:52 .bss:00000000 JetiUpdateModeActive |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:58 .bss:00000001 AboTimeOut |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:64 .bss:00000003 Display_Interval |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:70 .bss:00000005 Intervall3D |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:76 .bss:00000007 DebugDataIntervall |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:82 .data:00000000 MeineSlaveAdresse |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:87 .data:00000001 PcZugriff |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:92 .data:00000002 DebugTextAnforderung |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:99 .bss:00000009 PC_MotortestActive |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:105 .bss:0000000a PC_DebugTimeout |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:111 .bss:0000000b RxDataLen |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:117 .bss:0000000c pRxData |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:123 .bss:0000000e AnzahlEmpfangsBytes |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:129 .bss:0000000f CntCrcError |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:135 .data:00000003 UebertragungAbgeschlossen |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:142 .bss:00000010 NeueKoordinateEmpfangen |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:148 .bss:00000011 NeuerDatensatzEmpfangen |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:154 .bss:00000012 SioTmp |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:160 .bss:00000013 DisplayLine |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:166 .bss:00000014 GetPPMChannelAnforderung |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:172 .bss:00000015 GetVersionAnforderung |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:178 .bss:00000016 DebugDataAnforderung |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:184 .bss:00000017 DebugDisplayAnforderung |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:190 .bss:00000018 DebugDisplayAnforderung1 |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:196 .bss:00000019 GetExternalControl |
| .bss:0000001a ptr.6 |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:202 .text:00000000 __vector_22 |
| *COM*:000000aa TxdBuffer |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:198 .bss:0000001c crc.1 |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:256 .bss:0000001e crc1.2 |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:257 .bss:0000001f crc2.3 |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:258 .bss:00000020 buf_ptr.4 |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:259 .bss:00000021 UartState.5 |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:263 .text:0000006c __vector_20 |
| *COM*:000000aa RxdBuffer |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:493 .text:00000260 AddCRC |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:549 .text:000002c0 SendOutData |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:749 .text:00000438 Decode64 |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:862 .text:0000050c BearbeiteRxDaten |
| *COM*:00000010 MotorTest |
| *COM*:0000000a VersionInfo |
| *COM*:0000000b ExternControl |
| *COM*:00000001 ConfirmFrame |
| *COM*:00000002 Timer3D |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:1860 .text:00000e00 uart_putchar |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:1876 .text:00000e10 UART_Init |
| *COM*:00000002 Debug_Timer |
| *COM*:00000002 Kompass_Timer |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:1928 .progmem.data:00000200 __c.0 |
| C:\Users\Thomas\AppData\Local\Temp/ccA9aaaa.s:1933 .text:00000e96 DatenUebertragung |
| *COM*:00000002 Display_Timer |
| *COM*:00000008 WinkelOut |
| *COM*:00000042 DebugOut |
| *COM*:0000000e Data3D |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| LcdClear |
| ServoActive |
| __prologue_saves__ |
| __epilogue_restores__ |
| KompassValue |
| KompassStartwert |
| __divmodhi4 |
| KompassRichtung |
| Mixer |
| MixerTable_WriteToEEProm |
| SetDefaultParameter |
| GetActiveParamSet |
| ParamSet_ReadFromEEProm |
| EE_Parameter |
| ParamSet_WriteToEEProm |
| __mulsi3 |
| Umschlag180Nick |
| Umschlag180Roll |
| MotorenEin |
| Piep |
| LipoDetection |
| LIBFC_ReceiverInit |
| PPM_in |
| I2C_ReadBLConfig |
| BLConfig |
| I2C_WriteBLConfig |
| LIBFC_GetCPUType |
| SetDelay |
| RemoteKeys |
| MenuePunkt |
| CheckDelay |
| DisplayBuff |
| Menu |
| DispPtr |
| Menu_Putchar |
| _printf_P |
| MaxMenue |
| IntegralNick |
| __divmodsi4 |
| IntegralRoll |
| Parameter_UserParam1 |
| Parameter_UserParam2 |
| CopyDebugValues |
| ErsatzKompass |
| GIER_GRAD_FAKTOR |
| SummeNick |
| SummeRoll |
| Mess_Integral_Gier |
| memcpy_P |
| /branches/metro/v0.82a metro_Akku+/version.txt |
|---|
| 0,0 → 1,441 |
| ------- |
| 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 |
| V0.61 - V0.63 H.Buss 27.09.2007 |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| - Analog.c: Aktuell_ax korrigiert |
| - auf 32 Debug-Kanäle erweitert |
| - Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
| - leichte Anpassungen im Gier - Geschwindigkeit und Drift |
| - die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
| - die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
| - die PPM-Ausgänge liegen wieder an den Pins an |
| - Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
| - der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
| - I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
| - Sticksignale werden präziser ausgewertet |
| - Stick-Kanäle werden ans Kopter-Tool übertragen |
| - Es muss die Version V1.47 des Kopter-Tool verwendet werden |
| - Die Settings werden auf Default zurückgesetzt |
| - am Piepen kann man die Fehlerart unterscheiden |
| 1. einzelnes Piepen beim Einschalten und Kalibrieren |
| 2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
| 3. schnelleres Intervall mindestens 1 Sek -> Akku |
| 4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
| V0.64 H.Buss 30.09.2007 |
| - beim Gieren wurden die Achsen nicht hart genug geregelt |
| V0.65a H.Buss 15.10.2007 |
| - Integral im Mischer wieder integriert |
| - Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
| - ACC/Gyro Abgleich auch bei HH |
| V0.66a H.Buss 3.11.2007 |
| - Messwertverarbeitung aus dem Analog-Interrupt entfernt |
| - Analogmessung hängt jetzt am FC-Timing |
| - Looping-Stick-Hysterese eingebaut |
| - Looping-180°-Umschlag einstellbar |
| - Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
| - Lageregelung nach ACC-Sensor verbessert |
| - zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
| - Gyrodriftkompensation überarbeitet |
| - Bug in der Gier-Stick-Berechnung behoben |
| - Gyro-Messung auf 1kHz beschleunigt |
| V0.67a H.Buss 16.11.2007 |
| - der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
| - Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
| - Feinabstimmung |
| - Beim HH-Modus gab es noch Bugs |
| V0.67e H.Buss 29.11.2007 |
| - Parameter: Dynamic Stability und Driftfaktor eingeführt |
| - Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
| - Kompatibilität zum Koptertool erhöht |
| V0.67f H.Buss 04.12.2007 |
| - Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
| - Schub für Gier wird jetzt auf den Gaswert begrenzt, dadurch steigt der MK nicht mehr beim Gieren. Gier ist allerdings nicht mehr so agressiv |
| - Die ACC-Nullwerte können jetzt dauerhaft im EEPROM gespeichert werden (Stick:Vollgas und Gier rechts) |
| V0.68a I.Busker 28.12.2007 |
| - SPI.c & SPI.h ins Projekt aufgenommen |
| SPI-Kommuikation kann in SPI.h aktiviert/deaktivert werden |
| V0.68c H.Buss 05.01.2008 |
| - Stickauswertung verbessert -> träger und präziser |
| - Alle Settings angepasst |
| V0.69e H.Buss 05.05.2008 |
| - kleinere Bugs beseitigt |
| - Schneller Sinkflug jetzt möglich |
| - Min- und Maxgas in den Settings geändert |
| - Lagewinkel wird jetzt in 0,1 Grad an Kompass und Navi gesendet |
| - Kalibrierung für MK3Mag -> Nick unten beim Kalibrieren |
| - Kompassroutine um den Ersatzkompass (Gyro unterstützt Kompasswert) erweitert |
| V0.69h H.Buss 21.05.2008 |
| - STICK_GAIN = 4 eingeführt. Das erhöht die Auflösung der Sollwerte. Stick_P und Stick_I müssen nun um Faktor 4 erhöht werden |
| - SenderOkay auch an das Naviboard übertragen |
| - Bessere Parameter bei Senderausfall |
| V0.69j H.Buss 30.05.2008 |
| - Höhere Präzision der Achsenkopplung |
| V0.69k H.Buss 31.05.2008 |
| - Bug in SPI.C behoben |
| - in 0.69h war ein Bug, der zu ungewollten Loopings führen konnte |
| V0.69L H.Buss 14.06.2008 |
| - feinere Cam-Servo-Auflösung |
| V0.70a H.Buss 01.07.2008 |
| - Unterstützung der V1.3-Hardware mit automatischem Hardware-Gyro-Abgleich |
| V0.70b H.Buss 14.07.2008 |
| - flexible Einstellungsmöglichkeit von J16 und J17 (Transistorausgänge) |
| - eigene Parameter für GPS-Naviboard |
| - eigener Parameter für ExternalControl (war vorher UserParameter1 bzw. 8) |
| - neue Parameter im EEPROM-Datensatz: J16Bitmask, J16Timing, ExternalControl, Navi... |
| - MikroKopterFlags eingeführt, damit das Navi den Status des MKs kennt |
| - KopterTool-Kompatibilität auf 8 erhöht |
| V0.70c H.Buss 30.07.2008 |
| - Parameter der Datenfusion leicht modifiziert |
| - EEPROM-Parameter für Looping-Umschlag angepasst (von 100 auf 85) |
| - MaxStick wird auf 100 begrenzt |
| V0.70d H.Buss 02.08.2008 |
| - Transistorausgänge: das oberste Bit der Blinkmaske (im KopterTool linkes Bit) gibt nun den Zustand des Ausgangs im Schalterbetrieb an |
| 0.71b: H.Buss 19.10.2008 |
| Kommunikation zum Navi erweitert: |
| - Beeptime jetzt 32Bit |
| - Datenfusion und Driftkopensation wird durch NaviBoard unterstützt |
| 0.71c: H.Buss 20.10.2008 |
| - LoopConfig heisst jetzt BitConfig |
| - 3-Fach-Schalter für Höhensteuerung möglich -> kann man mit GPS-Schalter zusammenlegen |
| - bei den Settings wurde Setting[0] mit abgespeichert, welches es nicht gab. |
| - in Zukunft werden bei neuen EEPROM-Settings die Kanäle von Setting 1 übernommen |
| - Variablen NaviWindCorrection, NaviSpeedCompensation, NaviOperatingRadius eingeführt |
| 0.71f: H.Buss 15.11.2008 |
| - Ausschalten der Höhenregelung per Schalter um 0,3 sek verzögert |
| - bei der seriellen Übertragung hat die FC jetzt als SlaveAdresse die 1 |
| - VersionInfo.NaviKompatibel eingeführt |
| - wenn manuell gegiert wird, wird der GyroKompass-Wert auf den Kompasswert gesetzt |
| - Luftdruckwert wird an das Navi übertragen |
| - Der Baro-Offset wird jetzt nachgeführt, um den Messbereich zu erweitern. Geht nur bei Höhenregler mit Schalter |
| - Debugdaten können jetzt mit 'f' gepollt werden |
| 0.71g: Gregor 09.12.2008 |
| - Kommunikation überarbeitet |
| Infos hier: http://www.mikrokopter.de/ucwiki/en/SerialCommands |
| 0.71h: H.Buss 15.12.2008 |
| - Freigegebene Version |
| - NaviAngleLimitation als Parameter zum Navi implementiert |
| - Antwort auf CMD: 't' entfernt |
| 0.72d: H.Buss 22.01.2009 |
| - OCTO als Compilerschalter |
| - Unterstützung der FC 2.0 (ME) |
| - GYRO_D eingeführt |
| - Achsenkopplung jetzt auch auf Nick/Roll-Bewegung |
| 0.72e: H.Buss 27.01.2009 |
| - die 0.72d hatte kein Integral im Gier |
| - Parameter eingeführt: |
| EE_Parameter.NaviGpsPLimit |
| EE_Parameter.NaviGpsILimit |
| EE_Parameter.NaviGpsDLimit |
| EE_Parameter.NaviPH_LoginTime |
| EE_Parameter.AchsKopplung2 |
| EE_Parameter.CouplingYawCorrection |
| 0.72f: H.Buss 28.01.2009 |
| - Bug im Ersatzkompass entfernt |
| 0.72h: H.Buss 05.02.2009 |
| - Algorithmen beschleunigt -> Floats durch Fixkomma ersetzt |
| - Achsentkopplung weiter verbessert |
| - Nick- und Roll im Octo-Mischer auf jeweils vier Motoren aufgeteilt |
| 0.72i: H.Buss 07.02.2009 |
| - Abtastrate von 1kHz auf 2kHz erhöht |
| 0.72j: H.Buss 09.02.2009 |
| - neue Implementierung der Servoausgänge |
| 0.72k: H.Buss 10.02.2009 |
| - Abtastrate auf 5kHz erhöht |
| 0.72L: H.Buss 13.02.2009 |
| - Signalfilterung überarbeitet |
| - OCTO2 implementiert |
| 0.72M: H.Buss 13.02.2009 |
| - Code Cleanup |
| 0.72o: H.Buss 24.02.2009 |
| - Abtastrate auf 2kHz |
| - HW-Version an Navi |
| - neuer Datensatz 'c' -> Lagedaten für 3D-Grafik |
| - Auswerteroutine für Spectrum-Satteliten implementiert |
| - Kanalsettings werden beim Parameterreset nicht mehr gelöscht |
| - die Driftkompensation wird jetzt feiner aufgelöst --> EE_Parameter.Driftkomp muss mal 8 genommen werden |
| - die Integrale und ACC-Werte werden jetzt im Scope in ca. 0,1° angezeigt (wie beim NaviBrd) |
| 0.72p: H.Buss 01.03.2009 |
| - Octo3 erstellt |
| - Analogwerte umbenannt |
| 0.73a-d: H.Buss 05.04.2009 |
| - MixerTabelle implementiert |
| - I2C-Bus auf bis zu 12 Motoren erweitert |
| - die Busfehler der BL-Regler werden im Menü angezeigt |
| - Revision der MixerTabelle eingeführt |
| - MixerTabelle wird bei Parameterreset neu initialisiert |
| - Motortest auf [12] erweitert |
| - Motorschalter nicht mehr 3-Stufig |
| 0.74a |
| - Datenfusion im Flug auch, wenn ACC-Z < 512 |
| - Wert für die Luftdruck-Messbereichserweiterung abgefangen |
| 0.74d |
| - Die Driftkompensation ist jetzt dreistufig -> 0,5% pro sekunde zusätzlich eingeführts |
| 0.75a G.Stobrawa 22.5.2009 |
| - Extern Control also received from NC via SPI |
| 0.75b H.Buss 27.05.2009 |
| - Spektrum-Singale schalten den PPM-Eingang aus |
| - max. 2 Sekunden nach dem Start auf die BL-Regler warten |
| - Automatische Zellenerkennung, wenn Spannungswarnung < 5,0V |
| - Bei automatischer Zellenerkennung piept es je nach Zellenzahl |
| - EE_DATENREVISION auf 76 erhöht |
| - Servo: |
| - Roll-Servo für FC ME implementiert |
| - Update-Cmd stoppt Servos |
| - Servos werden erst nach dem ersten Kalibrieren aktiviert |
| 0.75c G.Stobrawa 25.7.2009 |
| - Übertragung der Servo-Settings zur NC |
| - RSSI wird an NC gesendet, derzeit wird der Wert nicht gesetzt |
| - Bugfix Messbereichsumschaltung des Luftdrucksensors springt |
| - Auflösung des Luftdrucks nun bis auf 1 cm (5mal feiner) zur genaueren Berechnung des D-Anteils |
| - Unterstützung von Warnings-Bitmasks für die J16, J17-Outputs bei Unterspannung |
| - Unterspannung für einzelne Zelle´n von 3.2V auf 3.3V angehoben (9.6V --> 9.9V für 3S) |
| 0.75d H.Buss 13.8.2009 |
| - RC-Routine: Empfangsausfall soll sicherer erkannt werden |
| - Zellenerkennung nun auch beim Speichern der Settings |
| - Warnungs-Blinkmaske auch bei Empfangsausfall |
| 0.75e H.Buss 18.8.2009 |
| - LED-Blinken kann an die Motoren gekoppelt werden |
| - Feinabstimmung des Höhenreglers |
| 0.75f H.Buss 27.8.2009 |
| - D-Anteil des Höhenreglers jetzt mit Quadratischer Komponente |
| - Lagewinkel wirkt jetzt mit 1/Cos(x) mit in den Höhenregler |
| - leichte Modifikation der RC-Empfangroutine |
| 0.75g H.Buss 31.08.2009 |
| - die Akkuspannung geht jetzt antiproportional ins Gas ein |
| 0.75h H.Buss 3.09.2009 |
| - im Höhenregler werden jetzt die Stellwerte begrenzt --> max +- 16% vom geschätzten Schwebegas |
| 0.75i H.Buss 7.09.2009 |
| - GpsZ vom Navi zur FC für den Höhenregler |
| - "hoovergas-Variation" als Parameter |
| - Kompatibilität zu NC und PC erhöht |
| 0.75j H.Buss 17.09.2009 |
| - Laufzeitzähler eingebaut |
| 0.75k H.Buss 22.09.2009 |
| - zweite Variante (Gregor) der Höhenregelung implementiert |
| - umschaltbare RC-Routine |
| 0.75L H.Buss 23.09.2009 |
| - SollHoehe und Gas geht nun auch an die NC |
| 0.75M H.Buss 29.09.2009 |
| - Spektrum-Timing wird nun überwacht |
| - die FC kann nun stand-Alone als Kamera-Stabilizer eingesetzt werden, weil die Servos aktiviert werden, wenn I2C fehlt |
| 0.75N H.Buss 29.09.2009 |
| - Hoover-Stickpunkt wird bei aktivem Höhenregler nicht nachgeführt |
| - Hoover-Stickpunkt kann per Parameter fest eingestellt werden |
| - Baro-Messbereichserweiterung auch bei aktiviertem Höhenregler |
| - Gyro_Gier_P und Gyro_Gier_I eingeführt |
| - I2C_fehler-Zähler jetzt in den Analogdaten |
| 0.75o H.Buss 01.10.2009 |
| - der Höhenregler wird jetzt nur alle 10ms bearbeitet |
| - Baro-Messbereichserweiterung auch bei Poti als Sollwert |
| 0.76d H.Buss 10.10.2009 |
| - bei aktiver Messbereichserweiterung wird die aktuelle Höhe übernommen |
| 0.76e H.Buss 27.10.2009 |
| - es werden beim Start einmal alle BL-Regler angesprochen, damit BL-Regler#8 auch einen Selbsttest macht |
| - S3D-ACT-Summensignal als Compilerschalter |
| 0.76f H.Buss 05.11.2009 |
| - untere Spannungsgrenze der Unterspannungswarnung (9,3V) entfernt |
| 0.76g H.Buss 10.11.2009 |
| - Casting-Fehler in der Gas-Berechnung |
| 0.77a H.Buss 11.11.2009 |
| - Erweiterung auf 12 Kanäle |
| - Bei Koptertool-Kanalabfrage kein Empfangsausfall-Piepsen |
| - serielle Kanalerweiterung eingebaut -> PPM_in auf 25 erweitert |
| - Servos3-5 einstellbar |
| - neues Kommando "f" -> schaltet auf anderen Parametersatz um |
| 0.77b H.Buss 09.12.2009 |
| - JetiBox: Menü wird übertragen |
| - neu: FCFlags |= FCFLAG_I2CERR; |
| - LED-Warn-Blinken nun mit festem Timing und abschaltbar |
| 0.77c H.Buss 07.01.2010 |
| - zwei weitere Spektrum-Varianten implementiert |
| 0.77d H.Buss 25.01.2010 |
| - Strom-Messung eingebaut |
| 0.78a H.Buss 03.02.2010 |
| - Bugfix: Settingsumschaltung im Flug |
| 0.78b H.Buss |
| - veröffentlichte Version |
| 0.78c H.Buss + G.Stobrawa 22.2.2010 |
| - Bewegungsbegrenzung an Servo 3 to 5 der FC 2.0 |
| - Theoretischer Variablenüberlauf bei Vario-Höhenregler |
| - Anzeige des "SPI RX communication error" wenn GPS Option nicht aktiv |
| - LED-Schwellwerte fürs Blinken waren unterschiedlich |
| 0.78c H.Buss + G.Stobrawa 04.3.2010 |
| - Code cosmetics |
| 0.78f H.Buss + I.Busker 23.3.2010 |
| - Unterstützung für Jeti-Expander |
| - Begrenzung des Vario-Höhenreglers auf ein 10m-Fenster um Überläufe zu verhindern |
| - Einführung eines Vario-Zeichens (+/-/ ) auf der Jetibox |
| - BL-Timeout beim Start erhöht |
| 0.80a-d H. Buss + G.Stobrawa 20.5.2010 - 22.7.2010 |
| - Motoren Starten nicht ohne Kalibrierung |
| - Unterstützung der BL2.0-Regler |
| - statt 8 nun 10 Bit Auflösung der Lageregekung |
| - Unterstützung der BL2.0-Regler Konfiguration via MK-Tool |
| - Parametersätze werden per I2C an die BL-Regler durchgereicht |
| - "Care-Free" implementiert |
| - Freie Belegung der "Vorne"-Richtung |
| - nur wenn Motoren laufen: Beepen, wenn Carefree ohne Navi oder ohne gültigen MK3Mag-Wert |
| - nur wenn Motoren laufen: Beepen wenn NC plötzlich ausfällt |
| - #define RECEIVER_SPEKTRUM_EXP eingeführt |
| - #define SWITCH_LEARNS_CAREFREE eingeführt |
| - Schwerpunktanzeige in den 3D-Daten |
| - Checksummen gesicherte Datenablage im EEProm |
| - Fehlerdiagnose implementiert (Wiki: ErrorCodes) |
| - ErrorCode aufs Jeti-Display |
| - JetiMenü: bis acht Temperaturen der BL-Regler |
| - GPSInfo.Speed im Jeti-Display |
| - Compass-Richtung nun im Jeti-menü |
| - diverse Änderungen im Höhenregler |
| - P wirkt schwächer |
| - D wirkt stärker |
| - Anpassung der Höhenregelung auf Level des Hoovergases |
| - AccZ schneller nachführen |
| Parameter modifiziert: |
| - EEPROM-Kompatibilität auf 84 -> Parameter werden resettet |
| - EE_Parameter.Hoehe_ACC_Wirkung = 0; // war 30 |
| - EE_Parameter.Hoehe_HoverBand = 8; // war 5 |
| - Notgas = 45 |
| - NotgasZeit = 90 |
| - Beginnersetting: EE_Parameter.DynamicStability = 70; |
| - Neu: GyroStability = 6 |
| - GPS-Login-Time auf 2 reduziert |
| 0.80e H.Buss 02.08.2010 |
| - MK3Mag ohne NC ging nicht |
| 0.80f H.Buss 04.08.2010 |
| - Beim Höhenregler "Deckel" wird das Gas wieder wie in der alten Version behandelt und der D-Anteil auf das alte Verhalten (um Faktor 8) reduziert |
| 0.80g H.Buss 11.08.2010 |
| - erweitetern Messbereich für Luftdruck bei der FC2.1 aktiviert |
| 0.80h H.Buss 30.08.2010 |
| - bei I2C-Fehlern wurden die Counter zurück gesetzt und für einige ms die Interrupts angehalten - das ist jetzt behoben |
| - Nur I2C-Daten senden, wenn das alte Paket komplett raus ist |
| 0.82a H.Buss 08.11.2010 |
| - MotorSafetySwitch - Verriegelt das Ein/Ausschalten |
| - ServoManualControlSpeed - Verlangsamt das Cam-Servo |
| - CamOrientation - für verdrehte Kamera-Servos |
| - Position der Status-Bits verändert |
| - "Zucken" der Servos bei kurzen Empfangsausfällen behoben |
| - jeti update command 'j' added |
| - Poti-Auswertung nach ParameterZuordnung() verschoben -> FC-Code schneller |
| - Waypont-Events z.B. zum Triggern der Kamera |
| - Gyro-Sytbility: Werte bis 16 möglich |